Skip to content
GitLab
Explore
Sign in
Primary navigation
Search or go to…
Project
wolf
Manage
Activity
Members
Labels
Plan
Issues
Issue boards
Milestones
Code
Merge requests
Repository
Branches
Commits
Tags
Repository graph
Compare revisions
Build
Pipelines
Jobs
Pipeline schedules
Artifacts
Deploy
Releases
Container Registry
Model registry
Operate
Environments
Monitor
Incidents
Service Desk
Analyze
Value stream analytics
Contributor analytics
CI/CD analytics
Repository analytics
Model experiments
Help
Help
Support
GitLab documentation
Compare GitLab plans
Community forum
Contribute to GitLab
Provide feedback
Keyboard shortcuts
?
Snippets
Groups
Projects
Show more breadcrumbs
mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
8ac3f76c
Commit
8ac3f76c
authored
5 years ago
by
Joan Vallvé Navarro
Browse files
Options
Downloads
Patches
Plain Diff
better commented
parent
d1fabfae
No related branches found
Branches containing commit
No related tags found
Tags containing commit
No related merge requests found
Pipeline
#5489
passed
5 years ago
Changes
1
Pipelines
1
Hide whitespace changes
Inline
Side-by-side
Showing
1 changed file
src/problem/problem.cpp
+24
-10
24 additions, 10 deletions
src/problem/problem.cpp
with
24 additions
and
10 deletions
src/problem/problem.cpp
+
24
−
10
View file @
8ac3f76c
...
@@ -367,30 +367,44 @@ void Problem::getCurrentState(Eigen::VectorXd& _state) const
...
@@ -367,30 +367,44 @@ void Problem::getCurrentState(Eigen::VectorXd& _state) const
void
Problem
::
getCurrentStateAndStamp
(
Eigen
::
VectorXd
&
_state
,
TimeStamp
&
_ts
)
const
void
Problem
::
getCurrentStateAndStamp
(
Eigen
::
VectorXd
&
_state
,
TimeStamp
&
_ts
)
const
{
{
// Prior if not set yet
if
(
!
isPriorSet
()
and
prior_options_
->
mode
!=
"nothing"
)
if
(
!
isPriorSet
()
and
prior_options_
->
mode
!=
"nothing"
)
{
{
_state
=
prior_options_
->
state
;
_state
=
prior_options_
->
state
;
_ts
=
0
;
_ts
=
0
;
return
;
}
}
else
if
(
!
processor_is_motion_list_
.
empty
())
// retrieve the minimum of the most recent ts in all processor is motion then call getSate(ts, state)
if
(
!
processor_is_motion_list_
.
empty
())
{
{
// retrieve the minimum of the most recent ts in all processor is motion then call getSate(ts, state)
std
::
list
<
TimeStamp
>
proc_is_motion_current_ts
;
std
::
list
<
TimeStamp
>
proc_is_motion_current_ts
;
for
(
auto
proc
:
processor_is_motion_list_
){
for
(
auto
proc
:
processor_is_motion_list_
)
proc_is_motion_current_ts
.
push_back
(
proc
->
getCurrentTimeStamp
());
{
auto
ts
=
proc
->
getCurrentTimeStamp
();
if
(
ts
!=
0
)
// a not initialized PM provides 0 timestamp FIXME: change by isMotion::ready()?
proc_is_motion_current_ts
.
push_back
(
ts
);
}
if
(
!
proc_is_motion_current_ts
.
empty
())
{
auto
min_it
=
std
::
min_element
(
proc_is_motion_current_ts
.
begin
(),
proc_is_motion_current_ts
.
end
());
getState
(
*
min_it
,
_state
);
_ts
=
*
min_it
;
return
;
}
}
auto
min_it
=
std
::
min_element
(
proc_is_motion_current_ts
.
begin
(),
proc_is_motion_current_ts
.
end
());
getState
(
*
min_it
,
_state
);
_ts
=
*
min_it
;
}
}
else
if
(
trajectory_ptr_
->
getLastKeyOrAuxFrame
()
!=
nullptr
)
// Last KF state
if
(
trajectory_ptr_
->
getLastKeyOrAuxFrame
()
!=
nullptr
)
{
{
// kind of redundant with getState(_ts, _state)
// kind of redundant with getState(_ts, _state)
trajectory_ptr_
->
getLastKeyOrAuxFrame
()
->
getTimeStamp
(
_ts
);
trajectory_ptr_
->
getLastKeyOrAuxFrame
()
->
getTimeStamp
(
_ts
);
trajectory_ptr_
->
getLastKeyOrAuxFrame
()
->
getState
(
_state
);
trajectory_ptr_
->
getLastKeyOrAuxFrame
()
->
getState
(
_state
);
return
;
}
}
else
_state
=
zeroState
();
// zeroState otherwise
_state
=
zeroState
();
}
}
...
...
This diff is collapsed.
Click to expand it.
Preview
0%
Loading
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Save comment
Cancel
Please
register
or
sign in
to comment