From 69d307ada308009f3bcbbfbe7db09e06c3bbf2c4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Thu, 11 Jun 2020 16:54:14 +0200
Subject: [PATCH] WIP: Add structure to IM::getState() API
---
include/core/processor/is_motion.h | 4 ++--
include/core/processor/processor_motion.h | 4 ++--
src/processor/processor_motion.cpp | 4 ++--
3 files changed, 6 insertions(+), 6 deletions(-)
diff --git a/include/core/processor/is_motion.h b/include/core/processor/is_motion.h
index 2f725e18d..09d7bc68d 100644
--- a/include/core/processor/is_motion.h
+++ b/include/core/processor/is_motion.h
@@ -26,8 +26,8 @@ class IsMotion
// Queries to the processor:
virtual TimeStamp getTimeStamp() const = 0;
- virtual VectorComposite getState() const = 0;
- virtual VectorComposite getState(const TimeStamp& _ts) const = 0;
+ virtual VectorComposite getState(const StateStructure& _structure = "") const = 0;
+ virtual VectorComposite getState(const TimeStamp& _ts, const StateStructure& _structure = "") const = 0;
std::string getStateStructure(){return state_structure_;};
void setStateStructure(std::string _state_structure){state_structure_ = _state_structure;};
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 4df3a67fb..ef155cee1 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -166,8 +166,8 @@ class ProcessorMotion : public ProcessorBase, public IsMotion
// Queries to the processor:
TimeStamp getTimeStamp() const override;
- VectorComposite getState() const override;
- VectorComposite getState(const TimeStamp& _ts) const override;
+ VectorComposite getState(const StateStructure& _structure = "") const override;
+ VectorComposite getState(const TimeStamp& _ts, const StateStructure& _structure = "") const override;
/** \brief Gets the delta preintegrated covariance from all integrations so far
* \return the delta preintegrated covariance matrix
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 23dd66ba1..9aea50f6c 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -400,7 +400,7 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
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
@@ -474,7 +474,7 @@ VectorComposite ProcessorMotion::getState() const
// _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
--
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