From 3b2d8e1f2227277c7a3f92dba4066d3ddff14d79 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Tue, 4 Jun 2019 16:22:35 +0200
Subject: [PATCH] Removed unlink() and private add/remove/set upper and lower
and constrainedby nodes
---
include/core/capture/capture_base.h | 6 ++-
include/core/factor/factor_base.h | 28 ++++------
include/core/feature/feature_base.h | 2 +-
include/core/frame/frame_base.h | 13 +----
include/core/hardware/hardware_base.h | 2 +-
include/core/landmark/landmark_base.h | 3 +-
include/core/map/map_base.h | 2 +-
include/core/processor/processor_base.h | 2 +-
include/core/sensor/sensor_base.h | 2 +-
include/core/trajectory/trajectory_base.h | 2 +-
src/capture/capture_base.cpp | 16 +-----
src/factor/factor_base.cpp | 64 +----------------------
src/feature/feature_base.cpp | 17 +-----
src/frame/frame_base.cpp | 63 +---------------------
src/landmark/landmark_base.cpp | 16 +-----
src/processor/processor_base.cpp | 7 +--
src/sensor/sensor_base.cpp | 7 +--
test/gtest_frame_base.cpp | 4 --
18 files changed, 31 insertions(+), 225 deletions(-)
diff --git a/include/core/capture/capture_base.h b/include/core/capture/capture_base.h
index 7045ff513..f0670bfa6 100644
--- a/include/core/capture/capture_base.h
+++ b/include/core/capture/capture_base.h
@@ -60,8 +60,10 @@ class CaptureBase : public NodeBase, public std::enable_shared_from_this<Capture
void setTimeStampToNow();
FrameBasePtr getFrame() const;
+ private:
void setFrame(const FrameBasePtr _frm_ptr);
+ public:
virtual void setProblem(ProblemPtr _problem) final;
FeatureBasePtrList& getFeatureList();
@@ -71,7 +73,7 @@ class CaptureBase : public NodeBase, public std::enable_shared_from_this<Capture
virtual void setSensor(const SensorBasePtr sensor_ptr);
// constrained by
- protected:
+ private:
virtual FactorBasePtr addConstrainedBy(FactorBasePtr _fac_ptr);
virtual void removeConstrainedBy(FactorBasePtr _fac_ptr);
public:
@@ -102,13 +104,13 @@ class CaptureBase : public NodeBase, public std::enable_shared_from_this<Capture
virtual Eigen::VectorXs getCalibration() const;
void setCalibration(const Eigen::VectorXs& _calib);
void link(FrameBasePtr);
- void unlink();
template<typename classType, typename... T>
static std::shared_ptr<CaptureBase> emplace(FrameBasePtr _frm_ptr, T&&... all);
protected:
SizeEigen computeCalibSize() const;
+ private:
FeatureBasePtr addFeature(FeatureBasePtr _ft_ptr);
void removeFeature(FeatureBasePtr _ft_ptr);
diff --git a/include/core/factor/factor_base.h b/include/core/factor/factor_base.h
index 42089e0e5..c039c3194 100644
--- a/include/core/factor/factor_base.h
+++ b/include/core/factor/factor_base.h
@@ -58,19 +58,19 @@ class FactorBase : public NodeBase, public std::enable_shared_from_this<FactorBa
/** \brief Constructor of category FAC_ABSOLUTE
**/
FactorBase(const std::string& _tp,
- bool _apply_loss_function = false,
- FactorStatus _status = FAC_ACTIVE);
+ bool _apply_loss_function = false,
+ FactorStatus _status = FAC_ACTIVE);
- /** \brief Constructor valid for all categories (FRAME, FEATURE, LANDMARK)
+ /** \brief Constructor valid for all categories (FRAME, CAPTURE; FEATURE, LANDMARK)
**/
FactorBase(const std::string& _tp,
- const FrameBasePtr& _frame_other_ptr,
- const CaptureBasePtr& _capture_other_ptr,
- const FeatureBasePtr& _feature_other_ptr,
- const LandmarkBasePtr& _landmark_other_ptr,
- const ProcessorBasePtr& _processor_ptr = nullptr,
- bool _apply_loss_function = false,
- FactorStatus _status = FAC_ACTIVE);
+ const FrameBasePtr& _frame_other_ptr,
+ const CaptureBasePtr& _capture_other_ptr,
+ const FeatureBasePtr& _feature_other_ptr,
+ const LandmarkBasePtr& _landmark_other_ptr,
+ const ProcessorBasePtr& _processor_ptr = nullptr,
+ bool _apply_loss_function = false,
+ FactorStatus _status = FAC_ACTIVE);
virtual ~FactorBase() = default;
@@ -154,11 +154,6 @@ class FactorBase : public NodeBase, public std::enable_shared_from_this<FactorBa
**/
LandmarkBasePtr getLandmarkOther() const { return landmark_other_ptr_.lock(); }
-// void setFrameOther(FrameBasePtr _frm_o) { frame_other_ptr_ = _frm_o; }
-// void setCaptureOther(CaptureBasePtr _cap_o) { capture_other_ptr_ = _cap_o; }
-// void setFeatureOther(FeatureBasePtr _ftr_o) { feature_other_ptr_ = _ftr_o; }
-// void setLandmarkOther(LandmarkBasePtr _lmk_o){ landmark_other_ptr_ = _lmk_o; }
-
public:
/**
* @brief getProcessor
@@ -173,12 +168,11 @@ class FactorBase : public NodeBase, public std::enable_shared_from_this<FactorBa
void setProcessor(const ProcessorBasePtr& _processor_ptr);
void link(FeatureBasePtr ftr);
- void unlink();
virtual void setProblem(ProblemPtr) final;
template<typename classType, typename... T>
static std::shared_ptr<FactorBase> emplace(FeatureBasePtr _oth_ptr, T&&... all);
- protected:
+ private:
void setFeature(const FeatureBasePtr _ft_ptr){feature_ptr_ = _ft_ptr;}
};
diff --git a/include/core/feature/feature_base.h b/include/core/feature/feature_base.h
index b1cd6c7c5..2d3506fc9 100644
--- a/include/core/feature/feature_base.h
+++ b/include/core/feature/feature_base.h
@@ -95,7 +95,6 @@ class FeatureBase : public NodeBase, public std::enable_shared_from_this<Feature
void getFactorList(FactorBasePtrList & _fac_list);
void link(CaptureBasePtr cap_ptr);
- void unlink();
template<typename classType, typename... T>
static std::shared_ptr<FeatureBase> emplace(CaptureBasePtr _cpt_ptr, T&&... all);
@@ -104,6 +103,7 @@ class FeatureBase : public NodeBase, public std::enable_shared_from_this<Feature
Eigen::MatrixXs computeSqrtUpper(const Eigen::MatrixXs& _M) const;
+ private:
void setCapture(CaptureBasePtr _cap_ptr){capture_ptr_ = _cap_ptr;}
FactorBasePtr addFactor(FactorBasePtr _co_ptr);
void removeFactor(FactorBasePtr _co_ptr);
diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h
index b307a10e2..8d2513805 100644
--- a/include/core/frame/frame_base.h
+++ b/include/core/frame/frame_base.h
@@ -147,11 +147,10 @@ class FrameBase : public NodeBase, public std::enable_shared_from_this<FrameBase
unsigned int getHits() const;
const FactorBasePtrList& getConstrainedByList() const;
void link(TrajectoryBasePtr);
- void unlink();
template<typename classType, typename... T>
static std::shared_ptr<FrameBase> emplace(TrajectoryBasePtr _ptr, T&&... all);
- protected:
+ private:
CaptureBasePtr addCapture(CaptureBasePtr _capt_ptr);
void removeCapture(CaptureBasePtr _capt_ptr);
@@ -159,16 +158,6 @@ class FrameBase : public NodeBase, public std::enable_shared_from_this<FrameBase
virtual FactorBasePtr addConstrainedBy(FactorBasePtr _fac_ptr);
virtual void removeConstrainedBy(FactorBasePtr _fac_ptr);
-// public:
-// static FrameBasePtr create_PO_2D (const FrameType & _tp,
-// const TimeStamp& _ts,
-// const Eigen::VectorXs& _x = Eigen::VectorXs::Zero(3));
-// static FrameBasePtr create_PO_3D (const FrameType & _tp,
-// const TimeStamp& _ts,
-// const Eigen::VectorXs& _x = Eigen::VectorXs::Zero(7));
-// static FrameBasePtr create_POV_3D(const FrameType & _tp,
-// const TimeStamp& _ts,
-// const Eigen::VectorXs& _x = Eigen::VectorXs::Zero(10));
};
} // namespace wolf
diff --git a/include/core/hardware/hardware_base.h b/include/core/hardware/hardware_base.h
index 07c116e81..99a417954 100644
--- a/include/core/hardware/hardware_base.h
+++ b/include/core/hardware/hardware_base.h
@@ -27,7 +27,7 @@ class HardwareBase : public NodeBase, public std::enable_shared_from_this<Hardwa
SensorBasePtrList& getSensorList();
- protected:
+ private:
virtual SensorBasePtr addSensor(SensorBasePtr _sensor_ptr);
};
diff --git a/include/core/landmark/landmark_base.h b/include/core/landmark/landmark_base.h
index 07ac0ce11..57d294acf 100644
--- a/include/core/landmark/landmark_base.h
+++ b/include/core/landmark/landmark_base.h
@@ -92,7 +92,6 @@ class LandmarkBase : public NodeBase, public std::enable_shared_from_this<Landma
MapBasePtr getMap();
void link(MapBasePtr);
- void unlink();
template<typename classType, typename... T>
static std::shared_ptr<LandmarkBase> emplace(MapBasePtr _map_ptr, T&&... all);
@@ -102,7 +101,7 @@ class LandmarkBase : public NodeBase, public std::enable_shared_from_this<Landma
*/
static LandmarkBasePtr create(const YAML::Node& _node);
- protected:
+ private:
void setMap(const MapBasePtr _map_ptr);
virtual FactorBasePtr addConstrainedBy(FactorBasePtr _fac_ptr);
diff --git a/include/core/map/map_base.h b/include/core/map/map_base.h
index 136f42f80..d4d5f4fb7 100644
--- a/include/core/map/map_base.h
+++ b/include/core/map/map_base.h
@@ -28,7 +28,7 @@ class MapBase : public NodeBase, public std::enable_shared_from_this<MapBase>
MapBase();
~MapBase();
- protected:
+ private:
virtual LandmarkBasePtr addLandmark(LandmarkBasePtr _landmark_ptr);
virtual void removeLandmark(LandmarkBasePtr _landmark_ptr);
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 7c171a11f..72912c21d 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -204,7 +204,7 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
SensorBasePtr getSensor();
const SensorBasePtr getSensor() const;
- protected:
+ private:
void setSensor(SensorBasePtr _sen_ptr){sensor_ptr_ = _sen_ptr;}
public:
diff --git a/include/core/sensor/sensor_base.h b/include/core/sensor/sensor_base.h
index 277abfc1e..e5333b510 100644
--- a/include/core/sensor/sensor_base.h
+++ b/include/core/sensor/sensor_base.h
@@ -98,7 +98,7 @@ class SensorBase : public NodeBase, public std::enable_shared_from_this<SensorBa
virtual void setProblem(ProblemPtr _problem) final;
HardwareBasePtr getHardware();
- protected:
+ private:
void setHardware(const HardwareBasePtr _hw_ptr);
ProcessorBasePtr addProcessor(ProcessorBasePtr _proc_ptr);
void removeProcessor(ProcessorBasePtr _proc_ptr);
diff --git a/include/core/trajectory/trajectory_base.h b/include/core/trajectory/trajectory_base.h
index 5d2216379..c41bf0983 100644
--- a/include/core/trajectory/trajectory_base.h
+++ b/include/core/trajectory/trajectory_base.h
@@ -48,7 +48,7 @@ class TrajectoryBase : public NodeBase, public std::enable_shared_from_this<Traj
void sortFrame(FrameBasePtr _frm_ptr);
void updateLastFrames();
- protected:
+ private:
FrameBasePtr addFrame(FrameBasePtr _frame_ptr);
void removeFrame(FrameBasePtr _frame_ptr);
diff --git a/src/capture/capture_base.cpp b/src/capture/capture_base.cpp
index db2c85222..db12b5847 100644
--- a/src/capture/capture_base.cpp
+++ b/src/capture/capture_base.cpp
@@ -291,8 +291,7 @@ void CaptureBase::setCalibration(const VectorXs& _calib)
void CaptureBase::link(FrameBasePtr _frm_ptr)
{
- if (this->getFrame() && this->getFrame() != _frm_ptr)
- this->unlink();
+ assert(this->getFrame() == nullptr && "linking an already linked capture");
if(_frm_ptr)
{
@@ -318,18 +317,5 @@ void CaptureBase::setProblem(ProblemPtr _problem)
ft->setProblem(_problem);
}
-void CaptureBase::unlink()
-{
- if(this->getFrame())
- {
- this->getFrame()->removeCapture(shared_from_this());
- this->setFrame(nullptr);
- }
- else
- {
- WOLF_WARN("Unlinking an unlinked capture");
- }
-}
-
} // namespace wolf
diff --git a/src/factor/factor_base.cpp b/src/factor/factor_base.cpp
index 11df542fb..7f769587f 100644
--- a/src/factor/factor_base.cpp
+++ b/src/factor/factor_base.cpp
@@ -138,8 +138,7 @@ void FactorBase::setStatus(FactorStatus _status)
void FactorBase::link(FeatureBasePtr _ftr_ptr)
{
- if (this->getFeature() && this->getFeature() != _ftr_ptr)
- unlink();
+ assert(this->getFeature() == nullptr && "linking an already linked factor");
if(_ftr_ptr)
{
@@ -175,65 +174,4 @@ void FactorBase::setProblem(ProblemPtr _problem)
this->getProblem()->notifyFactor(shared_from_this(),ADD);
}
-void FactorBase::unlink()
-{
- if(this->getFeature())
- {
- this->getFeature()->removeFactor(shared_from_this());
- this->setFeature(nullptr);
- // remove factor from the solver
- if (this->getProblem() != nullptr && this->getStatus() == FAC_ACTIVE)
- this->getProblem()->notifyFactor(shared_from_this(),REMOVE);
- }
- else
- {
- WOLF_WARN("Unlinking an unlinked factor");
- }
-// auto frame_other = this->frame_other_ptr_.lock();
-// if(frame_other != nullptr) frame_other->removeConstrainedBy(shared_from_this());
-// auto capture_other = this->capture_other_ptr_.lock();
-// if(capture_other != nullptr) capture_other->removeConstrainedBy(shared_from_this());
-// auto feature_other = this->feature_other_ptr_.lock();
-// if(feature_other != nullptr) feature_other->removeConstrainedBy(shared_from_this());
-// auto landmark_other = this->landmark_other_ptr_.lock();
-// if(landmark_other != nullptr) landmark_other->removeConstrainedBy(shared_from_this());
-}
-
-//void FactorBase::setFrameOther(FrameBasePtr _frm_o)
-//{
-// if (_frm_o)
-// {
-// frame_other_ptr_ = _frm_o;
-// frame_other_ptr_->addConstrainedBy(shared_from_this());
-// }
-//}
-//
-//void FactorBase::setCaptureOther(CaptureBasePtr _cap_o)
-//{
-// if (_cap_o)
-// {
-// capture_other_ptr_ = _cap_o;
-// frame_other_ptr_->addConstrainedBy(shared_from_this());
-// }
-//}
-//
-//void FactorBase::setFeatureOther(FeatureBasePtr _ftr_o)
-//{
-// if (_ftr_o)
-// {
-// feature_other_ptr_ = _ftr_o;
-// frame_other_ptr_->addConstrainedBy(shared_from_this());
-// }
-//}
-//
-//void FactorBase::setLandmarkOther(LandmarkBasePtr _lmk_o)
-//{
-// if (_lmk_o)
-// {
-// landmark_other_ptr_ = _lmk_o;
-// frame_other_ptr_->addConstrainedBy(shared_from_this());
-// }
-//}
-
-
} // namespace wolf
diff --git a/src/feature/feature_base.cpp b/src/feature/feature_base.cpp
index d6596861e..2929eb17f 100644
--- a/src/feature/feature_base.cpp
+++ b/src/feature/feature_base.cpp
@@ -157,8 +157,7 @@ Eigen::MatrixXs FeatureBase::computeSqrtUpper(const Eigen::MatrixXs & _info) con
void FeatureBase::link(CaptureBasePtr _cpt_ptr)
{
- if(this->getCapture() && this->getCapture() != _cpt_ptr)
- this->unlink();
+ assert(this->getCapture() == nullptr && "linking an already linked feature");
if(_cpt_ptr)
{
@@ -171,18 +170,4 @@ void FeatureBase::link(CaptureBasePtr _cpt_ptr)
WOLF_WARN("Linking with nullptr");
}
}
-
-void FeatureBase::unlink()
-{
- if(this->getCapture())
- {
- this->getCapture()->removeFeature(shared_from_this());
- this->setCapture(nullptr);
- }
- else
- {
- WOLF_WARN("Unlinking an unlinked feature");
- }
-}
-
} // namespace wolf
diff --git a/src/frame/frame_base.cpp b/src/frame/frame_base.cpp
index 03fdde2fa..04bbaa38f 100644
--- a/src/frame/frame_base.cpp
+++ b/src/frame/frame_base.cpp
@@ -388,8 +388,7 @@ void FrameBase::removeConstrainedBy(FactorBasePtr _fac_ptr)
void FrameBase::link(TrajectoryBasePtr _trj_ptr)
{
- if (this->getTrajectory())
- unlink();
+ assert(this->getTrajectory() == nullptr && "linking an already linked frame");
if(_trj_ptr)
{
@@ -403,19 +402,6 @@ void FrameBase::link(TrajectoryBasePtr _trj_ptr)
}
}
-void FrameBase::unlink()
-{
- if(this->getTrajectory())
- {
- this->getTrajectory()->addFrame(shared_from_this());
- this->setTrajectory(nullptr);
- }
- else
- {
- WOLF_WARN("Unlinking an unlinked frame");
- }
-}
-
void FrameBase::setProblem(ProblemPtr _problem)
{
if (_problem == nullptr || _problem == this->getProblem())
@@ -429,51 +415,4 @@ void FrameBase::setProblem(ProblemPtr _problem)
cap->setProblem(_problem);
}
-//FrameBasePtr FrameBase::create_PO_2D(const FrameType & _tp,
-// const TimeStamp& _ts,
-// const Eigen::VectorXs& _x)
-//{
-// assert(_x.size() == 3 && "Wrong state vector size. Should be 3 for 2D!");
-// StateBlockPtr p_ptr ( std::make_shared<StateBlock> (_x.head <2> ( ) ) );
-// StateBlockPtr o_ptr ( std::make_shared<StateAngle> ((Scalar) _x(2) ) );
-// StateBlockPtr v_ptr ( nullptr );
-// FrameBasePtr f ( std::make_shared<FrameBase>(_tp, _ts, p_ptr, o_ptr, v_ptr) );
-// f->setType("PO 2D");
-// return f;
-//}
-//
-//FrameBasePtr FrameBase::create_PO_3D(const FrameType & _tp,
-// const TimeStamp& _ts,
-// const Eigen::VectorXs& _x)
-//{
-// assert(_x.size() == 7 && "Wrong state vector size. Should be 7 for 3D!");
-// StateBlockPtr p_ptr ( std::make_shared<StateBlock> (_x.head <3> ( ) ) );
-// StateBlockPtr o_ptr ( std::make_shared<StateQuaternion> (_x.tail <4> ( ) ) );
-// StateBlockPtr v_ptr ( nullptr );
-// FrameBasePtr f ( std::make_shared<FrameBase>(_tp, _ts, p_ptr, o_ptr, v_ptr) );
-// f->setType("PO 3D");
-// return f;
-//}
-//
-//FrameBasePtr FrameBase::create_POV_3D(const FrameType & _tp,
-// const TimeStamp& _ts,
-// const Eigen::VectorXs& _x)
-//{
-// assert(_x.size() == 10 && "Wrong state vector size. Should be 10 for 3D!");
-// StateBlockPtr p_ptr ( std::make_shared<StateBlock> (_x.head <3> ( ) ) );
-// StateBlockPtr o_ptr ( std::make_shared<StateQuaternion> (_x.segment <4> (3) ) );
-// StateBlockPtr v_ptr ( std::make_shared<StateBlock> (_x.tail <3> ( ) ) );
-// FrameBasePtr f ( std::make_shared<FrameBase>(_tp, _ts, p_ptr, o_ptr, v_ptr) );
-// f->setType("POV 3D");
-// return f;
-//}
-
} // namespace wolf
-
-//#include "core/common/factory.h"
-//namespace wolf
-//{
-//namespace{ const bool WOLF_UNUSED Frame_PO_2D_Registered = FrameFactory::get().registerCreator("PO 2D", FrameBase::create_PO_2D ); }
-//namespace{ const bool WOLF_UNUSED Frame_PO_3D_Registered = FrameFactory::get().registerCreator("PO 3D", FrameBase::create_PO_3D ); }
-//namespace{ const bool WOLF_UNUSED Frame_POV_3D_Registered = FrameFactory::get().registerCreator("POV 3D", FrameBase::create_POV_3D); }
-//} // namespace wolf
diff --git a/src/landmark/landmark_base.cpp b/src/landmark/landmark_base.cpp
index 95840f9da..cb3f7cb21 100644
--- a/src/landmark/landmark_base.cpp
+++ b/src/landmark/landmark_base.cpp
@@ -164,8 +164,7 @@ YAML::Node LandmarkBase::saveToYaml() const
void LandmarkBase::link(MapBasePtr _map_ptr)
{
- if (this->getMap() && this->getMap() != _map_ptr)
- unlink();
+ assert(this->getMap() == nullptr && "linking an already linked landmark");
if(_map_ptr)
{
@@ -188,19 +187,6 @@ void LandmarkBase::setProblem(ProblemPtr _problem)
this->registerNewStateBlocks();
}
-void LandmarkBase::unlink()
-{
- if(this->getMap())
- {
- this->getMap()->removeLandmark(shared_from_this());
- this->setMap(nullptr);
- }
- else
- {
- WOLF_WARN("Unlinking an unlinked landmark");
- }
-}
-
FactorBasePtr LandmarkBase::addConstrainedBy(FactorBasePtr _fac_ptr)
{
constrained_by_list_.push_back(_fac_ptr);
diff --git a/src/processor/processor_base.cpp b/src/processor/processor_base.cpp
index ba7d2fdf0..fb9c7f921 100644
--- a/src/processor/processor_base.cpp
+++ b/src/processor/processor_base.cpp
@@ -81,11 +81,8 @@ void ProcessorBase::remove()
void ProcessorBase::link(SensorBasePtr _sen_ptr)
{
- if(this->getSensor() && this->getSensor() != _sen_ptr)
- {
- WOLF_WARN("Trying to link an already linked processor with a different sensor. Skipping");
- return;
- }
+ assert(this->getSensor() == nullptr && "linking an already linked landmark");
+
if(_sen_ptr)
{
_sen_ptr->addProcessor(shared_from_this());
diff --git a/src/sensor/sensor_base.cpp b/src/sensor/sensor_base.cpp
index 2661df0be..4f1bba034 100644
--- a/src/sensor/sensor_base.cpp
+++ b/src/sensor/sensor_base.cpp
@@ -409,12 +409,7 @@ void SensorBase::setProblem(ProblemPtr _problem)
void SensorBase::link(HardwareBasePtr _hw_ptr)
{
- std::cout << "Linking SensorBase" << std::endl;
- if(this->getHardware() && this->getHardware() != _hw_ptr)
- {
- WOLF_WARN("Trying to link an already linked sensor with a different hardware. Skipping");
- return;
- }
+ assert(this->getHardware() == nullptr && "linking an already linked sensor");
if(_hw_ptr)
{
diff --git a/test/gtest_frame_base.cpp b/test/gtest_frame_base.cpp
index a48478f8e..f02418eb9 100644
--- a/test/gtest_frame_base.cpp
+++ b/test/gtest_frame_base.cpp
@@ -133,10 +133,6 @@ TEST(FrameBase, LinksToTree)
F1->setKey();
ASSERT_TRUE(F1->isKey());
ASSERT_TRUE(F1->isKeyOrAux());
-
- // Unlink capture
- C->unlink();
- ASSERT_TRUE(F1->getCaptureList().empty());
}
#include "core/state_block/state_quaternion.h"
--
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