Resolve "Migrate to state composites"

Closes #4 (closed)

include/bodydynamics/capture/capture_force_torque_preint.h

@@ -7,6 +7,8 @@
 #include "core/capture/capture_motion.h"
 #include "bodydynamics/capture/capture_inertial_kinematics.h"
 
+#include <core/state_block/state_composite.h>
+
 namespace wolf {
     
 WOLF_PTR_TYPEDEFS(CaptureForceTorquePreint);
@@ -39,35 +41,14 @@ class CaptureForceTorquePreint : public CaptureMotion
     
         virtual ~CaptureForceTorquePreint();
 
-        virtual VectorXd getCalibration() const override;
-
-        virtual VectorXd correctDelta(const VectorXd& _delta, const VectorXd& _delta_error) const override;
-
         CaptureBasePtr getIkinCaptureOther(){ return cap_ikin_other_; }
         CaptureBasePtr getGyroCaptureOther(){ return cap_gyro_other_;}
 
     private:
         CaptureBasePtr cap_ikin_other_;
         CaptureBasePtr cap_gyro_other_;
-
-    protected:
-        SizeEigen computeCalibSize() const override;
-
-
 };
 
-inline SizeEigen CaptureForceTorquePreint::computeCalibSize() const
-{
-    // Hack: CaptureBase::computeCalibSize will compute a size 0 since no statblock is stored in this capture
-    // To be able to use setCalib, we need to override this function
-    return 6;
-}
-
-inline Eigen::VectorXd CaptureForceTorquePreint::correctDelta(const VectorXd& _delta, const VectorXd& _delta_error_biases) const
-{
-    return bodydynamics::plus(_delta, _delta_error_biases);  // deltacorr = plus(deltapreint, J_deltapreint_biases * (biases - biasespreint)
-}
-
 } // namespace wolf
 
 #endif // CAPTURE_FORCE_TORQUE_PREINT_H