Implemented storeCapture() & storeKeyFrame() in core processors

hello_wolf/processor_range_bearing.cpp

@@ -190,6 +190,14 @@ Eigen::Vector2s ProcessorRangeBearing::rect(Scalar range, Scalar bearing) const
     return range * (Vector2s() << cos(bearing), sin(bearing)).finished();
 }
 
+bool ProcessorRangeBearing::storeKeyFrame(FrameBasePtr _frame_ptr)
+{
+  return true;
+}
+bool ProcessorRangeBearing::storeCapture(CaptureBasePtr _cap_ptr)
+{
+  return false;
+}
 } /* namespace wolf */
 
 // Register in the SensorFactory

hello_wolf/processor_range_bearing.h

@@ -65,6 +65,18 @@ class ProcessorRangeBearing : public ProcessorBase
         virtual bool triggerInKeyFrame  (FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other) override {return false;}
         virtual bool voteForKeyFrame    () override {return false;}
 
+        /** \brief store key frame
+        *
+        * Returns true if the key frame should be stored
+        */
+        virtual bool storeKeyFrame(FrameBasePtr) override;
+
+        /** \brief store capture
+        *
+        * Returns true if the capture should be stored
+        */
+        virtual bool storeCapture(CaptureBasePtr) override;
+
     private:
         // control variables
         Trf H_r_s; // transformation matrix, robot to sensor

include/core/processor/processor_capture_holder.h

@@ -63,6 +63,18 @@ class ProcessorCaptureHolder : public ProcessorBase
          */
         virtual bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other) override { return true; }
 
+        /** \brief store key frame
+        *
+        * Returns true if the key frame should be stored
+        */
+        virtual bool storeKeyFrame(FrameBasePtr) override;
+
+        /** \brief store capture
+        *
+        * Returns true if the capture should be stored
+        */
+        virtual bool storeCapture(CaptureBasePtr) override;
+
         /** \brief Vote for KeyFrame generation
         *
         * If a KeyFrame criterion is validated, this function returns true,

include/core/processor/processor_motion.h

@@ -247,6 +247,18 @@ class ProcessorMotion : public ProcessorBase
          */
         virtual bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other) override {return false;}
 
+        /** \brief store key frame
+        *
+        * Returns true if the key frame should be stored
+        */
+        virtual bool storeKeyFrame(FrameBasePtr) override;
+
+        /** \brief store capture
+        *
+        * Returns true if the capture should be stored
+        */
+        virtual bool storeCapture(CaptureBasePtr) override;
+
         virtual bool voteForKeyFrame() override;
 
         Scalar updateDt();

src/processor/processor_capture_holder.cpp

@@ -75,6 +75,16 @@ ProcessorBasePtr ProcessorCaptureHolder::create(const std::string& _unique_name,
       return prc_ptr;
 }
 
+bool ProcessorCaptureHolder::storeKeyFrame(FrameBasePtr _frame_ptr)
+{
+  return false;
+}
+bool ProcessorCaptureHolder::storeCapture(CaptureBasePtr _cap_ptr)
+{
+  return true;
+}
+
+
 } // namespace wolf
 
 // Register in the ProcessorFactory

src/processor/processor_motion.cpp

@@ -668,4 +668,13 @@ void ProcessorMotion::setProblem(ProblemPtr _problem)
         this->getProblem()->setProcessorMotion(std::static_pointer_cast<ProcessorMotion>(shared_from_this()));
 };
 
+bool ProcessorMotion::storeKeyFrame(FrameBasePtr _frame_ptr)
+{
+  return true;
+}
+bool ProcessorMotion::storeCapture(CaptureBasePtr _cap_ptr)
+{
+  return false;
+}
+
 }