Merge branch 'devel' of...

Merge branch 'devel' of ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/laser.git into devel

include/laser/processor/processor_odom_icp.h

@@ -169,9 +169,9 @@ class ProcessorOdomIcp : public ProcessorTracker, public IsMotion
         ~ProcessorOdomIcp() override;
         void configure(SensorBasePtr _sensor) override;
 
-        VectorComposite getState() const override;
+        VectorComposite getState(const StateStructure& _structure = "") const override;
         TimeStamp getTimeStamp( ) const override;
-        VectorComposite getState(const TimeStamp& _ts) const override;
+        VectorComposite getState(const TimeStamp& _ts, const StateStructure& _structure = "") const override;
         void setProblem(ProblemPtr _problem_ptr) override;
 
     protected:

src/processor/processor_odom_icp.cpp

@@ -319,7 +319,7 @@ FactorBasePtr ProcessorOdomIcp::emplaceFactor(FeatureBasePtr _feature)
                                              params_->apply_loss_function);
 }
 
-VectorComposite ProcessorOdomIcp::getState( ) const
+VectorComposite ProcessorOdomIcp::getState( const StateStructure& _structure ) const
 {
     Isometry2d w_T_ro = Translation2d(origin_ptr_->getFrame()->getP()->getState()) * Rotation2Dd(origin_ptr_->getFrame()->getO()->getState()(0));
     Isometry2d ro_T_so = Translation2d(origin_ptr_->getSensorP()->getState()) * Rotation2Dd(origin_ptr_->getSensorO()->getState()(0));
@@ -348,7 +348,7 @@ TimeStamp ProcessorOdomIcp::getTimeStamp() const
         return last_ptr_->getTimeStamp();
 }
 
-VectorComposite ProcessorOdomIcp::getState(const TimeStamp& _ts) const
+VectorComposite ProcessorOdomIcp::getState(const TimeStamp& _ts, const StateStructure& _structure) const
 {
     // todo fix this code to get any state in the whole trajectory!