From 1be38ec608be86bd0ddb8247ca0b79fc24f1c957 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 1 Apr 2020 02:00:51 +0200
Subject: [PATCH] Add API shortcuts to factors
---
include/core/factor/factor_base.h | 8 ++++++++
src/factor/factor_base.cpp | 12 ++++++++++++
2 files changed, 20 insertions(+)
diff --git a/include/core/factor/factor_base.h b/include/core/factor/factor_base.h
index 16311a196..cd1439f96 100644
--- a/include/core/factor/factor_base.h
+++ b/include/core/factor/factor_base.h
@@ -144,6 +144,14 @@ class FactorBase : public NodeBase, public std::enable_shared_from_this<FactorBa
**/
CaptureBasePtr getCapture() const;
+ /** \brief Returns a pointer to its frame
+ **/
+ FrameBasePtr getFrame() const;
+
+ /** \brief Returns a pointer to its capture's sensor
+ **/
+ SensorBasePtr getSensor() const;
+
/** \brief Returns the factor residual size
**/
virtual unsigned int getSize() const = 0;
diff --git a/src/factor/factor_base.cpp b/src/factor/factor_base.cpp
index 3b6b99fe8..72b36c519 100644
--- a/src/factor/factor_base.cpp
+++ b/src/factor/factor_base.cpp
@@ -155,6 +155,18 @@ CaptureBasePtr FactorBase::getCapture() const
return getFeature()->getCapture();
}
+FrameBasePtr FactorBase::getFrame() const
+{
+ assert(getCapture() != nullptr && "calling getFrame before linking with a capture");
+ return getCapture()->getFrame();
+}
+
+SensorBasePtr FactorBase::getSensor() const
+{
+ assert(getCapture() != nullptr && "calling getSensor before linking with a capture");
+ return getCapture()->getSensor();
+}
+
void FactorBase::setStatus(FactorStatus _status)
{
if (getProblem() == nullptr)
--
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