Problem::setup() to avoid shared_from_this() in the constructor

Will have to do this ALWAYS.

src/examples/test_processor_imu.cpp

@@ -74,6 +74,7 @@ int main(int argc, char** argv)
 
     // Wolf problem
     ProblemPtr wolf_problem_ptr_ = make_shared<Problem>(FRM_PVQBB_3D);
+    wolf_problem_ptr_->setup();
     Eigen::VectorXs extrinsics(7);
     extrinsics << 0,0,0, 0,0,0,1; // IMU pose in the robot
     SensorBasePtr sensor_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", extrinsics, shared_ptr<IntrinsicsBase>());

src/hardware_base.cpp

@@ -7,12 +7,12 @@ namespace wolf {
 HardwareBase::HardwareBase() :
         NodeBase("HARDWARE")
 {
-    //std::cout << "HardwareBase::HardwareBase(): " << __LINE__ << std::endl;
+    std::cout << "constructed H" << std::endl;
 }
 
 HardwareBase::~HardwareBase()
 {
-	std::cout << "destructing H" << nodeId() << std::endl;
+	std::cout << "destructed H" << nodeId() << std::endl;
 }
 
 SensorBasePtr HardwareBase::addSensor(SensorBasePtr _sensor_ptr)

src/map_base.cpp

@@ -21,7 +21,7 @@ namespace wolf {
 MapBase::MapBase() :
     NodeBase("MAP")
 {
-    std::cout << "created M"<< std::endl;
+    std::cout << "constructed M"<< std::endl;
 }
 
 MapBase::~MapBase()

src/problem.cpp

@@ -25,11 +25,18 @@ std::string uppercase(std::string s) {for (auto & c: s) c = std::toupper(c); ret
 
 
 Problem::Problem(FrameStructure _frame_structure) :
-        hardware_ptr_(new HardwareBase),
-        trajectory_ptr_(new TrajectoryBase(_frame_structure)),
-        map_ptr_(new MapBase),
-        processor_motion_ptr_(nullptr),
+        hardware_ptr_(),
+        trajectory_ptr_(),
+        map_ptr_(),
+        processor_motion_ptr_(),
         origin_is_set_(false)
+{
+    hardware_ptr_ = std::make_shared<HardwareBase>();
+    trajectory_ptr_ = std::make_shared<TrajectoryBase>(_frame_structure);
+    map_ptr_ = std::make_shared<MapBase>();
+}
+
+void Problem::setup()
 {
     hardware_ptr_->setProblem(shared_from_this());
     trajectory_ptr_->setProblem(shared_from_this());

src/problem.h

@@ -61,6 +61,7 @@ class Problem : public std::enable_shared_from_this<Problem>
     public:
 
         Problem(FrameStructure _frame_structure);
+        void setup();
         virtual ~Problem();
 
         // Properties -----------------------------------------

src/trajectory_base.cpp

@@ -7,6 +7,7 @@ TrajectoryBase::TrajectoryBase(FrameStructure _frame_structure) :
     NodeBase("TRAJECTORY"),
     frame_structure_(_frame_structure), last_key_frame_ptr_(nullptr)
 {
+    std::cout << "constructed T" << std::endl;
     //
 }
 
@@ -19,6 +20,7 @@ TrajectoryBase::~TrajectoryBase()
         frame_list_.pop_front();
     }
     //std::cout << "deleting TrajectoryBase " << nodeId() << std::endl;
+    std::cout << "destructed T" << std::endl;
 }
 
 //void TrajectoryBase::destruct()