From 3b632d1efeda15214db613acb1df2cabb12ae6a1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sun, 14 Jun 2020 00:20:47 +0200
Subject: [PATCH] Fix API of getState()
Need to fix implementation too but it works
---
include/laser/processor/processor_odom_icp.h | 4 ++--
src/processor/processor_odom_icp.cpp | 4 ++--
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/include/laser/processor/processor_odom_icp.h b/include/laser/processor/processor_odom_icp.h
index 7f24ed1ee..1895c713c 100644
--- a/include/laser/processor/processor_odom_icp.h
+++ b/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:
diff --git a/src/processor/processor_odom_icp.cpp b/src/processor/processor_odom_icp.cpp
index 8ea5e822a..0cdbe27ec 100644
--- a/src/processor/processor_odom_icp.cpp
+++ b/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!
--
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