Merge branch '234-remove-processorbase-emplaceframe-functions' into 'devel'

Resolve "Remove ProcessorBase::emplaceFrame() functions"

Closes #234

See merge request !293

include/core/processor/processor_base.h

@@ -271,25 +271,6 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
 
         virtual bool permittedAuxFrame() final;
 
-        /**\brief make a Frame with the provided Capture
-         *
-         * Provide the following functionality:
-         *   - Construct a Frame,
-         *   - Put it in the Trajectory, and
-         *   - Add the provided capture on it.
-         */
-        FrameBasePtr emplaceFrame(FrameType _type, CaptureBasePtr _capture_ptr);
-
-        /**\brief make a Frame with the provided Capture
-         *
-         * Provide the following functionality:
-         *   - Construct a Frame,
-         *   - Set its state vector
-         *   - Put it in the Trajectory, and
-         *   - Add the provided capture on it.
-         */
-        FrameBasePtr emplaceFrame(FrameType _type, CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state);
-
     public:
         /**\brief notify a new keyframe made by another processor
          *

src/processor/processor_base.cpp

@@ -31,25 +31,6 @@ bool ProcessorBase::permittedAuxFrame()
     return isVotingAuxActive() && getProblem()->permitAuxFrame(shared_from_this());
 }
 
-FrameBasePtr ProcessorBase::emplaceFrame(FrameType _type, CaptureBasePtr _capture_ptr)
-{
-    std::cout << "Making " << (_type == KEY ? "key-" : (_type == AUXILIARY ? "aux-" : "")) << "frame" << std::endl;
-
-    FrameBasePtr new_frame_ptr = getProblem()->emplaceFrame(_type, _capture_ptr->getTimeStamp());
-    // new_frame_ptr->addCapture(_capture_ptr);
-    _capture_ptr->link(new_frame_ptr);
-
-    return new_frame_ptr;
-}
-
-FrameBasePtr ProcessorBase::emplaceFrame(FrameType _type, CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state)
-{
-    FrameBasePtr new_frame_ptr = emplaceFrame(_type, _capture_ptr);
-    new_frame_ptr->setState(_state);
-
-    return new_frame_ptr;
-}
-
 void ProcessorBase::keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other)
 {
     WOLF_DEBUG("P", isMotion() ? "M " : "T ", getName(), ": KF", _keyframe_ptr->id(), " callback received with ts = ", _keyframe_ptr->getTimeStamp());