diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index a3557b0e9e49a0b38851b5af4ea0dc2253a6be3b..e01c6209420ccc7db99cf8be85372da41c5d219d 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -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 string frame_structure
+ /** \brief Emplace frame from state
* \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 string frame_structure without structure
+ /** \brief Emplace frame from state 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
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 1cff3a84283ef40e343b6df3af01eb40502a776e..c95128244b1d66cda2d2747ce0940a360e133c03 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -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_;
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index 1d5fb269443065e7dff68a32b5d6a74b0c0a2daf..f173cb84938649867b851f43b507c4e08b777e74 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -74,7 +74,7 @@ TEST(Problem, create)
ASSERT_EQ(P, P->getMap()->getProblem());
// check frame structure through the state size
- ASSERT_EQ(P->getFrameStructureSize(), 10);
+ ASSERT_EQ(P->getFrameStructure(), "POV");
}
TEST(Problem, Sensors)