Skip to content
GitLab
Explore
Sign in
Primary navigation
Search or go to…
Project
wolf
Manage
Activity
Members
Labels
Plan
Issues
Issue boards
Milestones
Code
Merge requests
Repository
Branches
Commits
Tags
Repository graph
Compare revisions
Build
Pipelines
Jobs
Pipeline schedules
Artifacts
Deploy
Releases
Container Registry
Model registry
Operate
Environments
Monitor
Incidents
Service Desk
Analyze
Value stream analytics
Contributor analytics
CI/CD analytics
Repository analytics
Model experiments
Help
Help
Support
GitLab documentation
Compare GitLab plans
Community forum
Contribute to GitLab
Provide feedback
Keyboard shortcuts
?
Snippets
Groups
Projects
Show more breadcrumbs
mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
146f8308
Commit
146f8308
authored
5 years ago
by
Joan Solà Ortega
Browse files
Options
Downloads
Patches
Plain Diff
Remove getStructureSize() from Problem
parent
2c70794f
No related branches found
No related tags found
1 merge request
!366
Resolve "Complete state vector new data structure?"
Changes
3
Hide whitespace changes
Inline
Side-by-side
Showing
3 changed files
include/core/problem/problem.h
+21
-8
21 additions, 8 deletions
include/core/problem/problem.h
src/problem/problem.cpp
+0
-11
0 additions, 11 deletions
src/problem/problem.cpp
test/gtest_problem.cpp
+1
-1
1 addition, 1 deletion
test/gtest_problem.cpp
with
22 additions
and
20 deletions
include/core/problem/problem.h
+
21
−
8
View file @
146f8308
...
...
@@ -83,8 +83,6 @@ class Problem : public std::enable_shared_from_this<Problem>
// Properties -----------------------------------------
public:
SizeEigen
getFrameStructureSize
()
const
;
void
getFrameStructureSize
(
SizeEigen
&
_x_size
,
SizeEigen
&
_cov_size
)
const
;
SizeEigen
getDim
()
const
;
StateStructure
getFrameStructure
()
const
;
...
...
@@ -208,7 +206,7 @@ class Problem : public std::enable_shared_from_this<Problem>
const
TimeStamp
&
_ts
,
const
double
&
_time_tol
);
/** \brief Emplace frame from string frame_structure
/** \brief Emplace frame from string frame_structure
, dimension and vector
* \param _frame_key_type Either KEY, AUXILIARY or NON_ESTIMATED
* \param _time_stamp Time stamp of the frame
* \param _frame_structure String indicating the frame structure.
...
...
@@ -226,12 +224,14 @@ class Problem : public std::enable_shared_from_this<Problem>
const
SizeEigen
_dim
,
//
const
Eigen
::
VectorXd
&
_frame_state
);
/** \brief Emplace frame from string frame_structure
/** \brief Emplace frame from string frame_structure
and state
* \param _frame_key_type Either KEY, AUXILIARY or NON_ESTIMATED
* \param _time_stamp Time stamp of the frame
* \param _frame_structure String indicating the frame structure.
* \param _frame_state State vector; must match the size and format of the chosen frame structure
*
* - The dimension is taken from Problem
*
* This acts as a Frame factory, but also takes care to update related lists in WolfProblem:
* - Create a Frame
* - Add it to Trajectory
...
...
@@ -242,11 +242,14 @@ class Problem : public std::enable_shared_from_this<Problem>
const
StateStructure
&
_frame_structure
,
//
const
VectorComposite
&
_frame_state
);
/** \brief Emplace frame from st
ring frame_structur
e
/** \brief Emplace frame from st
at
e
* \param _frame_key_type Either KEY, AUXILIARY or NON_ESTIMATED
* \param _time_stamp Time stamp of the frame
* \param _frame_state State; must be part of the problem's frame structure
*
* - The structure is taken from Problem
* - The dimension is taken from Problem
*
* This acts as a Frame factory, but also takes care to update related lists in WolfProblem:
* - Create a Frame
* - Add it to Trajectory
...
...
@@ -256,12 +259,15 @@ class Problem : public std::enable_shared_from_this<Problem>
const
TimeStamp
&
_time_stamp
,
//
const
VectorComposite
&
_frame_state
);
/** \brief Emplace frame from string frame_structure
without state
/** \brief Emplace frame from string frame_structure
and dimension
* \param _frame_key_type Either KEY, AUXILIARY or NON_ESTIMATED
* \param _time_stamp Time stamp of the frame
* \param _frame_structure String indicating the frame structure.
* \param _dim variable indicating the dimension of the problem
*
* - The dimension is taken from Problem
* - The state is taken from Problem
*
* This acts as a Frame factory, but also takes care to update related lists in WolfProblem:
* - Create a Frame
* - Add it to Trajectory
...
...
@@ -272,11 +278,14 @@ class Problem : public std::enable_shared_from_this<Problem>
const
StateStructure
&
_frame_structure
,
//
const
SizeEigen
_dim
);
/** \brief Emplace frame from st
ring frame_structure without structure
/** \brief Emplace frame from st
ate vector
* \param _frame_key_type Either KEY, AUXILIARY or NON_ESTIMATED
* \param _time_stamp Time stamp of the frame
* \param _frame_state State vector; must match the size and format of the chosen frame structure
*
* - The structure is taken from Problem
* - The dimension is taken from Problem
*
* This acts as a Frame factory, but also takes care to update related lists in WolfProblem:
* - Create a Frame
* - Add it to Trajectory
...
...
@@ -286,10 +295,14 @@ class Problem : public std::enable_shared_from_this<Problem>
const
TimeStamp
&
_time_stamp
,
//
const
Eigen
::
VectorXd
&
_frame_state
);
/** \brief Emplace frame
from string frame_structure without structure nor state
/** \brief Emplace frame
, guess all values
* \param _frame_key_type Either KEY, AUXILIARY or NON_ESTIMATED
* \param _time_stamp Time stamp of the frame
*
* - The structure is taken from Problem
* - The dimension is taken from Problem
* - The state is taken from Problem
*
* This acts as a Frame factory, but also takes care to update related lists in WolfProblem:
* - Create a Frame
* - Add it to Trajectory
...
...
This diff is collapsed.
Click to expand it.
src/problem/problem.cpp
+
0
−
11
View file @
146f8308
...
...
@@ -483,17 +483,6 @@ VectorComposite Problem::getState (const TimeStamp& _ts, const StateStructure& _
return
state
;
}
SizeEigen
Problem
::
getFrameStructureSize
()
const
{
return
state_size_
;
}
void
Problem
::
getFrameStructureSize
(
SizeEigen
&
_x_size
,
SizeEigen
&
_cov_size
)
const
{
_x_size
=
state_size_
;
_cov_size
=
state_cov_size_
;
}
SizeEigen
Problem
::
getDim
()
const
{
return
dim_
;
...
...
This diff is collapsed.
Click to expand it.
test/gtest_problem.cpp
+
1
−
1
View file @
146f8308
...
...
@@ -74,7 +74,7 @@ TEST(Problem, create)
ASSERT_EQ
(
P
,
P
->
getMap
()
->
getProblem
());
// check frame structure through the state size
ASSERT_EQ
(
P
->
getFrameStructure
Size
(),
10
);
ASSERT_EQ
(
P
->
getFrameStructure
(),
"POV"
);
}
TEST
(
Problem
,
Sensors
)
...
...
This diff is collapsed.
Click to expand it.
Preview
0%
Loading
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Save comment
Cancel
Please
register
or
sign in
to comment