rename unicycle3d to omnidirectional3d

fuse_models/CMakeLists.txt

@@ -55,9 +55,9 @@ add_library(${PROJECT_NAME}
   src/unicycle_2d.cpp
   src/unicycle_2d_ignition.cpp
   src/unicycle_2d_state_kinematic_constraint.cpp
-  src/unicycle_3d.cpp
-  src/unicycle_3d_ignition.cpp
-  src/unicycle_3d_state_kinematic_constraint.cpp
+  src/omnidirectional_3d.cpp
+  src/omnidirectional_3d_ignition.cpp
+  src/omnidirectional_3d_state_kinematic_constraint.cpp
 )
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"

fuse_models/fuse_plugins.xml

@@ -12,13 +12,13 @@
     </description>
   </class>
 
-  <class type="fuse_models::Unicycle3DStateKinematicConstraint" base_class_type="fuse_core::Constraint">
+  <class type="fuse_models::Omnidirectional3DStateKinematicConstraint" base_class_type="fuse_core::Constraint">
     <description>
     A class that represents a kinematic constraint between 3D states at two different times.
     </description>
   </class>
 
-  <class type="fuse_models::Unicycle3D" base_class_type="fuse_core::MotionModel">
+  <class type="fuse_models::Omnidirectional3D" base_class_type="fuse_core::MotionModel">
     <description>
     A fuse_models 3D kinematic model that generates kinematic constraints between provided time stamps, and adds
     those constraints to the fuse graph.
@@ -101,9 +101,9 @@
     A fuse_models ignition sensor designed to be used in conjunction with the unicycle 2D motion model.
     </description>
   </class>
-  <class type="fuse_models::Unicycle3DIgnition" base_class_type="fuse_core::SensorModel">
+  <class type="fuse_models::Omnidirectional3DIgnition" base_class_type="fuse_core::SensorModel">
     <description>
-    A fuse_models ignition sensor designed to be used in conjunction with the unicycle 3D motion model.
+    A fuse_models ignition sensor designed to be used in conjunction with the Omnidirectional 3D motion model.
     </description>
   </class>
 </library>

fuse_models/include/fuse_models/odometry_3d_publisher.hpp

@@ -74,7 +74,7 @@ namespace fuse_models
  *                                      the tf tree
  *  - predict_to_current_time (bool, default: false) The tf publication happens at a fixed rate.
  *                                                   This parameter specifies whether we should
- *                                                   predict, using the 3D unicycle model, the state
+ *                                                   predict, using the 3D omnidirectional model, the state
  *                                                   at the time of the tf publication, rather than
  *                                                   the last posterior (optimized) state.
  *  - publish_frequency (double, default: 10.0)  How often, in Hz, we publish the filtered state

fuse_models/include/fuse_models/unicycle_3d.hpp → fuse_models/include/fuse_models/omnidirectional_3d.hpp

@@ -70,22 +70,22 @@ namespace fuse_models
  *                                                 x_vel, y_vel, z_vel, roll_vel, pitch_vel, yaw_vel, 
  *                                                 x_acc, y_acc, z_acc).
  */
-class Unicycle3D : public fuse_core::AsyncMotionModel
+class Omnidirectional3D : public fuse_core::AsyncMotionModel
 {
 public:
-  FUSE_SMART_PTR_DEFINITIONS_WITH_EIGEN(Unicycle3D)
+  FUSE_SMART_PTR_DEFINITIONS_WITH_EIGEN(Omnidirectional3D)
 
   /**
    * @brief Default constructor
    *
    * All plugins are required to have a constructor that accepts no arguments
    */
-  Unicycle3D();
+  Omnidirectional3D();
 
   /**
    * @brief Destructor
    */
-  ~Unicycle3D() = default;
+  ~Omnidirectional3D() = default;
 
   /**
    * @brief Shadowing extension to the AsyncMotionModel::initialize call
@@ -237,7 +237,7 @@ class Unicycle3D : public fuse_core::AsyncMotionModel
   StateHistory state_history_;    //!< History of optimized graph pose estimates
 };
 
-std::ostream & operator<<(std::ostream & stream, const Unicycle3D & unicycle_2d);
+std::ostream & operator<<(std::ostream & stream, const Omnidirectional3D & unicycle_2d);
 
 }  // namespace fuse_models
 

fuse_models/include/fuse_models/unicycle_3d_ignition.hpp → fuse_models/include/fuse_models/omnidirectional_3d_ignition.hpp

@@ -41,7 +41,7 @@
 #include <fuse_core/async_sensor_model.hpp>
 #include <fuse_core/fuse_macros.hpp>
 #include <fuse_core/uuid.hpp>
-#include <fuse_models/parameters/unicycle_3d_ignition_params.hpp>
+#include <fuse_models/parameters/omnidirectional_3d_ignition_params.hpp>
 #include <fuse_msgs/srv/set_pose.hpp>
 #include <fuse_msgs/srv/set_pose_deprecated.hpp>
 
@@ -54,11 +54,11 @@ namespace fuse_models
 {
 
 /**
- * @brief A fuse_models ignition sensor designed to be used in conjunction with the unicycle 3D
+ * @brief A fuse_models ignition sensor designed to be used in conjunction with the Omnidirectional 3D
  *        motion model.
  *
  * This class publishes a transaction that contains a prior on each state subvariable used in the
- * unicycle 3D motion model (x, y, z, qx, qy, qz, x_vel, y_vel, z_vel, roll_vel, pitch_vel, 
+ * Omnidirectional 3D motion model (x, y, z, qx, qy, qz, x_vel, y_vel, z_vel, roll_vel, pitch_vel, 
  * yaw_vel, x_acc, y_acc, z_acc). When the sensor is first loaded, it publishes a single transaction 
  * with the configured initial state and covariance.
  * Additionally, whenever a pose is received, either on the set_pose service or the topic, this
@@ -90,23 +90,23 @@ namespace fuse_models
  *  - ~topic (string, default: "set_pose") The topic name for received PoseWithCovarianceStamped
  *                                         messages
  */
-class Unicycle3DIgnition : public fuse_core::AsyncSensorModel
+class Omnidirectional3DIgnition : public fuse_core::AsyncSensorModel
 {
 public:
-  FUSE_SMART_PTR_DEFINITIONS(Unicycle3DIgnition)
-  using ParameterType = parameters::Unicycle3DIgnitionParams;
+  FUSE_SMART_PTR_DEFINITIONS(Omnidirectional3DIgnition)
+  using ParameterType = parameters::Omnidirectional3DIgnitionParams;
 
   /**
    * @brief Default constructor
    *
    * All plugins are required to have a constructor that accepts no arguments
    */
-  Unicycle3DIgnition();
+  Omnidirectional3DIgnition();
 
   /**
    * @brief Destructor
    */
-  ~Unicycle3DIgnition() = default;
+  ~Omnidirectional3DIgnition() = default;
 
   /**
    * @brief Shadowing extension to the AsyncSensorModel::initialize call
@@ -120,7 +120,7 @@ class Unicycle3DIgnition : public fuse_core::AsyncSensorModel
    * @brief Subscribe to the input topic to start sending transactions to the optimizer
    *
    * As a very special case, we are overriding the start() method instead of providing an onStart()
-   * implementation. This is because the Unicycle3DIgnition sensor calls reset() on the optimizer,
+   * implementation. This is because the Omnidirectional3DIgnition sensor calls reset() on the optimizer,
    * which in turn calls stop() and start(). If we used the AsyncSensorModel implementations of
    * start() and stop(), the system would hang inside of one callback function while waiting for
    * another callback to complete.
@@ -131,7 +131,7 @@ class Unicycle3DIgnition : public fuse_core::AsyncSensorModel
    * @brief Unsubscribe from the input topic to stop sending transactions to the optimizer
    *
    * As a very special case, we are overriding the stop() method instead of providing an onStop()
-   * implementation. This is because the Unicycle3DIgnition sensor calls reset() on the optimizer,
+   * implementation. This is because the Omnidirectional3DIgnition sensor calls reset() on the optimizer,
    * which in turn calls stop() and start(). If we used the AsyncSensorModel implementations of
    * start() and stop(), the system would hang inside of one callback function while waiting for
    * another callback to complete.
@@ -180,7 +180,7 @@ class Unicycle3DIgnition : public fuse_core::AsyncSensorModel
   /**
    * @brief Create and send a prior transaction based on the supplied pose
    *
-   * The unicycle 3d state members not included in the pose message (x_vel, y_vel, z_vel, roll_vel, pitch_vel, 
+   * The omnidirectional 3d state members not included in the pose message (x_vel, y_vel, z_vel, roll_vel, pitch_vel, 
    * yaw_vel, x_acc, y_acc, z_acc) will use the initial state values and standard deviations configured on the 
    * parameter server.
    *

fuse_models/include/fuse_models/unicycle_3d_state_cost_function.hpp → fuse_models/include/fuse_models/omnidirectional_3d_state_cost_function.hpp

@@ -36,7 +36,7 @@
 
 #include <ceres/sized_cost_function.h>
 
-#include <fuse_models/unicycle_3d_predict.hpp>
+#include <fuse_models/omnidirectional_3d_predict.hpp>
 
 #include <fuse_core/eigen.hpp>
 #include <fuse_core/fuse_macros.hpp>
@@ -84,7 +84,7 @@ namespace fuse_models
  * where, mu is a vector and S is a covariance matrix, then, A = S^{-1/2}, i.e the matrix A is the
  * square root information matrix (the inverse of the covariance).
  */
-class Unicycle3DStateCostFunction : public ceres::SizedCostFunction<15, 3, 4, 3, 3, 3, 3, 4, 3, 3, 3>
+class Omnidirectional3DStateCostFunction : public ceres::SizedCostFunction<15, 3, 4, 3, 3, 3, 3, 4, 3, 3, 3>
 {
 public:
   FUSE_MAKE_ALIGNED_OPERATOR_NEW()
@@ -97,7 +97,7 @@ class Unicycle3DStateCostFunction : public ceres::SizedCostFunction<15, 3, 4, 3,
    *              order (x, y, z, roll, pitch, yaw, x_vel, y_vel, z_vel, roll_vel, pitch_vel, yaw_vel, 
    *              x_acc, y_acc, z_acc)
    */
-  Unicycle3DStateCostFunction(const double dt, const fuse_core::Matrix15d & A);
+  Omnidirectional3DStateCostFunction(const double dt, const fuse_core::Matrix15d & A);
 
   /**
    * @brief Evaluate the cost function. Used by the Ceres optimization engine.
@@ -279,7 +279,7 @@ class Unicycle3DStateCostFunction : public ceres::SizedCostFunction<15, 3, 4, 3,
                             //!< information matrix
 };
 
-Unicycle3DStateCostFunction::Unicycle3DStateCostFunction(
+Omnidirectional3DStateCostFunction::Omnidirectional3DStateCostFunction(
   const double dt,
   const fuse_core::Matrix15d & A)
 : dt_(dt),

fuse_models/include/fuse_models/unicycle_3d_state_cost_functor.hpp → fuse_models/include/fuse_models/omnidirectional_3d_state_cost_functor.hpp

@@ -34,7 +34,7 @@
 #ifndef FUSE_MODELS__UNICYCLE_3D_STATE_COST_FUNCTOR_HPP_
 #define FUSE_MODELS__UNICYCLE_3D_STATE_COST_FUNCTOR_HPP_
 
-#include <fuse_models/unicycle_3d_predict.hpp>
+#include <fuse_models/omnidirectional_3d_predict.hpp>
 
 #include <fuse_core/eigen.hpp>
 #include <fuse_core/fuse_macros.hpp>
@@ -82,7 +82,7 @@ namespace fuse_models
  * where, mu is a vector and S is a covariance matrix, then, A = S^{-1/2}, i.e the matrix A is the
  * square root information matrix (the inverse of the covariance).
  */
-class Unicycle3DStateCostFunctor
+class Omnidirectional3DStateCostFunctor
 {
 public:
   FUSE_MAKE_ALIGNED_OPERATOR_NEW()
@@ -95,7 +95,7 @@ class Unicycle3DStateCostFunctor
    *              order (x, y, z, qx, qy, qz, qw, x_vel, y_vel, z_vel, roll_vel, pitch_vel, yaw_vel, 
    *                      x_acc, y_acc, z_acc)
    */
-  Unicycle3DStateCostFunctor(const double dt, const fuse_core::Matrix15d & A);
+  Omnidirectional3DStateCostFunctor(const double dt, const fuse_core::Matrix15d & A);
 
   /**
    * @brief Evaluate the cost function. Used by the Ceres optimization engine.
@@ -131,7 +131,7 @@ class Unicycle3DStateCostFunctor
                            //!< information matrix
 };
 
-Unicycle3DStateCostFunctor::Unicycle3DStateCostFunctor(
+Omnidirectional3DStateCostFunctor::Omnidirectional3DStateCostFunctor(
   const double dt,
   const fuse_core::Matrix15d & A)
 : dt_(dt),
@@ -140,7 +140,7 @@ Unicycle3DStateCostFunctor::Unicycle3DStateCostFunctor(
 }
 
 template<typename T>
-bool Unicycle3DStateCostFunctor::operator()(
+bool Omnidirectional3DStateCostFunctor::operator()(
   const T * const position1,
   const T * const orientation1,
   const T * const vel_linear1,

fuse_models/include/fuse_models/unicycle_3d_state_kinematic_constraint.hpp → fuse_models/include/fuse_models/omnidirectional_3d_state_kinematic_constraint.hpp

@@ -63,15 +63,15 @@ namespace fuse_models
  * The fuse_models 3D state is a combination of 3D position, 3D orientation, 3D linear velocity, 3D
  * angular velocity, and 3D linear acceleration.
  */
-class Unicycle3DStateKinematicConstraint : public fuse_core::Constraint
+class Omnidirectional3DStateKinematicConstraint : public fuse_core::Constraint
 {
 public:
-  FUSE_CONSTRAINT_DEFINITIONS_WITH_EIGEN(Unicycle3DStateKinematicConstraint)
+  FUSE_CONSTRAINT_DEFINITIONS_WITH_EIGEN(Omnidirectional3DStateKinematicConstraint)
 
   /**
    * @brief Default constructor
    */
-  Unicycle3DStateKinematicConstraint() = default;
+  Omnidirectional3DStateKinematicConstraint() = default;
 
   /**
    * @brief Create a constraint using a time delta and a kinematic model cost functor
@@ -94,7 +94,7 @@ class Unicycle3DStateKinematicConstraint : public fuse_core::Constraint
    *                                  roll, pitch, yaw, x_vel, y_vel, z_vel, roll_vel, pitch_vel, yaw_vel, 
    *                                  x_acc, y_acc, z_acc)
    */
-  Unicycle3DStateKinematicConstraint(
+  Omnidirectional3DStateKinematicConstraint(
     const std::string & source,
     const fuse_variables::Position3DStamped & position1,
     const fuse_variables::Orientation3DStamped & orientation1,
@@ -111,7 +111,7 @@ class Unicycle3DStateKinematicConstraint : public fuse_core::Constraint
   /**
    * @brief Destructor
    */
-  virtual ~Unicycle3DStateKinematicConstraint() = default;
+  virtual ~Omnidirectional3DStateKinematicConstraint() = default;
 
   /**
    * @brief Read-only access to the time delta between the first and second state (really, between
@@ -183,6 +183,6 @@ class Unicycle3DStateKinematicConstraint : public fuse_core::Constraint
 
 }  // namespace fuse_models
 
-BOOST_CLASS_EXPORT_KEY(fuse_models::Unicycle3DStateKinematicConstraint);
+BOOST_CLASS_EXPORT_KEY(fuse_models::Omnidirectional3DStateKinematicConstraint);
 
 #endif  // FUSE_MODELS__UNICYCLE_3D_STATE_KINEMATIC_CONSTRAINT_HPP_

fuse_models/include/fuse_models/parameters/unicycle_3d_ignition_params.hpp → fuse_models/include/fuse_models/parameters/omnidirectional_3d_ignition_params.hpp

@@ -52,9 +52,9 @@ namespace parameters
 {
 
 /**
- * @brief Defines the set of parameters required by the Unicycle3DIgnition class
+ * @brief Defines the set of parameters required by the Omnidirectional3DIgnition class
  */
-struct Unicycle3DIgnitionParams : public ParameterBase
+struct Omnidirectional3DIgnitionParams : public ParameterBase
 {
 public:
   /**

fuse_models/src/odometry_3d_publisher.cpp

@@ -47,7 +47,7 @@
 #include <fuse_core/uuid.hpp>
 #include <fuse_models/common/sensor_proc.hpp>
 #include <fuse_models/odometry_3d_publisher.hpp>
-#include <fuse_models/unicycle_3d_predict.hpp>
+#include <fuse_models/omnidirectional_3d_predict.hpp>
 #include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <pluginlib/class_list_macros.hpp>