From 29e975c76cbfa0e6fd35cfcf42d15883fc905278 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Fri, 11 Dec 2015 15:35:54 +0100
Subject: [PATCH] added the recommendation of not using delete and use
destruct() instead, in documentation of all classes.
---
src/capture_base.h | 6 ++++++
src/capture_fix.h | 5 +++++
src/capture_gps.h | 6 +++++-
src/capture_gps_fix.h | 5 +++++
src/capture_laser_2D.h | 8 ++++----
src/capture_motion.h | 5 +++++
src/capture_odom_2D.h | 7 ++++++-
src/capture_void.h | 5 +++++
src/constraint_base.cpp | 6 ------
src/constraint_base.h | 13 +++----------
src/constraint_container.h | 7 ++++++-
src/constraint_corner_2D.h | 7 ++++++-
src/constraint_fix.h | 7 ++++++-
src/constraint_gps_2D.h | 7 ++++++-
src/constraint_gps_pseudorange.h | 5 +++++
src/constraint_odom_2D.h | 5 +++++
src/constraint_sparse.h | 6 +++---
src/examples/test_wolf_imported_graph.cpp | 2 +-
src/feature_base.h | 4 ++--
src/feature_corner_2D.h | 6 +++---
src/feature_fix.h | 5 +++++
src/feature_gps_fix.h | 5 +++++
src/feature_gps_pseudorange.h | 5 +++++
src/feature_odom_2D.h | 5 +++++
src/frame_base.cpp | 6 ------
src/frame_base.h | 15 ++++-----------
src/hardware_base.h | 4 ++--
src/landmark_base.cpp | 6 ------
src/landmark_base.h | 11 ++---------
src/landmark_container.h | 6 +++---
src/landmark_corner_2D.h | 8 ++++----
src/map_base.h | 4 ++--
src/node_linked.h | 4 ++--
src/sensor_base.h | 5 +++++
src/sensor_gps.h | 5 +++++
src/sensor_gps_fix.h | 8 ++++----
src/sensor_laser_2D.h | 6 +++---
src/sensor_odom_2D.h | 8 ++++----
src/trajectory_base.h | 4 ++--
src/wolf_manager.cpp | 2 +-
src/wolf_problem.cpp | 7 ++++++-
src/wolf_problem.h | 11 +++++++++--
42 files changed, 165 insertions(+), 97 deletions(-)
diff --git a/src/capture_base.h b/src/capture_base.h
index cd195be7f..ac99b54e9 100644
--- a/src/capture_base.h
+++ b/src/capture_base.h
@@ -38,6 +38,12 @@ class CaptureBase : public NodeLinked<FrameBase, FeatureBase>
CaptureBase(const TimeStamp& _ts, SensorBase* _sensor_ptr, const Eigen::VectorXs& _data, const Eigen::MatrixXs& _data_covariance);
+
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
+ *
+ **/
virtual ~CaptureBase();
/** \brief Set link to Frame
diff --git a/src/capture_fix.h b/src/capture_fix.h
index 103f9452e..984abf00c 100644
--- a/src/capture_fix.h
+++ b/src/capture_fix.h
@@ -16,6 +16,11 @@ class CaptureFix : public CaptureBase
CaptureFix(const TimeStamp& _ts, SensorBase* _sensor_ptr, const Eigen::VectorXs& _data, const Eigen::MatrixXs& _data_covariance);
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
+ *
+ **/
virtual ~CaptureFix();
virtual void processCapture();
diff --git a/src/capture_gps.h b/src/capture_gps.h
index 4aa9d3c96..ca9be411b 100644
--- a/src/capture_gps.h
+++ b/src/capture_gps.h
@@ -40,7 +40,11 @@ public:
CaptureGPS(const TimeStamp& _ts, SensorBase* _sensor_ptr, const Eigen::VectorXs& _raw_data);
-
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
+ *
+ **/
virtual ~CaptureGPS();
void processCapture();
diff --git a/src/capture_gps_fix.h b/src/capture_gps_fix.h
index 1a17154a4..2f8ebd4dd 100644
--- a/src/capture_gps_fix.h
+++ b/src/capture_gps_fix.h
@@ -18,6 +18,11 @@ class CaptureGPSFix : public CaptureBase
CaptureGPSFix(const TimeStamp& _ts, SensorBase* _sensor_ptr, const Eigen::VectorXs& _data, const Eigen::MatrixXs& _data_covariance);
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
+ *
+ **/
virtual ~CaptureGPSFix();
virtual void processCapture();
diff --git a/src/capture_laser_2D.h b/src/capture_laser_2D.h
index 95c402510..babf6c1cd 100644
--- a/src/capture_laser_2D.h
+++ b/src/capture_laser_2D.h
@@ -69,10 +69,10 @@ class CaptureLaser2D : public CaptureBase
**/
CaptureLaser2D(const TimeStamp & _ts, SensorBase* _sensor_ptr, const std::vector<float>& _ranges, const std::vector<float>& _intensities);
- /** \brief Destructor
- *
- * Destructor
- *
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
+ *
**/
virtual ~CaptureLaser2D();
diff --git a/src/capture_motion.h b/src/capture_motion.h
index d27227232..e62f91e4f 100644
--- a/src/capture_motion.h
+++ b/src/capture_motion.h
@@ -22,6 +22,11 @@ class CaptureMotion : public CaptureBase
CaptureMotion(const TimeStamp& _init_ts, const TimeStamp& _final_ts, SensorBase* _sensor_ptr, const Eigen::VectorXs& _data, const Eigen::MatrixXs& _data_covariance);
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
+ *
+ **/
virtual ~CaptureMotion();
virtual void integrateCapture(CaptureMotion* _new_capture) = 0;
diff --git a/src/capture_odom_2D.h b/src/capture_odom_2D.h
index d53d8677e..c3a5d8c9b 100644
--- a/src/capture_odom_2D.h
+++ b/src/capture_odom_2D.h
@@ -20,7 +20,12 @@ class CaptureOdom2D : public CaptureMotion
CaptureOdom2D(const TimeStamp& _init_ts, const TimeStamp& _final_ts, SensorBase* _sensor_ptr, const Eigen::Vector3s& _data);
CaptureOdom2D(const TimeStamp& _init_ts, const TimeStamp& _final_ts, SensorBase* _sensor_ptr, const Eigen::Vector3s& _data, const Eigen::Matrix3s& _data_covariance);
-
+
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
+ *
+ **/
virtual ~CaptureOdom2D();
virtual void processCapture();
diff --git a/src/capture_void.h b/src/capture_void.h
index da96557eb..1de4522e5 100644
--- a/src/capture_void.h
+++ b/src/capture_void.h
@@ -10,6 +10,11 @@ class CaptureVoid : public CaptureBase
public:
CaptureVoid(const TimeStamp& _ts, SensorBase* _sensor_ptr);
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
+ *
+ **/
virtual ~CaptureVoid();
virtual Eigen::VectorXs computePrior(const TimeStamp& _now) const;
diff --git a/src/constraint_base.cpp b/src/constraint_base.cpp
index 31d31c97c..b3110fcff 100644
--- a/src/constraint_base.cpp
+++ b/src/constraint_base.cpp
@@ -70,12 +70,6 @@ ConstraintBase::~ConstraintBase()
landmark_ptr_->removeConstraintTo(this);
}
-//void ConstraintBase::destruct()
-//{
-// if (!is_deleting_)
-// up_node_ptr_->removeDownNode(this);
-//}
-
ConstraintType ConstraintBase::getType() const
{
return type_;
diff --git a/src/constraint_base.h b/src/constraint_base.h
index c59fd6413..fa41df4eb 100644
--- a/src/constraint_base.h
+++ b/src/constraint_base.h
@@ -55,20 +55,13 @@ class ConstraintBase : public NodeLinked<FeatureBase, NodeTerminus>
**/
ConstraintBase(ConstraintType _tp, LandmarkBase* _landmark_ptr, ConstraintStatus _status);
- /** \brief Destructor
- *
- * Destructor
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
*
**/
virtual ~ConstraintBase();
- /** \brief Destructor call if is not already deleting
- *
- * Destructor call if is not already deleting
- *
- */
- //virtual void destruct();
-
/** \brief Returns the constraint type
*
* Returns the constraint type
diff --git a/src/constraint_container.h b/src/constraint_container.h
index bfedc48f3..dd45e22fc 100644
--- a/src/constraint_container.h
+++ b/src/constraint_container.h
@@ -23,7 +23,12 @@ class ConstraintContainer: public ConstraintSparse<3,2,1,2,1>
assert(_corner >= 0 && _corner <= 3 && "Wrong corner id in constraint container constructor");
lmk_ptr_->addConstraintTo(this);
}
-
+
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
+ *
+ **/
virtual ~ConstraintContainer()
{
//std::cout << "deleting ConstraintContainer " << nodeId() << std::endl;
diff --git a/src/constraint_corner_2D.h b/src/constraint_corner_2D.h
index 9f5c2c478..d603f9165 100644
--- a/src/constraint_corner_2D.h
+++ b/src/constraint_corner_2D.h
@@ -16,7 +16,12 @@ class ConstraintCorner2D: public ConstraintSparse<3,2,1,2,1>
{
landmark_ptr_->addConstraintTo(this);
}
-
+
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
+ *
+ **/
virtual ~ConstraintCorner2D()
{
//std::cout << "deleting ConstraintCorner2D " << nodeId() << std::endl;
diff --git a/src/constraint_fix.h b/src/constraint_fix.h
index a254a9d81..fef49f4b9 100644
--- a/src/constraint_fix.h
+++ b/src/constraint_fix.h
@@ -16,7 +16,12 @@ class ConstraintFix: public ConstraintSparse<3,2,1>
{
//std::cout << "creating ConstraintFix " << std::endl;
}
-
+
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
+ *
+ **/
virtual ~ConstraintFix()
{
//
diff --git a/src/constraint_gps_2D.h b/src/constraint_gps_2D.h
index 777496bda..074093005 100644
--- a/src/constraint_gps_2D.h
+++ b/src/constraint_gps_2D.h
@@ -16,7 +16,12 @@ class ConstraintGPS2D: public ConstraintSparse<2,2>
{
//
}
-
+
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
+ *
+ **/
virtual ~ConstraintGPS2D()
{
//
diff --git a/src/constraint_gps_pseudorange.h b/src/constraint_gps_pseudorange.h
index 8a8b1e232..afb698c08 100644
--- a/src/constraint_gps_pseudorange.h
+++ b/src/constraint_gps_pseudorange.h
@@ -26,6 +26,11 @@ public:
createConstraint((FeatureGPSPseudorange*) _ftr_ptr);
}
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
+ *
+ **/
virtual ~ConstraintGPSPseudorange()
{
diff --git a/src/constraint_odom_2D.h b/src/constraint_odom_2D.h
index 69fc4f1f4..312d55c3e 100644
--- a/src/constraint_odom_2D.h
+++ b/src/constraint_odom_2D.h
@@ -16,6 +16,11 @@ class ConstraintOdom2D : public ConstraintSparse<3, 2, 1, 2, 1>
//
}
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
+ *
+ **/
virtual ~ConstraintOdom2D()
{
//
diff --git a/src/constraint_sparse.h b/src/constraint_sparse.h
index a00aa5bf4..e1918b355 100644
--- a/src/constraint_sparse.h
+++ b/src/constraint_sparse.h
@@ -106,9 +106,9 @@ class ConstraintSparse: public ConstraintBase
StateBlock* _state8Ptr = nullptr,
StateBlock* _state9Ptr = nullptr ) ;
- /** \brief Destructor
- *
- * Destructor
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
*
**/
virtual ~ConstraintSparse();
diff --git a/src/examples/test_wolf_imported_graph.cpp b/src/examples/test_wolf_imported_graph.cpp
index 41f1f79f2..33380ff31 100644
--- a/src/examples/test_wolf_imported_graph.cpp
+++ b/src/examples/test_wolf_imported_graph.cpp
@@ -48,7 +48,7 @@ int main(int argc, char** argv)
unsigned int MAX_VERTEX = atoi(argv[2]);
if (MAX_VERTEX == 0) MAX_VERTEX = 1e6;
std::ifstream offLineFile_;
- clock_t t1, t2;
+ clock_t t1;
ceres::Solver::Summary summary_full, summary_prun;
Eigen::MatrixXs Sigma_ii(3,3), Sigma_ij(3,3), Sigma_jj(3,3), Sigma_z(3,3), Ji(3,3), Jj(3,3);
WolfScalar xi, yi, thi, si, ci, xj, yj;
diff --git a/src/feature_base.h b/src/feature_base.h
index d541679b2..fd41174bb 100644
--- a/src/feature_base.h
+++ b/src/feature_base.h
@@ -37,9 +37,9 @@ class FeatureBase : public NodeLinked<CaptureBase,ConstraintBase>
*/
FeatureBase(const Eigen::VectorXs& _measurement, const Eigen::MatrixXs& _meas_covariance);
- /** \brief Destructor
+ /** \brief Default destructor (not recommended)
*
- * Destructor
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
*
*/
virtual ~FeatureBase();
diff --git a/src/feature_corner_2D.h b/src/feature_corner_2D.h
index 5de276c47..8c9cd7a76 100644
--- a/src/feature_corner_2D.h
+++ b/src/feature_corner_2D.h
@@ -17,9 +17,9 @@ class FeatureCorner2D : public FeatureBase
*/
FeatureCorner2D(const Eigen::Vector4s & _measurement, const Eigen::Matrix4s & _meas_covariance); //TODO: add const WolfScalar& aperture);
- /** \brief Destructor
- *
- * destructor
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
*
*/
virtual ~FeatureCorner2D();
diff --git a/src/feature_fix.h b/src/feature_fix.h
index 122d816fe..8d1bf068b 100644
--- a/src/feature_fix.h
+++ b/src/feature_fix.h
@@ -19,6 +19,11 @@ class FeatureFix : public FeatureBase
*/
FeatureFix(const Eigen::VectorXs& _measurement, const Eigen::MatrixXs& _meas_covariance);
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
+ *
+ **/
virtual ~FeatureFix();
};
#endif
diff --git a/src/feature_gps_fix.h b/src/feature_gps_fix.h
index 9e7228548..e59982f20 100644
--- a/src/feature_gps_fix.h
+++ b/src/feature_gps_fix.h
@@ -26,6 +26,11 @@ class FeatureGPSFix : public FeatureBase
*/
FeatureGPSFix(const Eigen::VectorXs& _measurement, const Eigen::MatrixXs& _meas_covariance);
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
+ *
+ **/
virtual ~FeatureGPSFix();
};
#endif
diff --git a/src/feature_gps_pseudorange.h b/src/feature_gps_pseudorange.h
index 97a614e89..891ef0643 100644
--- a/src/feature_gps_pseudorange.h
+++ b/src/feature_gps_pseudorange.h
@@ -43,6 +43,11 @@ public:
FeatureGPSPseudorange(const WolfScalar &_satellite_data);
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
+ *
+ **/
virtual ~FeatureGPSPseudorange();
diff --git a/src/feature_odom_2D.h b/src/feature_odom_2D.h
index b220c8b3c..d8ba3a6aa 100644
--- a/src/feature_odom_2D.h
+++ b/src/feature_odom_2D.h
@@ -26,6 +26,11 @@ class FeatureOdom2D : public FeatureBase
*/
FeatureOdom2D(const Eigen::VectorXs& _measurement, const Eigen::MatrixXs& _meas_covariance);
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
+ *
+ **/
virtual ~FeatureOdom2D();
/** \brief Generic interface to find constraints
diff --git a/src/frame_base.cpp b/src/frame_base.cpp
index 4a717f7bb..d3ae71cb3 100644
--- a/src/frame_base.cpp
+++ b/src/frame_base.cpp
@@ -51,12 +51,6 @@ FrameBase::~FrameBase()
//std::cout << "constraints deleted" << std::endl;
}
-//void FrameBase::destruct()
-//{
-// if (!is_deleting_)
-// up_node_ptr_->removeDownNode(this);
-//}
-
void FrameBase::addConstraintTo(ConstraintBase* _ctr_ptr)
{
constraint_to_list_.push_back(_ctr_ptr);
diff --git a/src/frame_base.h b/src/frame_base.h
index 71d596a53..7c6972697 100644
--- a/src/frame_base.h
+++ b/src/frame_base.h
@@ -52,21 +52,14 @@ class FrameBase : public NodeLinked<TrajectoryBase,CaptureBase>
*
**/
FrameBase(const FrameType & _tp, const TimeStamp& _ts, StateBlock* _p_ptr, StateBlock* _o_ptr = nullptr);
-
- /** \brief Destructor
- *
- * Destructor
+
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
*
**/
virtual ~FrameBase();
- /** \brief Destructor call if is not already deleting
- *
- * Destructor call if is not already deleting
- *
- */
- //virtual void destruct();
-
/** \brief Link with a constraint
*
* Link with a constraint
diff --git a/src/hardware_base.h b/src/hardware_base.h
index 99556845d..b5868996b 100644
--- a/src/hardware_base.h
+++ b/src/hardware_base.h
@@ -20,9 +20,9 @@ class HardwareBase : public NodeLinked<WolfProblem,SensorBase>
**/
HardwareBase();
- /** \brief Destructor
+ /** \brief Default destructor (not recommended)
*
- * Destructor
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
*
**/
~HardwareBase();
diff --git a/src/landmark_base.cpp b/src/landmark_base.cpp
index a52f79cc6..de4fea69e 100644
--- a/src/landmark_base.cpp
+++ b/src/landmark_base.cpp
@@ -39,12 +39,6 @@ LandmarkBase::~LandmarkBase()
//std::cout << "constraints deleted" << std::endl;
}
-//void LandmarkBase::destruct()
-//{
-// if (!is_deleting_)
-// up_node_ptr_->removeDownNode(this);
-//}
-
void LandmarkBase::addConstraintTo(ConstraintBase* _ctr_ptr)
{
constraint_to_list_.push_back(_ctr_ptr);
diff --git a/src/landmark_base.h b/src/landmark_base.h
index de18a044a..4b73d8dbd 100644
--- a/src/landmark_base.h
+++ b/src/landmark_base.h
@@ -45,20 +45,13 @@ class LandmarkBase : public NodeLinked<MapBase, NodeTerminus>
**/
LandmarkBase(const LandmarkType & _tp, StateBlock* _p_ptr, StateBlock* _o_ptr = nullptr);
- /** \brief Destructor
+ /** \brief Default destructor (not recommended)
*
- * Destructor
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
*
**/
virtual ~LandmarkBase();
- /** \brief Destructor call if is not already deleting
- *
- * Destructor call if is not already deleting
- *
- */
- //virtual void destruct();
-
/** \brief Link with a constraint
*
* Link with a constraint
diff --git a/src/landmark_container.h b/src/landmark_container.h
index d02b3158a..46f766f02 100644
--- a/src/landmark_container.h
+++ b/src/landmark_container.h
@@ -62,9 +62,9 @@ class LandmarkContainer : public LandmarkBase
**/
LandmarkContainer(StateBlock* _p_ptr, StateBlock* _o_ptr, LandmarkCorner2D* _corner_A_ptr, LandmarkCorner2D* _corner_B_ptr, LandmarkCorner2D* _corner_C_ptr, LandmarkCorner2D* _corner_D_ptr, const WolfScalar& _witdh=2.44, const WolfScalar& _length=12.2);
- /** \brief Destructor
- *
- * Destructor
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
*
**/
virtual ~LandmarkContainer();
diff --git a/src/landmark_corner_2D.h b/src/landmark_corner_2D.h
index 5e3e7d240..0707edbe5 100644
--- a/src/landmark_corner_2D.h
+++ b/src/landmark_corner_2D.h
@@ -28,10 +28,10 @@ class LandmarkCorner2D : public LandmarkBase
*
**/
LandmarkCorner2D(StateBlock* _p_ptr, StateBlock* _o_ptr, const WolfScalar& _aperture=0);
-
- /** \brief Destructor
- *
- * Destructor
+
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
*
**/
virtual ~LandmarkCorner2D();
diff --git a/src/map_base.h b/src/map_base.h
index 2acbb034a..d65a628c4 100644
--- a/src/map_base.h
+++ b/src/map_base.h
@@ -30,9 +30,9 @@ class MapBase : public NodeLinked<WolfProblem,LandmarkBase>
**/
MapBase();
- /** \brief Destructor
+ /** \brief Default destructor (not recommended)
*
- * Destructor
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
*
**/
~MapBase();
diff --git a/src/node_linked.h b/src/node_linked.h
index 16b0c150e..28e2de3c5 100644
--- a/src/node_linked.h
+++ b/src/node_linked.h
@@ -58,9 +58,9 @@ class NodeLinked : public NodeBase
*/
NodeLinked(const NodeLocation _loc, const std::string& _label);
- /** \brief Default destructor
+ /** \brief Default destructor (not recommended)
*
- * Default destructor
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
*
*/
virtual ~NodeLinked();
diff --git a/src/sensor_base.h b/src/sensor_base.h
index 507fc6330..399691b06 100644
--- a/src/sensor_base.h
+++ b/src/sensor_base.h
@@ -61,6 +61,11 @@ class SensorBase : public NodeLinked<HardwareBase,NodeTerminus>
// **/
// SensorBase(const SensorType & _tp, StateBlock* _p_ptr, StateBlock* _o_ptr, unsigned int _params_size, const bool _extr_dyn = false);
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
+ *
+ **/
virtual ~SensorBase();
// const SensorType getSensorType() const;
diff --git a/src/sensor_gps.h b/src/sensor_gps.h
index 7222413ff..ca459c1f9 100644
--- a/src/sensor_gps.h
+++ b/src/sensor_gps.h
@@ -29,6 +29,11 @@ public:
//pointer to sensor position and orientation.
SensorGPS(StateBlock *_p_ptr, StateBlock *_o_ptr, StateBlock* _bias_ptr);
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
+ *
+ **/
virtual ~SensorGPS();
diff --git a/src/sensor_gps_fix.h b/src/sensor_gps_fix.h
index 2a45bf05c..8a300fbe9 100644
--- a/src/sensor_gps_fix.h
+++ b/src/sensor_gps_fix.h
@@ -17,10 +17,10 @@ class SensorGPSFix : public SensorBase
*
**/
SensorGPSFix(StateBlock* _p_ptr, StateBlock* _o_ptr, const double& _noise);
-
- /** \brief Destructor
- *
- * Destructor
+
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
*
**/
virtual ~SensorGPSFix();
diff --git a/src/sensor_laser_2D.h b/src/sensor_laser_2D.h
index 076648fda..8ab58ee48 100644
--- a/src/sensor_laser_2D.h
+++ b/src/sensor_laser_2D.h
@@ -31,9 +31,9 @@ class SensorLaser2D : public SensorBase
SensorLaser2D(StateBlock* _p_ptr, StateBlock* _o_ptr);
//SensorLaser2D(const Eigen::VectorXs & _sp, const laserscanutils::ScanParams & _params);
- /** \brief Destructor
- *
- * Destructor
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
*
**/
virtual ~SensorLaser2D();
diff --git a/src/sensor_odom_2D.h b/src/sensor_odom_2D.h
index 65be03c8c..e823f9398 100644
--- a/src/sensor_odom_2D.h
+++ b/src/sensor_odom_2D.h
@@ -19,10 +19,10 @@ class SensorOdom2D : public SensorBase
*
**/
SensorOdom2D(StateBlock* _p_ptr, StateBlock* _o_ptr, const WolfScalar& _disp_noise_factor, const WolfScalar& _rot_noise_factor);
-
- /** \brief Destructor
- *
- * Destructor
+
+ /** \brief Default destructor (not recommended)
+ *
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
*
**/
virtual ~SensorOdom2D();
diff --git a/src/trajectory_base.h b/src/trajectory_base.h
index c041bcd89..5f191ddc2 100644
--- a/src/trajectory_base.h
+++ b/src/trajectory_base.h
@@ -35,9 +35,9 @@ class TrajectoryBase : public NodeLinked<WolfProblem,FrameBase>
**/
TrajectoryBase();
- /** \brief Destructor
+ /** \brief Default destructor (not recommended)
*
- * Destructor
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
*
**/
~TrajectoryBase();
diff --git a/src/wolf_manager.cpp b/src/wolf_manager.cpp
index e905ef397..66f182717 100644
--- a/src/wolf_manager.cpp
+++ b/src/wolf_manager.cpp
@@ -51,7 +51,7 @@ WolfManager::WolfManager(const FrameStructure _frame_structure,
WolfManager::~WolfManager()
{
- std::cout << "deleting wolf manager..." << std::endl;
+ //std::cout << "deleting wolf manager..." << std::endl;
delete problem_;
}
diff --git a/src/wolf_problem.cpp b/src/wolf_problem.cpp
index c185cfe31..61cc63d5f 100644
--- a/src/wolf_problem.cpp
+++ b/src/wolf_problem.cpp
@@ -26,7 +26,7 @@ WolfProblem::WolfProblem(TrajectoryBase* _trajectory_ptr, MapBase* _map_ptr, Har
WolfProblem::~WolfProblem()
{
- std::cout << "deleting wolf problem " << nodeId() << std::endl;
+ //std::cout << "deleting wolf problem " << nodeId() << std::endl;
state_block_add_list_.clear();
covariances_.clear();
state_block_update_list_.clear();
@@ -39,6 +39,11 @@ WolfProblem::~WolfProblem()
hardware_ptr_->destruct();
}
+void WolfProblem::destruct()
+{
+ delete this;
+}
+
void WolfProblem::addStateBlockPtr(StateBlock* _state_ptr)
{
// add the state unit to the list
diff --git a/src/wolf_problem.h b/src/wolf_problem.h
index e2b4fb949..8c632c8fd 100644
--- a/src/wolf_problem.h
+++ b/src/wolf_problem.h
@@ -55,13 +55,20 @@ class WolfProblem: public NodeBase
*/
WolfProblem(TrajectoryBase* _trajectory_ptr, MapBase* _map_ptr=nullptr, HardwareBase* _hardware_ptr=nullptr);
- /** \brief Default destructor
+ /** \brief Default destructor (not recommended)
*
- * Default destructor
+ * Default destructor (please use destruct() instead of delete for guaranteeing the wolf tree integrity)
*
*/
virtual ~WolfProblem();
+ /** \brief Wolf destructor
+ *
+ * Wolf destructor (please use it instead of delete for guaranteeing the wolf tree integrity)
+ *
+ */
+ virtual void destruct() final;
+
/** \brief Adds a new state block to be added to solver manager
*
* Adds a new state block to be added to solver manager
--
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