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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
58c545a1
Commit
58c545a1
authored
5 years ago
by
Médéric Fourmy
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Fixed a state size related bug
parent
8e1218d9
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1 merge request
!339
Adapting to multiple processor motion 285
Changes
1
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1 changed file
src/processor/processor_motion.cpp
+4
-3
4 additions, 3 deletions
src/processor/processor_motion.cpp
with
4 additions
and
3 deletions
src/processor/processor_motion.cpp
+
4
−
3
View file @
58c545a1
...
@@ -374,7 +374,7 @@ bool ProcessorMotion::getState(const TimeStamp& _ts, Eigen::VectorXd& _x) const
...
@@ -374,7 +374,7 @@ bool ProcessorMotion::getState(const TimeStamp& _ts, Eigen::VectorXd& _x) const
VectorXd
delta
=
capture_motion
->
correctDelta
(
motion
.
delta_integr_
,
delta_step
);
VectorXd
delta
=
capture_motion
->
correctDelta
(
motion
.
delta_integr_
,
delta_step
);
// ensure proper size of the provided reference
// ensure proper size of the provided reference
_x
.
resize
(
getProblem
()
->
getFrameStructureS
ize
()
);
_x
.
resize
(
state_0
.
s
ize
()
);
// Compose on top of origin state using the buffered time stamp, not the query time stamp
// Compose on top of origin state using the buffered time stamp, not the query time stamp
double
dt
=
motion
.
ts_
-
capture_motion
->
getBuffer
().
get
().
front
().
ts_
;
double
dt
=
motion
.
ts_
-
capture_motion
->
getBuffer
().
get
().
front
().
ts_
;
...
@@ -383,7 +383,7 @@ bool ProcessorMotion::getState(const TimeStamp& _ts, Eigen::VectorXd& _x) const
...
@@ -383,7 +383,7 @@ bool ProcessorMotion::getState(const TimeStamp& _ts, Eigen::VectorXd& _x) const
else
else
{
{
// We could not find any CaptureMotion for the time stamp requested
// We could not find any CaptureMotion for the time stamp requested
WOLF_ERROR
(
"Could not find any Capture for the time stamp requested. "
);
WOLF_ERROR
(
"Could not find any Capture for the time stamp requested. "
,
_ts
);
WOLF_TRACE
(
"Did you forget to call Problem::setPrior() in your application?"
)
WOLF_TRACE
(
"Did you forget to call Problem::setPrior() in your application?"
)
return
false
;
return
false
;
}
}
...
@@ -567,7 +567,8 @@ CaptureMotionPtr ProcessorMotion::findCaptureContainingTimeStamp(const TimeStamp
...
@@ -567,7 +567,8 @@ CaptureMotionPtr ProcessorMotion::findCaptureContainingTimeStamp(const TimeStamp
++
frame_rev_iter
)
++
frame_rev_iter
)
{
{
frame
=
*
frame_rev_iter
;
frame
=
*
frame_rev_iter
;
capture
=
frame
->
getCaptureOf
(
getSensor
());
auto
sensor
=
getSensor
();
capture
=
frame
->
getCaptureOf
(
sensor
);
if
(
capture
!=
nullptr
)
if
(
capture
!=
nullptr
)
{
{
// Rule 1 satisfied! We found a Capture belonging to this processor's Sensor ==> it is a CaptureMotion
// Rule 1 satisfied! We found a Capture belonging to this processor's Sensor ==> it is a CaptureMotion
...
...
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