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Commit a62ea0fd authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Add some comments in print() and check()

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with 21 additions and 7 deletions
src/problem.cpp
+ 21
− 7
View file @ a62ea0fd
......@@ -697,7 +697,7 @@ void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks)
cout << "Hardware" << ((depth < 1) ? (" -- " + std::to_string(getHardwarePtr()->getSensorList().size()) + "S") : "") << endl;
if (depth >= 1)
{
// Sensors
// Sensors =======================================================================================
for (auto S : getHardwarePtr()->getSensorList())
{
cout << " S" << S->id() << " " << S->getType();
......@@ -742,7 +742,7 @@ void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks)
}
if (depth >= 2)
{
// Processors
// Processors =======================================================================================
for (auto p : S->getProcessorList())
{
if (p->isMotion())
......@@ -781,7 +781,7 @@ void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks)
cout << "Trajectory" << ((depth < 1) ? (" -- " + std::to_string(getTrajectoryPtr()->getFrameList().size()) + "F") : "") << endl;
if (depth >= 1)
{
// Frames
// Frames =======================================================================================
for (auto F : getTrajectoryPtr()->getFrameList())
{
cout << (F->isKey() ? " KF" : " F") << F->id() << ((depth < 2) ? " -- " + std::to_string(F->getCaptureList().size()) + "C " : "");
......@@ -809,7 +809,7 @@ void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks)
}
if (depth >= 2)
{
// Captures
// Captures =======================================================================================
for (auto C : F->getCaptureList())
{
cout << " C" << (C->isMotion() ? "M" : "") << C->id() << " " << C->getType();
......@@ -865,7 +865,7 @@ void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks)
if (depth >= 3)
{
// Features
// Features =======================================================================================
for (auto f : C->getFeatureList())
{
cout << " f" << f->id() << " trk" << f->trackId() << " " << f->getType() << ((depth < 4) ? " -- " + std::to_string(f->getConstraintList().size()) + "c " : "");
......@@ -881,7 +881,7 @@ void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks)
<< " )" << endl;
if (depth >= 4)
{
// Constraints
// Constraints =======================================================================================
for (auto c : f->getConstraintList())
{
cout << " c" << c->id() << " " << c->getType() << " -->";
......@@ -907,7 +907,7 @@ void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks)
cout << "Map" << ((depth < 1) ? (" -- " + std::to_string(getMapPtr()->getLandmarkList().size()) + "L") : "") << endl;
if (depth >= 1)
{
// Landmarks
// Landmarks =======================================================================================
for (auto L : getMapPtr()->getLandmarkList())
{
cout << " L" << L->id() << " " << L->getType();
......@@ -967,6 +967,8 @@ bool Problem::check(int verbose_level)
}
// check pointer to Problem
is_consistent = is_consistent && (H->getProblem().get() == P_raw);
// Sensors =======================================================================================
for (auto S : H->getSensorList())
{
if (verbose_level > 0)
......@@ -989,6 +991,8 @@ bool Problem::check(int verbose_level)
// check problem and hardware pointers
is_consistent = is_consistent && (S->getProblem().get() == P_raw);
is_consistent = is_consistent && (S->getHardwarePtr() == H);
// Processors =======================================================================================
for (auto p : S->getProcessorList())
{
if (verbose_level > 0)
......@@ -1012,6 +1016,8 @@ bool Problem::check(int verbose_level)
}
// check pointer to Problem
is_consistent = is_consistent && (T->getProblem().get() == P_raw);
// Frames =======================================================================================
for (auto F : T->getFrameList())
{
if (verbose_level > 0)
......@@ -1057,6 +1063,8 @@ bool Problem::check(int verbose_level)
}
}
}
// Captures =======================================================================================
for (auto C : F->getCaptureList())
{
if (verbose_level > 0)
......@@ -1082,6 +1090,8 @@ bool Problem::check(int verbose_level)
// check problem and frame pointers
is_consistent = is_consistent && (C->getProblem().get() == P_raw);
is_consistent = is_consistent && (C->getFramePtr() == F);
// Features =======================================================================================
for (auto f : C->getFeatureList())
{
if (verbose_level > 0)
......@@ -1104,6 +1114,8 @@ bool Problem::check(int verbose_level)
// check constrained_by pointer to this feature
is_consistent = is_consistent && (cby->getFeatureOtherPtr() == f);
}
// Constraints =======================================================================================
for (auto c : f->getConstraintList())
{
if (verbose_level > 0)
......@@ -1267,6 +1279,8 @@ bool Problem::check(int verbose_level)
cout << "M @ " << M.get() << endl;
// check pointer to Problem
is_consistent = is_consistent && (M->getProblem().get() == P_raw);
// Landmarks =======================================================================================
for (auto L : M->getLandmarkList())
{
if (verbose_level > 0)
......
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