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Commit 5f1b7aa3 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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new typedef StateBlockMap

parent 38b69508
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2 merge requests!358WIP: Resolve "Complete state vector new data structure?",!343WIP: Resolve "Complete state vector new data structure?"
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include/core/state_block/has_state_blocks.h
+ 8
− 6
View file @ 5f1b7aa3
...@@ -16,6 +16,8 @@ ...@@ -16,6 +16,8 @@
namespace wolf namespace wolf
{ {
typedef std::unordered_map<std::string, StateBlockPtr> StateBlockMap;
class HasStateBlocks class HasStateBlocks
{ {
...@@ -28,7 +30,7 @@ class HasStateBlocks ...@@ -28,7 +30,7 @@ class HasStateBlocks
void appendToStructure(const std::string& _frame_type){ structure_ += _frame_type; } void appendToStructure(const std::string& _frame_type){ structure_ += _frame_type; }
bool isInStructure(const std::string& _sb_type) { return structure_.find(_sb_type) != std::string::npos; } bool isInStructure(const std::string& _sb_type) { return structure_.find(_sb_type) != std::string::npos; }
const std::unordered_map<std::string, StateBlockPtr>& getStateBlockMap() const; const StateBlockMap& getStateBlockMap() const;
std::vector<StateBlockPtr> getStateBlockVec() const; std::vector<StateBlockPtr> getStateBlockVec() const;
// Some typical shortcuts -- not all should be coded here, see notes below. // Some typical shortcuts -- not all should be coded here, see notes below.
...@@ -52,7 +54,7 @@ class HasStateBlocks ...@@ -52,7 +54,7 @@ class HasStateBlocks
bool setStateBlock(const std::string _sb_type, const StateBlockPtr& _sb); bool setStateBlock(const std::string _sb_type, const StateBlockPtr& _sb);
bool setStateBlock(const char _sb_type, const StateBlockPtr& _sb) { return setStateBlock(std::string(1, _sb_type), _sb); } bool setStateBlock(const char _sb_type, const StateBlockPtr& _sb) { return setStateBlock(std::string(1, _sb_type), _sb); }
bool stateBlockKey(const StateBlockPtr& _sb, std::string& _key) const; bool stateBlockKey(const StateBlockPtr& _sb, std::string& _key) const;
std::unordered_map<std::string, StateBlockPtr>::const_iterator find(const StateBlockPtr& _sb) const; StateBlockMap::const_iterator find(const StateBlockPtr& _sb) const;
// Emplace derived state blocks (angle, quaternion, etc). // Emplace derived state blocks (angle, quaternion, etc).
template<typename SB, typename ... Args> template<typename SB, typename ... Args>
...@@ -85,8 +87,8 @@ class HasStateBlocks ...@@ -85,8 +87,8 @@ class HasStateBlocks
private: private:
StateStructure structure_; // TBR StateStructure structure_; // TBR
std::unordered_map<std::string, StateBlockPtr> state_block_map_; StateBlockMap state_block_map_;
}; };
...@@ -111,7 +113,7 @@ inline HasStateBlocks::~HasStateBlocks() ...@@ -111,7 +113,7 @@ inline HasStateBlocks::~HasStateBlocks()
// //
} }
inline const std::unordered_map<std::string, StateBlockPtr>& HasStateBlocks::getStateBlockMap() const inline const StateBlockMap& HasStateBlocks::getStateBlockMap() const
{ {
return state_block_map_; return state_block_map_;
} }
...@@ -266,7 +268,7 @@ inline Eigen::VectorXd HasStateBlocks::getState(const StateStructure& _sub_struc ...@@ -266,7 +268,7 @@ inline Eigen::VectorXd HasStateBlocks::getState(const StateStructure& _sub_struc
return state; return state;
} }
inline std::unordered_map<std::string, StateBlockPtr>::const_iterator HasStateBlocks::find(const StateBlockPtr& _sb) const inline StateBlockMap::const_iterator HasStateBlocks::find(const StateBlockPtr& _sb) const
{ {
const auto& it = std::find_if(state_block_map_.begin(), const auto& it = std::find_if(state_block_map_.begin(),
state_block_map_.end(), state_block_map_.end(),
......
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