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Commit 3b632d1e authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Fix API of getState()

Need to fix implementation too but it works
parent 3940b80d
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2 merge requests!30Release after RAL,!29After 2nd RAL submission
......@@ -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:
......
......@@ -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!
......
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