From 0cef6ecf56761a40391c544781ef7d3f4ee95c05 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sat, 11 Apr 2020 00:19:41 +0200
Subject: [PATCH] Add composite vector getters to ProcMotion
---
include/core/processor/processor_motion.h | 10 +++++-----
src/processor/processor_motion.cpp | 13 +++++++++----
2 files changed, 14 insertions(+), 9 deletions(-)
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index d4a8662dd..2340cd8fc 100644
--- a/include/core/processor/processor_motion.h
+++ b/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
*/
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 4b34d5430..b31ae1e1b 100644
--- a/src/processor/processor_motion.cpp
+++ b/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())
--
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