From 672ad93850bd4722868e928fe7b451dfe776b791 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Mon, 28 Sep 2020 18:08:55 +0200
Subject: [PATCH] assertion added avoiding setProblem to non-key frames
---
src/frame/frame_base.cpp | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/src/frame/frame_base.cpp b/src/frame/frame_base.cpp
index 80b804d90..357ee344b 100644
--- a/src/frame/frame_base.cpp
+++ b/src/frame/frame_base.cpp
@@ -303,12 +303,13 @@ void FrameBase::link(TrajectoryBasePtr _trj_ptr)
void FrameBase::setProblem(ProblemPtr _problem)
{
+ assert(isKey() && "Trying to setProblem to a non keyframe");
+
if (_problem == nullptr || _problem == this->getProblem())
return;
NodeBase::setProblem(_problem);
- if (this->isKey())
- registerNewStateBlocks(_problem);
+ registerNewStateBlocks(_problem);
for (auto cap : capture_list_)
cap->setProblem(_problem);
--
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