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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
69d307ad
Commit
69d307ad
authored
5 years ago
by
Joan Solà Ortega
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WIP: Add structure to IM::getState() API
parent
752939e2
No related branches found
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1 merge request
!379
Resolve "Problem::getState(structure) doesn't care about structure"
Pipeline
#5664
failed
5 years ago
Stage: build
Changes
3
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1
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3 changed files
include/core/processor/is_motion.h
+2
-2
2 additions, 2 deletions
include/core/processor/is_motion.h
include/core/processor/processor_motion.h
+2
-2
2 additions, 2 deletions
include/core/processor/processor_motion.h
src/processor/processor_motion.cpp
+2
-2
2 additions, 2 deletions
src/processor/processor_motion.cpp
with
6 additions
and
6 deletions
include/core/processor/is_motion.h
+
2
−
2
View file @
69d307ad
...
@@ -26,8 +26,8 @@ class IsMotion
...
@@ -26,8 +26,8 @@ class IsMotion
// Queries to the processor:
// Queries to the processor:
virtual
TimeStamp
getTimeStamp
()
const
=
0
;
virtual
TimeStamp
getTimeStamp
()
const
=
0
;
virtual
VectorComposite
getState
()
const
=
0
;
virtual
VectorComposite
getState
(
const
StateStructure
&
_structure
=
""
)
const
=
0
;
virtual
VectorComposite
getState
(
const
TimeStamp
&
_ts
)
const
=
0
;
virtual
VectorComposite
getState
(
const
TimeStamp
&
_ts
,
const
StateStructure
&
_structure
=
""
)
const
=
0
;
std
::
string
getStateStructure
(){
return
state_structure_
;};
std
::
string
getStateStructure
(){
return
state_structure_
;};
void
setStateStructure
(
std
::
string
_state_structure
){
state_structure_
=
_state_structure
;};
void
setStateStructure
(
std
::
string
_state_structure
){
state_structure_
=
_state_structure
;};
...
...
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include/core/processor/processor_motion.h
+
2
−
2
View file @
69d307ad
...
@@ -166,8 +166,8 @@ class ProcessorMotion : public ProcessorBase, public IsMotion
...
@@ -166,8 +166,8 @@ class ProcessorMotion : public ProcessorBase, public IsMotion
// Queries to the processor:
// Queries to the processor:
TimeStamp
getTimeStamp
()
const
override
;
TimeStamp
getTimeStamp
()
const
override
;
VectorComposite
getState
()
const
override
;
VectorComposite
getState
(
const
StateStructure
&
_structure
=
""
)
const
override
;
VectorComposite
getState
(
const
TimeStamp
&
_ts
)
const
override
;
VectorComposite
getState
(
const
TimeStamp
&
_ts
,
const
StateStructure
&
_structure
=
""
)
const
override
;
/** \brief Gets the delta preintegrated covariance from all integrations so far
/** \brief Gets the delta preintegrated covariance from all integrations so far
* \return the delta preintegrated covariance matrix
* \return the delta preintegrated covariance matrix
...
...
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src/processor/processor_motion.cpp
+
2
−
2
View file @
69d307ad
...
@@ -400,7 +400,7 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
...
@@ -400,7 +400,7 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
postProcess
();
postProcess
();
}
}
VectorComposite
ProcessorMotion
::
getState
()
const
VectorComposite
ProcessorMotion
::
getState
(
const
StateStructure
&
_structure
)
const
{
{
if
(
last_ptr_
==
nullptr
or
last_ptr_
->
getFrame
()
==
nullptr
)
// We do not have any info of where to find a valid state
if
(
last_ptr_
==
nullptr
or
last_ptr_
->
getFrame
()
==
nullptr
)
// We do not have any info of where to find a valid state
...
@@ -474,7 +474,7 @@ VectorComposite ProcessorMotion::getState() const
...
@@ -474,7 +474,7 @@ VectorComposite ProcessorMotion::getState() const
// _x needs to have the size of the processor state
// _x needs to have the size of the processor state
VectorComposite
ProcessorMotion
::
getState
(
const
TimeStamp
&
_ts
)
const
VectorComposite
ProcessorMotion
::
getState
(
const
TimeStamp
&
_ts
,
const
StateStructure
&
_structure
)
const
{
{
// We need to search for the capture containing a motion buffer with the queried time stamp
// We need to search for the capture containing a motion buffer with the queried time stamp
...
...
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