From 15b2df0a6331237a79f501bf7cc1564d3b0e9fed Mon Sep 17 00:00:00 2001 From: joanvallve <jvallve@iri.upc.edu> Date: Thu, 18 Jun 2020 21:26:17 +0200 Subject: [PATCH] some const functions public --- include/core/processor/processor_motion.h | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h index 6d2b81e9e..e1caf7155 100644 --- a/include/core/processor/processor_motion.h +++ b/include/core/processor/processor_motion.h @@ -281,7 +281,7 @@ class ProcessorMotion : public ProcessorBase, public IsMotion PackKeyFramePtr computeProcessingStep(); // These are the pure virtual functions doing the mathematics - protected: + public: /** \brief convert raw CaptureMotion data to the delta-state format * @@ -416,6 +416,7 @@ class ProcessorMotion : public ProcessorBase, public IsMotion virtual Eigen::VectorXd correctDelta(const Eigen::VectorXd& delta_preint, const Eigen::VectorXd& delta_step) const = 0; + protected: /** \brief emplace a CaptureMotion * \param _ts time stamp * \param _sensor Sensor that produced the Capture @@ -444,14 +445,15 @@ class ProcessorMotion : public ProcessorBase, public IsMotion */ virtual FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion, CaptureBasePtr _capture_origin) = 0; - virtual VectorXd getCalibration (const CaptureBasePtr _capture) const = 0; virtual void setCalibration(const CaptureBasePtr _capture, const VectorXd& _calibration) = 0; Motion motionZero(const TimeStamp& _ts) const; + public: + + virtual VectorXd getCalibration (const CaptureBasePtr _capture) const = 0; bool hasCalibration() const {return calib_size_ > 0;} - public: //getters CaptureMotionPtr getOrigin() const; CaptureMotionPtr getLast() const; -- GitLab