added assertions in link() checking not removing

src/feature/feature_base.cpp

@@ -157,6 +157,7 @@ Eigen::MatrixXs FeatureBase::computeSqrtUpper(const Eigen::MatrixXs & _info) con
 
 void FeatureBase::link(CaptureBasePtr _cpt_ptr)
 {
+    assert(!is_removing_ && "linking a removed feature");
     assert(this->getCapture() == nullptr && "linking an already linked feature");
 
     if(_cpt_ptr)

src/frame/frame_base.cpp

@@ -408,6 +408,7 @@ void FrameBase::removeConstrainedBy(FactorBasePtr _fac_ptr)
 
 void FrameBase::link(TrajectoryBasePtr _trj_ptr)
 {
+    assert(!is_removing_ && "linking a removed frame");
     assert(this->getTrajectory() == nullptr && "linking an already linked frame");
 
     if(_trj_ptr)

src/landmark/landmark_base.cpp

@@ -164,6 +164,7 @@ YAML::Node LandmarkBase::saveToYaml() const
 
 void LandmarkBase::link(MapBasePtr _map_ptr)
 {
+    assert(!is_removing_ && "linking a removed landmark");
     assert(this->getMap() == nullptr && "linking an already linked landmark");
 
     if(_map_ptr)

src/processor/processor_base.cpp

@@ -81,6 +81,7 @@ void ProcessorBase::remove()
 
 void ProcessorBase::link(SensorBasePtr _sen_ptr)
 {
+    assert(!is_removing_ && "linking a removed processor");
     assert(this->getSensor() == nullptr && "linking an already linked processor");
 
     if(_sen_ptr)

src/sensor/sensor_base.cpp

@@ -409,6 +409,7 @@ void SensorBase::setProblem(ProblemPtr _problem)
 
 void SensorBase::link(HardwareBasePtr _hw_ptr)
 {
+    assert(!is_removing_ && "linking a removed sensor");
     assert(this->getHardware() == nullptr && "linking an already linked sensor");
     if(_hw_ptr)
     {