From 7f02dc62c7c29a56267ec5b5fd6886d64eff0c38 Mon Sep 17 00:00:00 2001
From: jcasals <jcasals@iri.upc.edu>
Date: Thu, 27 Jun 2019 15:31:52 +0200
Subject: [PATCH] Removed ProcessorBase::emplaceFrame(). Closes #234
---
include/core/processor/processor_base.h | 19 -------------------
src/processor/processor_base.cpp | 19 -------------------
2 files changed, 38 deletions(-)
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 114867765..b2027b3d3 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -271,25 +271,6 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
virtual bool permittedAuxFrame() final;
- /**\brief make a Frame with the provided Capture
- *
- * Provide the following functionality:
- * - Construct a Frame,
- * - Put it in the Trajectory, and
- * - Add the provided capture on it.
- */
- FrameBasePtr emplaceFrame(FrameType _type, CaptureBasePtr _capture_ptr);
-
- /**\brief make a Frame with the provided Capture
- *
- * Provide the following functionality:
- * - Construct a Frame,
- * - Set its state vector
- * - Put it in the Trajectory, and
- * - Add the provided capture on it.
- */
- FrameBasePtr emplaceFrame(FrameType _type, CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state);
-
public:
/**\brief notify a new keyframe made by another processor
*
diff --git a/src/processor/processor_base.cpp b/src/processor/processor_base.cpp
index e379a780e..6dcc3c341 100644
--- a/src/processor/processor_base.cpp
+++ b/src/processor/processor_base.cpp
@@ -31,25 +31,6 @@ bool ProcessorBase::permittedAuxFrame()
return isVotingAuxActive() && getProblem()->permitAuxFrame(shared_from_this());
}
-FrameBasePtr ProcessorBase::emplaceFrame(FrameType _type, CaptureBasePtr _capture_ptr)
-{
- std::cout << "Making " << (_type == KEY ? "key-" : (_type == AUXILIARY ? "aux-" : "")) << "frame" << std::endl;
-
- FrameBasePtr new_frame_ptr = getProblem()->emplaceFrame(_type, _capture_ptr->getTimeStamp());
- // new_frame_ptr->addCapture(_capture_ptr);
- _capture_ptr->link(new_frame_ptr);
-
- return new_frame_ptr;
-}
-
-FrameBasePtr ProcessorBase::emplaceFrame(FrameType _type, CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state)
-{
- FrameBasePtr new_frame_ptr = emplaceFrame(_type, _capture_ptr);
- new_frame_ptr->setState(_state);
-
- return new_frame_ptr;
-}
-
void ProcessorBase::keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tol_other)
{
WOLF_DEBUG("P", isMotion() ? "M " : "T ", getName(), ": KF", _keyframe_ptr->id(), " callback received with ts = ", _keyframe_ptr->getTimeStamp());
--
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