renaming types: ObsrvModel -> Sensor, ObservationModel -> Sensor, ObservationFunction -> SensorFunction etc.

wumanu · wumanu · commit dce659fdd47c · 2016-07-21T19:45:14.000+02:00
ProcessModel -&gt; Transition, TransitionModel -&gt; Transition etc.
diff --git a/source/dbot/builder/object_transition_model_builder.hpp b/source/dbot/builder/object_transition_model_builder.hpp
@@ -56,18 +56,18 @@ struct ObjectStateTrait
 };
 
 template <typename State>
-class ObjectTransitionModelBuilder
-    : public StateTransitionFunctionBuilder<
+class ObjectTransitionBuilder
+    : public TransitionFunctionBuilder<
           State,
           typename ObjectStateTrait<State>::Noise,
           typename ObjectStateTrait<State>::Input>
 {
 public:
-    typedef fl::StateTransitionFunction<State,
+    typedef fl::TransitionFunction<State,
                                         typename ObjectStateTrait<State>::Noise,
                                         typename ObjectStateTrait<State>::Input>
         Model;
-    typedef fl::LinearStateTransitionModel<
+    typedef fl::LinearTransition<
         State,
         typename ObjectStateTrait<State>::Noise,
         typename ObjectStateTrait<State>::Input> DerivedModel;
@@ -80,7 +80,7 @@ class ObjectTransitionModelBuilder
         int part_count;
     };
 
-    ObjectTransitionModelBuilder(const Parameters& param) : param_(param) {}
+    ObjectTransitionBuilder(const Parameters& param) : param_(param) {}
     virtual std::shared_ptr<Model> build() const
     {
         auto model = std::shared_ptr<DerivedModel>(
diff --git a/source/dbot/builder/rb_observation_model_builder.cpp b/source/dbot/builder/rb_observation_model_builder.cpp
@@ -35,5 +35,5 @@
 
 namespace dbot
 {
-template class RbObservationModelBuilder<osr::FreeFloatingRigidBodiesState<>>;
+template class RbSensorBuilder<osr::FreeFloatingRigidBodiesState<>>;
 }
diff --git a/source/dbot/builder/rb_observation_model_builder.h b/source/dbot/builder/rb_observation_model_builder.h
@@ -59,7 +59,7 @@ class NoGpuSupportException : public std::exception
 };
 
 template <typename State>
-class RbObservationModelBuilder
+class RbSensorBuilder
 {
 public:
     struct Parameters
@@ -92,10 +92,10 @@ class RbObservationModelBuilder
         std::string geometry_shader_file;
     };
 
-    typedef RbObservationModel<State> Model;
+    typedef RbSensor<State> Model;
 
 public:
-    RbObservationModelBuilder(const std::shared_ptr<ObjectModel>& object_model,
+    RbSensorBuilder(const std::shared_ptr<ObjectModel>& object_model,
                               const std::shared_ptr<CameraData>& camera_data,
                               const Parameters& params);
 
diff --git a/source/dbot/builder/rb_observation_model_builder.hpp b/source/dbot/builder/rb_observation_model_builder.hpp
@@ -40,7 +40,7 @@
 namespace dbot
 {
 template <typename State>
-RbObservationModelBuilder<State>::RbObservationModelBuilder(
+RbSensorBuilder<State>::RbSensorBuilder(
     const std::shared_ptr<ObjectModel>& object_model,
     const std::shared_ptr<CameraData>& camera_data,
     const Parameters& params)
@@ -49,7 +49,7 @@ RbObservationModelBuilder<State>::RbObservationModelBuilder(
 }
 
 template <typename State>
-auto RbObservationModelBuilder<State>::build() const -> std::shared_ptr<Model>
+auto RbSensorBuilder<State>::build() const -> std::shared_ptr<Model>
 {
     std::shared_ptr<Model> obsrv_model;
 
@@ -66,7 +66,7 @@ auto RbObservationModelBuilder<State>::build() const -> std::shared_ptr<Model>
 }
 
 template <typename State>
-auto RbObservationModelBuilder<State>::create_gpu_based_model() const
+auto RbSensorBuilder<State>::create_gpu_based_model() const
     -> std::shared_ptr<Model>
 {
 #ifdef DBOT_BUILD_GPU
@@ -96,7 +96,7 @@ auto RbObservationModelBuilder<State>::create_gpu_based_model() const
 }
 
 template <typename State>
-auto RbObservationModelBuilder<State>::create_shader_provider() const
+auto RbSensorBuilder<State>::create_shader_provider() const
     -> std::shared_ptr<ShaderProvider>
 {
     if (params_.use_custom_shaders)
@@ -111,7 +111,7 @@ auto RbObservationModelBuilder<State>::create_shader_provider() const
 }
 
 template <typename State>
-auto RbObservationModelBuilder<State>::create_cpu_based_model() const
+auto RbSensorBuilder<State>::create_cpu_based_model() const
     -> std::shared_ptr<Model>
 {
     auto pixel_model = create_pixel_model();
@@ -133,7 +133,7 @@ auto RbObservationModelBuilder<State>::create_cpu_based_model() const
 }
 
 template <typename State>
-auto RbObservationModelBuilder<State>::create_pixel_model() const
+auto RbSensorBuilder<State>::create_pixel_model() const
     -> std::shared_ptr<KinectPixelModel>
 {
     std::shared_ptr<KinectPixelModel> kinect_pixel_observation_model(
@@ -144,7 +144,7 @@ auto RbObservationModelBuilder<State>::create_pixel_model() const
 }
 
 template <typename State>
-auto RbObservationModelBuilder<State>::create_occlusion_process() const
+auto RbSensorBuilder<State>::create_occlusion_process() const
     -> std::shared_ptr<OcclusionModel>
 {
     std::shared_ptr<OcclusionModel> occlusion_process(
@@ -155,7 +155,7 @@ auto RbObservationModelBuilder<State>::create_occlusion_process() const
 }
 
 template <typename State>
-auto RbObservationModelBuilder<State>::create_renderer() const
+auto RbSensorBuilder<State>::create_renderer() const
     -> std::shared_ptr<RigidBodyRenderer>
 {
     std::shared_ptr<RigidBodyRenderer> renderer(new RigidBodyRenderer(
diff --git a/source/dbot/builder/rbc_particle_filter_tracker_builder.cpp b/source/dbot/builder/rbc_particle_filter_tracker_builder.cpp
@@ -28,7 +28,7 @@
 //namespace dbot
 //{
 //RbcParticleFilterTrackerBuilder::RbcParticleFilterTrackerBuilder(
-//    const std::shared_ptr<StateTransitionFunctionBuilder>&
+//    const std::shared_ptr<TransitionFunctionBuilder>&
 //        state_transition_builder,
 //    const CameraData& camera_data)
 //    : state_transition_builder_(state_transition_builder),
@@ -44,7 +44,7 @@
 //    double max_kl_divergence) -> std::shared_ptr<Filter>
 
 //auto RbcParticleFilterTrackerBuilder::create_object_transition_model() const
-//    -> std::shared_ptr<StateTransition>
+//    -> std::shared_ptr<Transition>
 
 
 //ObjectModel RbcParticleFilterTrackerBuilder::create_object_model(
diff --git a/source/dbot/builder/rbc_particle_filter_tracker_builder.hpp b/source/dbot/builder/rbc_particle_filter_tracker_builder.hpp
@@ -52,18 +52,18 @@ class RbcParticleFilterTrackerBuilder
     typedef typename Tracker::Input Input;
 
     /* == Model Builder Interfaces ========================================== */
-    typedef StateTransitionFunctionBuilder<State, Noise, Input>
-        StateTransitionBuilder;
-    typedef RbObservationModelBuilder<State> ObservationModelBuilder;
+    typedef TransitionFunctionBuilder<State, Noise, Input>
+        TransitionBuilder;
+    typedef RbSensorBuilder<State> SensorBuilder;
 
     /* == Model Interfaces ================================================== */
-    typedef fl::StateTransitionFunction<State, Noise, Input> StateTransition;
-    typedef RbObservationModel<State> ObservationModel;
-    typedef typename ObservationModel::Observation Obsrv;
+    typedef fl::TransitionFunction<State, Noise, Input> Transition;
+    typedef RbSensor<State> Sensor;
+    typedef typename Sensor::Observation Obsrv;
 
     /* == Filter algorithm ================================================== */
-    typedef RaoBlackwellCoordinateParticleFilter<StateTransition,
-                                                 ObservationModel> Filter;
+    typedef RaoBlackwellCoordinateParticleFilter<Transition,
+                                                 Sensor> Filter;
 
     /* == Tracker parameters ================================================ */
     struct Parameters
@@ -79,8 +79,8 @@ class RbcParticleFilterTrackerBuilder
      * \param param			Builder and sub-builder parameters
      */
     RbcParticleFilterTrackerBuilder(
-        const std::shared_ptr<StateTransitionBuilder>& state_transition_builder,
-        const std::shared_ptr<ObservationModelBuilder>& obsrv_model_builder,
+        const std::shared_ptr<TransitionBuilder>& state_transition_builder,
+        const std::shared_ptr<SensorBuilder>& obsrv_model_builder,
         const std::shared_ptr<ObjectModel>& object_model,
         const Parameters& params)
         : state_transition_builder_(state_transition_builder),
@@ -155,8 +155,8 @@ class RbcParticleFilterTrackerBuilder
     }
 
 protected:
-    std::shared_ptr<StateTransitionBuilder> state_transition_builder_;
-    std::shared_ptr<ObservationModelBuilder> obsrv_model_builder_;
+    std::shared_ptr<TransitionBuilder> state_transition_builder_;
+    std::shared_ptr<SensorBuilder> obsrv_model_builder_;
     std::shared_ptr<ObjectModel> object_model_;
     Parameters params_;
 };
diff --git a/source/dbot/builder/rms_gaussian_filter_tracker_builder.cpp b/source/dbot/builder/rms_gaussian_filter_tracker_builder.cpp
@@ -78,7 +78,7 @@ auto RmsGaussianFilterTrackerBuilder::create_filter(
 auto RmsGaussianFilterTrackerBuilder::create_obsrv_model(
     const std::shared_ptr<ObjectModel>& object_model,
     const std::shared_ptr<CameraData>& camera_data,
-    const Parameters::Observation& param) const -> ObservationModel
+    const Parameters::Observation& param) const -> Sensor
 {
     typedef RmsGaussianFilterObjectTracker::PixelModel PixelModel;
     typedef RmsGaussianFilterObjectTracker::TailModel TailModel;
@@ -95,7 +95,7 @@ auto RmsGaussianFilterTrackerBuilder::create_obsrv_model(
     auto body_tail_pixel_model =
         BodyTailModel(pixel_obsrv_model, tail_obsrv_model, param.tail_weight);
 
-    return ObservationModel(body_tail_pixel_model, camera_data->pixels());
+    return Sensor(body_tail_pixel_model, camera_data->pixels());
 }
 
 std::shared_ptr<ObjectModel>
@@ -109,10 +109,10 @@ RmsGaussianFilterTrackerBuilder::create_object_model(
 }
 
 auto RmsGaussianFilterTrackerBuilder::create_object_transition_model(
-    const ObjectTransitionModelBuilder<RmsGaussianFilterTrackerBuilder::State>::
-        Parameters& param) const -> StateTransition
+    const ObjectTransitionBuilder<RmsGaussianFilterTrackerBuilder::State>::
+        Parameters& param) const -> Transition
 {
-    ObjectTransitionModelBuilder<State> process_builder(param);
+    ObjectTransitionBuilder<State> process_builder(param);
     auto process = process_builder.build_model();
 
     return process;
diff --git a/source/dbot/builder/rms_gaussian_filter_tracker_builder.hpp b/source/dbot/builder/rms_gaussian_filter_tracker_builder.hpp
@@ -50,8 +50,8 @@ class RmsGaussianFilterTrackerBuilder
     typedef RmsGaussianFilterObjectTracker::Obsrv Obsrv;
     typedef RmsGaussianFilterObjectTracker::Filter Filter;
     typedef RmsGaussianFilterObjectTracker::Quadrature Quadrature;
-    typedef RmsGaussianFilterObjectTracker::StateTransition StateTransition;
-    typedef RmsGaussianFilterObjectTracker::ObservationModel ObservationModel;
+    typedef RmsGaussianFilterObjectTracker::Transition Transition;
+    typedef RmsGaussianFilterObjectTracker::Sensor Sensor;
 
     struct Parameters
     {
@@ -71,7 +71,7 @@ class RmsGaussianFilterTrackerBuilder
 
         ObjectResourceIdentifier ori;
         Observation observation;
-        ObjectTransitionModelBuilder<State>::Parameters
+        ObjectTransitionBuilder<State>::Parameters
             object_transition;
     };
 
@@ -101,8 +101,8 @@ class RmsGaussianFilterTrackerBuilder
      * \brief Creates a Linear object transition function used in the
      *        filter
      */
-    StateTransition create_object_transition_model(
-        const ObjectTransitionModelBuilder<State>::Parameters& param)
+    Transition create_object_transition_model(
+        const ObjectTransitionBuilder<State>::Parameters& param)
         const;
 
     /**
@@ -112,7 +112,7 @@ class RmsGaussianFilterTrackerBuilder
      * \throws NoGpuSupportException if compile with DBOT_BUILD_GPU=OFF and
      *         attempting to build a tracker with GPU support
      */
-    ObservationModel create_obsrv_model(
+    Sensor create_obsrv_model(
         const std::shared_ptr<ObjectModel>& object_model,
         const std::shared_ptr<CameraData>& camera_data,
         const Parameters::Observation& param) const;
diff --git a/source/dbot/builder/state_transition_function_builder.hpp b/source/dbot/builder/state_transition_function_builder.hpp
@@ -29,10 +29,10 @@ namespace dbot
 {
 
 template <typename State, typename Noise, typename Input>
-class StateTransitionFunctionBuilder
+class TransitionFunctionBuilder
 {
 public:
-    typedef fl::StateTransitionFunction<State, Noise, Input> Model;
+    typedef fl::TransitionFunction<State, Noise, Input> Model;
 
 public:
     virtual std::shared_ptr<Model> build() const = 0;
diff --git a/source/dbot/filter/rao_blackwell_coordinate_particle_filter.hpp b/source/dbot/filter/rao_blackwell_coordinate_particle_filter.hpp
@@ -41,27 +41,27 @@
 
 namespace dbot
 {
-template <typename ProcessModel, typename ObservationModel>
+template <typename Transition, typename Sensor>
 class RaoBlackwellCoordinateParticleFilter
 {
 public:
-    typedef typename ProcessModel::State State;
-    typedef typename ProcessModel::Input Input;
-    typedef typename ProcessModel::Noise Noise;
+    typedef typename Transition::State State;
+    typedef typename Transition::Input Input;
+    typedef typename Transition::Noise Noise;
 
     typedef Eigen::Array<State, -1, 1> StateArray;
     typedef Eigen::Array<fl::Real, -1, 1> RealArray;
     typedef Eigen::Array<int, -1, 1> IntArray;
 
-    typedef typename ObservationModel::Observation Observation;
+    typedef typename Sensor::Observation Observation;
 
     typedef fl::DiscreteDistribution<State> Belief;
 
 public:
     /// constructor and destructor *********************************************
     RaoBlackwellCoordinateParticleFilter(
-        const std::shared_ptr<ProcessModel> process_model,
-        const std::shared_ptr<ObservationModel> observation_model,
+        const std::shared_ptr<Transition> process_model,
+        const std::shared_ptr<Sensor> observation_model,
         const std::vector<std::vector<int>>& sampling_blocks,
         const fl::Real& max_kl_divergence = 0)
         : observation_model_(observation_model),
@@ -172,12 +172,12 @@ class RaoBlackwellCoordinateParticleFilter
         observation_model_->reset();
     }
 
-    std::shared_ptr<ObservationModel> observation_model()
+    std::shared_ptr<Sensor> observation_model()
     {
         return observation_model_;
     }
 
-    std::shared_ptr<ProcessModel> process_model()
+    std::shared_ptr<Transition> process_model()
     {
         return process_model_;
     }
@@ -192,8 +192,8 @@ class RaoBlackwellCoordinateParticleFilter
     RealArray loglikes_;
 
     // models
-    std::shared_ptr<ObservationModel> observation_model_;
-    std::shared_ptr<ProcessModel> process_model_;
+    std::shared_ptr<Sensor> observation_model_;
+    std::shared_ptr<Transition> process_model_;
 
     // parameters
     std::vector<std::vector<int>> sampling_blocks_;
diff --git a/source/dbot/gpu/kinect_image_model_gpu.hpp b/source/dbot/gpu/kinect_image_model_gpu.hpp
@@ -65,7 +65,7 @@ class KinectImageModelGPU;
 namespace internal
 {
 /**
- * ImageObservationModelGPU distribution traits specialization
+ * ImageSensorGPU distribution traits specialization
  * \internal
  */
 template <typename State>
@@ -74,7 +74,7 @@ struct Traits<KinectImageModelGPU<State>>
     typedef double Scalar;
     typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> Observation;
 
-    typedef RbObservationModel<State> Base;
+    typedef RbSensor<State> Base;
 
     typedef typename Eigen::Matrix<Scalar, 3, 3> CameraMatrix;
 };
@@ -83,7 +83,7 @@ struct Traits<KinectImageModelGPU<State>>
 
 
 /**
- * \class ImageObservationModelGPU
+ * \class ImageSensorGPU
  *
  * \ingroup distributions
  * \ingroup observation_models
diff --git a/source/dbot/model/depth_pixel_model.hpp b/source/dbot/model/depth_pixel_model.hpp
@@ -52,8 +52,8 @@ namespace fl
 {
 template <typename State_>
 class DepthPixelModel
-    : public ObservationFunction<Vector1d, State_, Vector1d>,
-      public ObservationDensity<Vector1d, State_>,
+    : public SensorFunction<Vector1d, State_, Vector1d>,
+      public SensorDensity<Vector1d, State_>,
       public Descriptor
 {
 public:
diff --git a/source/dbot/model/kinect_image_model.hpp b/source/dbot/model/kinect_image_model.hpp
diff --git a/source/dbot/model/kinect_pixel_model.hpp b/source/dbot/model/kinect_pixel_model.hpp
diff --git a/source/dbot/model/rao_blackwell_observation_model.hpp b/source/dbot/model/rao_blackwell_observation_model.hpp
diff --git a/source/dbot/tracker/rbc_particle_filter_object_tracker.hpp b/source/dbot/tracker/rbc_particle_filter_object_tracker.hpp
diff --git a/source/dbot/tracker/rms_gaussian_filter_object_tracker.hpp b/source/dbot/tracker/rms_gaussian_filter_object_tracker.hpp

Original file line number	Diff line number	Diff line change
`@@ -35,5 +35,5 @@`
`35`	`35`
`36`	`36`	`namespace dbot`
`37`	`37`	`{`
`38`		`-template class RbObservationModelBuilder<osr::FreeFloatingRigidBodiesState<>>;`
	`38`	`+template class RbSensorBuilder<osr::FreeFloatingRigidBodiesState<>>;`
`39`	`39`	`}`
Original file line number	Diff line number	Diff line change
`@@ -40,7 +40,7 @@`
`40`	`40`	`namespace dbot`
`41`	`41`	`{`
`42`	`42`	`template <typename State>`
`43`		`-RbObservationModelBuilder<State>::RbObservationModelBuilder(`
	`43`	`+RbSensorBuilder<State>::RbSensorBuilder(`
`44`	`44`	`const std::shared_ptr<ObjectModel>& object_model,`
`45`	`45`	`const std::shared_ptr<CameraData>& camera_data,`
`46`	`46`	`const Parameters& params)`
`@@ -49,7 +49,7 @@ RbObservationModelBuilder<State>::RbObservationModelBuilder(`
`49`	`49`	`}`
`50`	`50`
`51`	`51`	`template <typename State>`
`52`		`-auto RbObservationModelBuilder<State>::build() const -> std::shared_ptr<Model>`
	`52`	`+auto RbSensorBuilder<State>::build() const -> std::shared_ptr<Model>`
`53`	`53`	`{`
`54`	`54`	`std::shared_ptr<Model> obsrv_model;`
`55`	`55`
`@@ -66,7 +66,7 @@ auto RbObservationModelBuilder<State>::build() const -> std::shared_ptr<Model>`
`66`	`66`	`}`
`67`	`67`
`68`	`68`	`template <typename State>`
`69`		`-auto RbObservationModelBuilder<State>::create_gpu_based_model() const`
	`69`	`+auto RbSensorBuilder<State>::create_gpu_based_model() const`
`70`	`70`	`-> std::shared_ptr<Model>`
`71`	`71`	`{`
`72`	`72`	`#ifdef DBOT_BUILD_GPU`
`@@ -96,7 +96,7 @@ auto RbObservationModelBuilder<State>::create_gpu_based_model() const`
`96`	`96`	`}`
`97`	`97`
`98`	`98`	`template <typename State>`
`99`		`-auto RbObservationModelBuilder<State>::create_shader_provider() const`
	`99`	`+auto RbSensorBuilder<State>::create_shader_provider() const`
`100`	`100`	`-> std::shared_ptr<ShaderProvider>`
`101`	`101`	`{`
`102`	`102`	`if (params_.use_custom_shaders)`
`@@ -111,7 +111,7 @@ auto RbObservationModelBuilder<State>::create_shader_provider() const`
`111`	`111`	`}`
`112`	`112`
`113`	`113`	`template <typename State>`
`114`		`-auto RbObservationModelBuilder<State>::create_cpu_based_model() const`
	`114`	`+auto RbSensorBuilder<State>::create_cpu_based_model() const`
`115`	`115`	`-> std::shared_ptr<Model>`
`116`	`116`	`{`
`117`	`117`	`auto pixel_model = create_pixel_model();`
`@@ -133,7 +133,7 @@ auto RbObservationModelBuilder<State>::create_cpu_based_model() const`
`133`	`133`	`}`
`134`	`134`
`135`	`135`	`template <typename State>`
`136`		`-auto RbObservationModelBuilder<State>::create_pixel_model() const`
	`136`	`+auto RbSensorBuilder<State>::create_pixel_model() const`
`137`	`137`	`-> std::shared_ptr<KinectPixelModel>`
`138`	`138`	`{`
`139`	`139`	`std::shared_ptr<KinectPixelModel> kinect_pixel_observation_model(`
`@@ -144,7 +144,7 @@ auto RbObservationModelBuilder<State>::create_pixel_model() const`
`144`	`144`	`}`
`145`	`145`
`146`	`146`	`template <typename State>`
`147`		`-auto RbObservationModelBuilder<State>::create_occlusion_process() const`
	`147`	`+auto RbSensorBuilder<State>::create_occlusion_process() const`
`148`	`148`	`-> std::shared_ptr<OcclusionModel>`
`149`	`149`	`{`
`150`	`150`	`std::shared_ptr<OcclusionModel> occlusion_process(`
`@@ -155,7 +155,7 @@ auto RbObservationModelBuilder<State>::create_occlusion_process() const`
`155`	`155`	`}`
`156`	`156`
`157`	`157`	`template <typename State>`
`158`		`-auto RbObservationModelBuilder<State>::create_renderer() const`
	`158`	`+auto RbSensorBuilder<State>::create_renderer() const`
`159`	`159`	`-> std::shared_ptr<RigidBodyRenderer>`
`160`	`160`	`{`
`161`	`161`	`std::shared_ptr<RigidBodyRenderer> renderer(new RigidBodyRenderer(`
Original file line number	Diff line number	Diff line change
`@@ -29,10 +29,10 @@ namespace dbot`
`29`	`29`	`{`
`30`	`30`
`31`	`31`	`template <typename State, typename Noise, typename Input>`
`32`		`-class StateTransitionFunctionBuilder`
	`32`	`+class TransitionFunctionBuilder`
`33`	`33`	`{`
`34`	`34`	`public:`
`35`		`- typedef fl::StateTransitionFunction<State, Noise, Input> Model;`
	`35`	`+ typedef fl::TransitionFunction<State, Noise, Input> Model;`
`36`	`36`
`37`	`37`	`public:`
`38`	`38`	`virtual std::shared_ptr<Model> build() const = 0;`