From 0f7f2a58b6495be09da72850969dd7f719940874 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Mon, 15 Jun 2020 13:24:49 +0200
Subject: [PATCH] Make getStructure(), getFrameStructure and getStateStructure
more uniform
---
include/core/problem/problem.h | 2 +-
include/core/processor/is_motion.h | 4 ++--
src/problem/problem.cpp | 3 ++-
3 files changed, 5 insertions(+), 4 deletions(-)
diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index f64f62905..63512663b 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -83,7 +83,7 @@ class Problem : public std::enable_shared_from_this<Problem>
// Properties -----------------------------------------
public:
SizeEigen getDim() const;
- StateStructure getFrameStructure() const;
+ const StateStructure& getFrameStructure() const;
protected:
void appendToStructure(const StateStructure& _structure);
diff --git a/include/core/processor/is_motion.h b/include/core/processor/is_motion.h
index 09d7bc68d..08e500822 100644
--- a/include/core/processor/is_motion.h
+++ b/include/core/processor/is_motion.h
@@ -29,8 +29,8 @@ class IsMotion
virtual VectorComposite getState(const StateStructure& _structure = "") const = 0;
virtual VectorComposite getState(const TimeStamp& _ts, const StateStructure& _structure = "") const = 0;
- std::string getStateStructure(){return state_structure_;};
- void setStateStructure(std::string _state_structure){state_structure_ = _state_structure;};
+ const StateStructure& getStateStructure ( ) { return state_structure_; };
+ void setStateStructure(std::string _state_structure) { state_structure_ = _state_structure; };
void addToProblem(ProblemPtr _prb_ptr, IsMotionPtr _motion_ptr);
protected:
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 4f1b16ee5..b75b2eb0a 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -543,7 +543,8 @@ SizeEigen Problem::getDim() const
{
return dim_;
}
-StateStructure Problem::getFrameStructure() const
+
+const StateStructure& Problem::getFrameStructure() const
{
return frame_structure_;
}
--
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