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Commit 19fedec9 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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[WIP] Lib compiles, tests do not

Some warnings about _delete_ kw
parent 944d6eda
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#include "ceres_manager.h" #include "ceres_manager.h"
#include "../trajectory_base.h"
#include "../map_base.h"
#include "../landmark_base.h"
namespace wolf { namespace wolf {
......
...@@ -106,7 +106,7 @@ class FrameBase : public NodeBase // NodeConstrained<TrajectoryBase,CaptureBase> ...@@ -106,7 +106,7 @@ class FrameBase : public NodeBase // NodeConstrained<TrajectoryBase,CaptureBase>
// Wolf tree access --------------------------------------------------- // Wolf tree access ---------------------------------------------------
TrajectoryBasePtr getTrajectoryPtr() const; TrajectoryBasePtr getTrajectoryPtr() const;
void setTrajectoryPtr(TrajectoryBasePtr _trj_ptr); void setTrajectoryPtr(TrajectoryBasePtr _trj_ptr){trajectory_ptr_ = _trj_ptr;}
FrameBasePtr getPreviousFrame() const; FrameBasePtr getPreviousFrame() const;
FrameBasePtr getNextFrame() const; FrameBasePtr getNextFrame() const;
......
...@@ -7,6 +7,8 @@ ...@@ -7,6 +7,8 @@
#include "constraint_image_new_landmark.h" #include "constraint_image_new_landmark.h"
#include "sensor_camera.h" #include "sensor_camera.h"
#include "pinholeTools.h" #include "pinholeTools.h"
#include "trajectory_base.h"
#include "map_base.h"
#include <Eigen/Geometry> #include <Eigen/Geometry>
......
...@@ -44,7 +44,7 @@ void TrajectoryBase::getConstraintList(ConstraintBaseList & _ctr_list) ...@@ -44,7 +44,7 @@ void TrajectoryBase::getConstraintList(ConstraintBaseList & _ctr_list)
void TrajectoryBase::sortFrame(FrameBase* _frame_ptr) void TrajectoryBase::sortFrame(FrameBase* _frame_ptr)
{ {
moveDownNode(_frame_ptr, computeFrameOrder(_frame_ptr)); moveFrame(_frame_ptr, computeFrameOrder(_frame_ptr));
} }
FrameBaseIter TrajectoryBase::computeFrameOrder(FrameBase* _frame_ptr) FrameBaseIter TrajectoryBase::computeFrameOrder(FrameBase* _frame_ptr)
......
...@@ -81,6 +81,15 @@ class TrajectoryBase //: public NodeBase // NodeLinked<Problem,FrameBase> ...@@ -81,6 +81,15 @@ class TrajectoryBase //: public NodeBase // NodeLinked<Problem,FrameBase>
**/ **/
void sortFrame(FrameBase* _frame_iter); void sortFrame(FrameBase* _frame_iter);
void moveFrame(FrameBasePtr _frm_ptr, FrameBaseIter _place)
{
if (*_place != _frm_ptr)
{
frame_list_.remove(_frm_ptr);
frame_list_.insert(_place, _frm_ptr);
}
}
/** \brief Compute the position where the frame should be /** \brief Compute the position where the frame should be
**/ **/
FrameBaseIter computeFrameOrder(FrameBase* _frame_ptr); FrameBaseIter computeFrameOrder(FrameBase* _frame_ptr);
......
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