From 4d34709300834461d744a573267c6ff7cf429963 Mon Sep 17 00:00:00 2001
From: jcasals <jcasals@iri.upc.edu>
Date: Wed, 27 May 2020 13:02:42 +0200
Subject: [PATCH] Add Key frame assert to FrameBase::link
---
src/frame/frame_base.cpp | 1 +
test/gtest_has_state_blocks.cpp | 2 +-
2 files changed, 2 insertions(+), 1 deletion(-)
diff --git a/src/frame/frame_base.cpp b/src/frame/frame_base.cpp
index fd2edab07..e0a7a9346 100644
--- a/src/frame/frame_base.cpp
+++ b/src/frame/frame_base.cpp
@@ -287,6 +287,7 @@ void FrameBase::link(TrajectoryBasePtr _trj_ptr)
{
assert(!is_removing_ && "linking a removed frame");
assert(this->getTrajectory() == nullptr && "linking an already linked frame");
+ assert(isKey() && "Trying to link a non keyframe");
if(_trj_ptr)
{
diff --git a/test/gtest_has_state_blocks.cpp b/test/gtest_has_state_blocks.cpp
index 6b403ea31..36c037f56 100644
--- a/test/gtest_has_state_blocks.cpp
+++ b/test/gtest_has_state_blocks.cpp
@@ -55,7 +55,7 @@ TEST_F(HasStateBlocksTest, Notifications_setKey_add)
Notification n;
ASSERT_FALSE(problem->getStateBlockNotification(sbp0, n));
- // F0->link(problem->getTrajectory());
+ ASSERT_DEATH(F0->link(problem->getTrajectory()), "Assertion `isKey()");
// ASSERT_FALSE(problem->getStateBlockNotification(sbp0, n));
--
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