From 39be4ac81bc404c67479d12b5b8d9572cfe322c1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 15 Jan 2021 14:14:04 +0100
Subject: [PATCH] Remove obsolete references to aux frames
---
include/core/problem/problem.h | 6 ------
include/core/trajectory/trajectory_base.h | 2 --
src/problem/problem.cpp | 18 +++++++++---------
test/gtest_trajectory.cpp | 1 -
4 files changed, 9 insertions(+), 18 deletions(-)
diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index 5ab5f053f..dc810f276 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -205,7 +205,6 @@ class Problem : public std::enable_shared_from_this<Problem>
const double &_time_tol);
/** \brief Emplace frame from string frame_structure, dimension and vector
- * \param _frame_key_type Either 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
@@ -222,7 +221,6 @@ class Problem : public std::enable_shared_from_this<Problem>
const Eigen::VectorXd& _frame_state);
/** \brief Emplace frame from string frame_structure and state
- * \param _frame_key_type Either AUXILIARY or NON_ESTIMATED
* \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
@@ -239,7 +237,6 @@ class Problem : public std::enable_shared_from_this<Problem>
const VectorComposite& _frame_state);
/** \brief Emplace frame from state
- * \param _frame_key_type Either 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
*
@@ -255,7 +252,6 @@ class Problem : public std::enable_shared_from_this<Problem>
const VectorComposite& _frame_state);
/** \brief Emplace frame from string frame_structure and dimension
- * \param _frame_key_type Either 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
@@ -273,7 +269,6 @@ class Problem : public std::enable_shared_from_this<Problem>
const SizeEigen _dim);
/** \brief Emplace frame from state vector
- * \param _frame_key_type Either AUXILIARY or NON_ESTIMATED
* \param _time_stamp Time stamp of the frame
* \param _frame_state State vector; must match the size and format of the chosen frame structure
*
@@ -289,7 +284,6 @@ class Problem : public std::enable_shared_from_this<Problem>
const Eigen::VectorXd& _frame_state);
/** \brief Emplace frame, guess all values
- * \param _frame_key_type Either AUXILIARY or NON_ESTIMATED
* \param _time_stamp Time stamp of the frame
*
* - The structure is taken from Problem
diff --git a/include/core/trajectory/trajectory_base.h b/include/core/trajectory/trajectory_base.h
index 6029815eb..431524af9 100644
--- a/include/core/trajectory/trajectory_base.h
+++ b/include/core/trajectory/trajectory_base.h
@@ -58,8 +58,6 @@ class TrajectoryBase : public NodeBase, public std::enable_shared_from_this<Traj
protected:
StateStructure frame_structure_; // Defines the structure of the Frames in the Trajectory.
- // FrameBasePtr last_key_frame_ptr_; // keeps pointer to the last key frame
- // FrameBasePtr last_key_or_aux_frame_ptr_; // keeps pointer to the last estimated frame
public:
TrajectoryBase();
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 3dceffdd7..40396509f 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -428,10 +428,10 @@ TimeStamp Problem::getTimeStamp ( ) const
if (not ts.ok())
{
- const auto& last_kf_or_aux = trajectory_ptr_->getLastFrame();
+ const auto& last_kf = trajectory_ptr_->getLastFrame();
- if (last_kf_or_aux)
- ts = last_kf_or_aux->getTimeStamp(); // Use last estimated frame's state
+ if (last_kf)
+ ts = last_kf->getTimeStamp(); // Use last estimated frame's state
}
@@ -462,10 +462,10 @@ VectorComposite Problem::getState(const StateStructure& _structure) const
VectorComposite state_last;
- const auto& last_kf_or_aux = trajectory_ptr_->getLastFrame();
+ const auto& last_kf = trajectory_ptr_->getLastFrame();
- if (last_kf_or_aux)
- state_last = last_kf_or_aux->getState(structure);
+ if (last_kf)
+ state_last = last_kf->getState(structure);
else if (prior_options_ and prior_options_->mode != "nothing")
state_last = prior_options_->state;
@@ -511,10 +511,10 @@ VectorComposite Problem::getState (const TimeStamp& _ts, const StateStructure& _
VectorComposite state_last;
- const auto& last_kf_or_aux = trajectory_ptr_->closestFrameToTimeStamp(_ts);
+ const auto& last_kf = trajectory_ptr_->closestFrameToTimeStamp(_ts);
- if (last_kf_or_aux)
- state_last = last_kf_or_aux->getState(structure);
+ if (last_kf)
+ state_last = last_kf->getState(structure);
else if (prior_options_ and prior_options_->mode != "nothing")
state_last = prior_options_->state;
diff --git a/test/gtest_trajectory.cpp b/test/gtest_trajectory.cpp
index bd05620f6..7c4831134 100644
--- a/test/gtest_trajectory.cpp
+++ b/test/gtest_trajectory.cpp
@@ -34,7 +34,6 @@ TEST(TrajectoryBase, ClosestKeyFrame)
FrameBasePtr F1 = P->emplaceFrame( 1, Eigen::Vector3d::Zero() );
FrameBasePtr F2 = P->emplaceFrame( 2, Eigen::Vector3d::Zero() );
- // FrameBasePtr F3 = P->emplaceFrame(AUXILIARY, 3, Eigen::Vector3d::Zero() );
FrameBasePtr F3 = std::make_shared<FrameBase>(3, P->getFrameStructure(),
// P->getDim(),
std::list<VectorXd>({Eigen::Vector2d::Zero(),Eigen::Vector1d::Zero()}) );
--
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