Add composite vector getters to ProcMotion

include/core/processor/processor_motion.h

@@ -136,11 +136,6 @@ class ProcessorMotion : public ProcessorBase, public IsMotion
 
 
 
-        // TODO move somewhere below
-        virtual bool  getStateComposite(VectorComposite& _state) const override;
-        virtual bool  getStateComposite(const TimeStamp& _ts, VectorComposite& _state) const override;
-        using IsMotion::getStateComposite;
-
 
 
 
@@ -174,6 +169,11 @@ class ProcessorMotion : public ProcessorBase, public IsMotion
 
         // Queries to the processor:
 
+        virtual bool  getVectorComposite(VectorComposite& _state) const override;
+        virtual bool  getVectorComposite(const TimeStamp& _ts, VectorComposite& _state) const override;
+        using IsMotion::getVectorComposite;
+
+
         /** \brief Fill a reference to the state integrated so far
          * \param _x the returned state vector
          */

src/processor/processor_motion.cpp

@@ -398,16 +398,21 @@ bool ProcessorMotion::getState(const TimeStamp& _ts, Eigen::VectorXd& _x) const
     return true;
 }
 
-bool ProcessorMotion::getStateComposite(VectorComposite& _state) const
+bool ProcessorMotion::getVectorComposite(VectorComposite& _state) const
 {
     // TODO implement this
     if (last_ptr_ && last_ptr_->getFrame())
-        return getLast()->getFrame()->getVectorComposite(_state);
+        return last_ptr_->getFrame()->getVectorComposite(_state);
+
     else
-        return false;
+        if (origin_ptr_ && origin_ptr_->getFrame())
+            return origin_ptr_->getFrame()->getVectorComposite(_state);
+
+        else
+            return false;
 }
 
-bool ProcessorMotion::getStateComposite(const TimeStamp& _ts, VectorComposite& _state) const
+bool ProcessorMotion::getVectorComposite(const TimeStamp& _ts, VectorComposite& _state) const
 {
     // TODO implement this
     if (last_ptr_ && last_ptr_->getFrame())