diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h index b7ddae5554d4bd66b52b1fcbfdfead479cd7af09..a3557b0e9e49a0b38851b5af4ea0dc2253a6be3b 100644 --- a/include/core/problem/problem.h +++ b/include/core/problem/problem.h @@ -209,11 +209,11 @@ class Problem : public std::enable_shared_from_this<Problem> const double &_time_tol); /** \brief Emplace frame from string frame_structure + * \param _frame_key_type Either KEY, AUXILIARY or NON_ESTIMATED + * \param _time_stamp Time stamp of the frame * \param _frame_structure String indicating the frame structure. * \param _dim variable indicating the dimension of the problem - * \param _frame_key_type Either KEY, AUXILIARY or NON_ESTIMATED * \param _frame_state State vector; must match the size and format of the chosen frame structure - * \param _time_stamp Time stamp of the frame * * This acts as a Frame factory, but also takes care to update related lists in WolfProblem: * - Create a Frame @@ -227,11 +227,10 @@ class Problem : public std::enable_shared_from_this<Problem> const Eigen::VectorXd& _frame_state); /** \brief Emplace frame from string frame_structure - * \param _frame_structure String indicating the frame structure. - * \param _dim variable indicating the dimension of the problem * \param _frame_key_type Either KEY, AUXILIARY or NON_ESTIMATED - * \param _frame_state State vector; must match the size and format of the chosen frame structure * \param _time_stamp Time stamp of the frame + * \param _frame_structure String indicating the frame structure. + * \param _frame_state State vector; must match the size and format of the chosen frame structure * * This acts as a Frame factory, but also takes care to update related lists in WolfProblem: * - Create a Frame @@ -242,15 +241,26 @@ class Problem : public std::enable_shared_from_this<Problem> const TimeStamp& _time_stamp, // const StateStructure& _frame_structure, // const VectorComposite& _frame_state); + + /** \brief Emplace frame from string frame_structure + * \param _frame_key_type Either KEY, AUXILIARY or NON_ESTIMATED + * \param _time_stamp Time stamp of the frame + * \param _frame_state State; must be part of the problem's frame structure + * + * This acts as a Frame factory, but also takes care to update related lists in WolfProblem: + * - Create a Frame + * - Add it to Trajectory + * - If it is key-frame, update state-block lists in Problem + */ FrameBasePtr emplaceFrame(FrameType _frame_key_type, // const TimeStamp& _time_stamp, // const VectorComposite& _frame_state); /** \brief Emplace frame from string frame_structure without state - * \param _frame_structure String indicating the frame structure. - * \param _dim variable indicating the dimension of the problem * \param _frame_key_type Either KEY, AUXILIARY or NON_ESTIMATED * \param _time_stamp Time stamp of the frame + * \param _frame_structure String indicating the frame structure. + * \param _dim variable indicating the dimension of the problem * * This acts as a Frame factory, but also takes care to update related lists in WolfProblem: * - Create a Frame @@ -264,8 +274,8 @@ class Problem : public std::enable_shared_from_this<Problem> /** \brief Emplace frame from string frame_structure without structure * \param _frame_key_type Either KEY, AUXILIARY or NON_ESTIMATED - * \param _frame_state State vector; must match the size and format of the chosen frame structure * \param _time_stamp Time stamp of the frame + * \param _frame_state State vector; must match the size and format of the chosen frame structure * * This acts as a Frame factory, but also takes care to update related lists in WolfProblem: * - Create a Frame