From 561a466de94ab2f7a7785789aa92a368d2fb283f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Wed, 1 Aug 2018 15:31:35 +0200
Subject: [PATCH] ProcessorMotion::getState() returning bool instead of
throwing exception
---
src/problem.cpp | 6 ++----
src/processor_motion.cpp | 5 +++--
src/processor_motion.h | 3 ++-
3 files changed, 7 insertions(+), 7 deletions(-)
diff --git a/src/problem.cpp b/src/problem.cpp
index 7dbe0b736..5e646aef1 100644
--- a/src/problem.cpp
+++ b/src/problem.cpp
@@ -286,10 +286,8 @@ void Problem::getState(const TimeStamp& _ts, Eigen::VectorXs& state)
{
assert(state.size() == getFrameStructureSize() && "Problem::getStateAtTimeStamp: bad state size");
- if (processor_motion_ptr_ != nullptr)
- processor_motion_ptr_->getState(_ts, state);
-
- else
+ // try to get the state from processor_motion if any, otherwise...
+ if (processor_motion_ptr_ == nullptr || !processor_motion_ptr_->getState(_ts, state))
{
FrameBasePtr closest_frame = trajectory_ptr_->closestKeyFrameToTimeStamp(_ts);
if (closest_frame != nullptr)
diff --git a/src/processor_motion.cpp b/src/processor_motion.cpp
index a89aa763c..d15a942a7 100644
--- a/src/processor_motion.cpp
+++ b/src/processor_motion.cpp
@@ -257,7 +257,7 @@ void ProcessorMotion::process(CaptureBasePtr _incoming_ptr)
}
-void ProcessorMotion::getState(const TimeStamp& _ts, Eigen::VectorXs& _x)
+bool ProcessorMotion::getState(const TimeStamp& _ts, Eigen::VectorXs& _x)
{
CaptureMotionPtr capture_motion;
if (origin_ptr_ && _ts >= origin_ptr_->getTimeStamp())
@@ -291,8 +291,9 @@ void ProcessorMotion::getState(const TimeStamp& _ts, Eigen::VectorXs& _x)
// We could not find any CaptureMotion for the time stamp requested
WOLF_ERROR("Could not find any Capture for the time stamp requested. ");
WOLF_TRACE("Did you forget to call Problem::setPrior() in your application?")
- throw std::runtime_error("Could not find any Capture for the time stamp requested. Did you forget to call Problem::setPrior() in your application?");
+ return false;
}
+ return true;
}
//CaptureMotionPtr ProcessorMotion::findCaptureContainingTimeStamp(const TimeStamp& _ts) const
diff --git a/src/processor_motion.h b/src/processor_motion.h
index a93a4bfb6..7087ef593 100644
--- a/src/processor_motion.h
+++ b/src/processor_motion.h
@@ -157,8 +157,9 @@ class ProcessorMotion : public ProcessorBase
/** \brief Fill the state corresponding to the provided time-stamp
* \param _ts the time stamp
* \param _x the returned state
+ * \return if state in the provided time-stamp could be resolved
*/
- void getState(const TimeStamp& _ts, Eigen::VectorXs& _x);
+ bool getState(const TimeStamp& _ts, Eigen::VectorXs& _x);
/** \brief Get the state corresponding to the provided time-stamp
* \param _ts the time stamp
--
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