From 205edf165ba07c6d9dff17517c0c7467060b1799 Mon Sep 17 00:00:00 2001
From: Dinesh Atchuthan <datchuth@laas.fr>
Date: Wed, 14 Mar 2018 18:00:10 +0100
Subject: [PATCH] Add origin frame info on capture motion
---
src/problem.cpp | 6 ++++++
1 file changed, 6 insertions(+)
diff --git a/src/problem.cpp b/src/problem.cpp
index 46cdb2eb8..3989d2695 100644
--- a/src/problem.cpp
+++ b/src/problem.cpp
@@ -822,6 +822,12 @@ void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks)
}
else
cout << " -> S-";
+ if (C->isMotion())
+ {
+ auto CM = std::static_pointer_cast<CaptureMotion>(C);
+ if (CM->getOriginFramePtr())
+ cout << " -> OF" << CM->getOriginFramePtr()->id();
+ }
cout << ((depth < 3) ? " -- " + std::to_string(C->getFeatureList().size()) + "f" : "");
if (constr_by)
--
GitLab