From 5841c1eb3e689907de53382dc4972ffe86a68ec2 Mon Sep 17 00:00:00 2001
From: jvallve <jvallve@iri.upc.edu>
Date: Mon, 25 Apr 2022 14:33:36 +0200
Subject: [PATCH] wip
---
include/core/problem/problem.h | 13 ++++++++-----
src/problem/problem.cpp | 3 ---
2 files changed, 8 insertions(+), 8 deletions(-)
diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index 3ded670af..ce1a393f6 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -200,8 +200,8 @@ class Problem : public std::enable_shared_from_this<Problem>
void removeMotionProvider(MotionProviderPtr proc);
public:
- const std::map<int,MotionProviderConstPtr>& getMotionProviderMap() const;
- const std::map<int,MotionProviderPtr>& getMotionProviderMap();
+ std::map<int,MotionProviderConstPtr> getMotionProviderMap() const;
+ std::map<int,MotionProviderPtr> getMotionProviderMap();
// Trajectory branch ----------------------------------
TrajectoryBaseConstPtr getTrajectory() const;
@@ -455,12 +455,15 @@ inline bool Problem::isPriorSet() const
return prior_options_ == nullptr;
}
-inline const std::map<int,MotionProviderConstPtr>& Problem::getMotionProviderMap() const
+inline std::map<int,MotionProviderConstPtr> Problem::getMotionProviderMap() const
{
- return motion_provider_const_map_;
+ std::map<int,MotionProviderConstPtr> map_const;
+ for (auto&& pair : motion_provider_map_)
+ map_const[pair.first] = pair.second;
+ return map_const;
}
-inline const std::map<int,MotionProviderPtr>& Problem::getMotionProviderMap()
+inline std::map<int,MotionProviderPtr> Problem::getMotionProviderMap()
{
return motion_provider_map_;
}
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index cc51fa680..74949c604 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -65,7 +65,6 @@ Problem::Problem(const std::string& _frame_structure, SizeEigen _dim, MapBasePtr
trajectory_ptr_(std::make_shared<TrajectoryBase>()),
map_ptr_(_map),
motion_provider_map_(),
- motion_provider_const_map_(),
frame_structure_(_frame_structure),
prior_options_(std::make_shared<PriorOptions>())
{
@@ -659,7 +658,6 @@ void Problem::addMotionProvider(MotionProviderPtr _motion_provider_ptr)
// add to map ordered by priority
motion_provider_map_.emplace(_motion_provider_ptr->getStatePriority(), _motion_provider_ptr);
- motion_provider_const_map_.emplace(_motion_provider_ptr->getStatePriority(), _motion_provider_ptr);
appendToStructure(_motion_provider_ptr->getStateStructure());
}
@@ -668,7 +666,6 @@ void Problem::removeMotionProvider(MotionProviderPtr proc)
WOLF_WARN_COND(motion_provider_map_.count(proc->getStatePriority()) == 0, "Problem::clearMotionProvider: missing processor");
motion_provider_map_.erase(proc->getStatePriority());
- motion_provider_const_map_.erase(proc->getStatePriority());
// rebuild frame structure with remaining motion processors
frame_structure_.clear();
--
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