From 9833b373cfe8654bb2e04b9cbb3d15a26327abe2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 26 Oct 2016 21:44:01 +0200
Subject: [PATCH] Transfer ProcessorMotion::makeFrame() to
ProcessorBase::makeFrame()
---
src/processor_base.cpp | 15 +++++++++++----
src/processor_base.h | 3 ++-
src/processor_motion.h | 18 +++++++++---------
3 files changed, 22 insertions(+), 14 deletions(-)
diff --git a/src/processor_base.cpp b/src/processor_base.cpp
index 4e15a70fe..beb4018b1 100644
--- a/src/processor_base.cpp
+++ b/src/processor_base.cpp
@@ -28,10 +28,8 @@ bool ProcessorBase::permittedKeyFrame()
return getProblem()->permitKeyFrame(shared_from_this());
}
-void ProcessorBase::makeFrame(CaptureBasePtr _capture_ptr, FrameKeyType _type)
+FrameBasePtr ProcessorBase::makeFrame(CaptureBasePtr _capture_ptr, FrameKeyType _type)
{
- std::cout << __FILE__ << ":" << __FUNCTION__ << "():" << __LINE__ << std::endl;
-
// We need to create the new free Frame to hold what will become the last Capture
FrameBasePtr new_frame_ptr = getProblem()->createFrame(_type, _capture_ptr->getTimeStamp());
@@ -41,7 +39,16 @@ void ProcessorBase::makeFrame(CaptureBasePtr _capture_ptr, FrameKeyType _type)
// Keyframe callback in order to let the other processors to establish their constraints
getProblem()->keyFrameCallback(_capture_ptr->getFramePtr(), shared_from_this(), time_tolerance_);
- std::cout << __FILE__ << ":" << __FUNCTION__ << "():" << __LINE__ << std::endl;
+ return new_frame_ptr;
+}
+
+FrameBasePtr ProcessorBase::makeFrame(CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state, FrameKeyType _type)
+{
+ // We need to create the new free Frame to hold what will become the last Capture
+ FrameBasePtr new_frame_ptr = getProblem()->createFrame(_type, _state, _capture_ptr->getTimeStamp());
+
+ new_frame_ptr->addCapture(_capture_ptr); // Add incoming Capture to the new Frame
+ return new_frame_ptr;
}
void ProcessorBase::remove()
diff --git a/src/processor_base.h b/src/processor_base.h
index 7fdce5893..5900ed583 100644
--- a/src/processor_base.h
+++ b/src/processor_base.h
@@ -54,7 +54,8 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
/**\brief make a Frame with the provided Capture
*/
- virtual void makeFrame(CaptureBasePtr _capture_ptr, FrameKeyType _type = NON_KEY_FRAME);
+ FrameBasePtr makeFrame(CaptureBasePtr _capture_ptr, FrameKeyType _type = NON_KEY_FRAME);
+ FrameBasePtr makeFrame(CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state, FrameKeyType _type = NON_KEY_FRAME);
virtual bool keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tolerance) = 0;
diff --git a/src/processor_motion.h b/src/processor_motion.h
index 7f06324fd..861c0ffa0 100644
--- a/src/processor_motion.h
+++ b/src/processor_motion.h
@@ -178,7 +178,7 @@ class ProcessorMotion : public ProcessorBase
// void reset(CaptureMotion2* _capture_ptr);
- FrameBasePtr makeFrame(CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state, FrameKeyType _type);
+// FrameBasePtr makeFrame(CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state, FrameKeyType _type = NON_KEY_FRAME);
MotionBuffer& getBuffer();
@@ -658,14 +658,14 @@ inline void ProcessorMotion::splitBuffer(const TimeStamp& _t_split, MotionBuffer
last_ptr_->getBuffer().split(_t_split, _oldest_part);
}
-inline FrameBasePtr ProcessorMotion::makeFrame(CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state, FrameKeyType _type)
-{
- // We need to create the new free Frame to hold what will become the last Capture
- FrameBasePtr new_frame_ptr = getProblem()->createFrame(_type, _state, _capture_ptr->getTimeStamp());
-
- new_frame_ptr->addCapture(_capture_ptr); // Add incoming Capture to the new Frame
- return new_frame_ptr;
-}
+//FrameBasePtr ProcessorMotion::makeFrame(CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state, FrameKeyType _type)
+//{
+// // We need to create the new free Frame to hold what will become the last Capture
+// FrameBasePtr new_frame_ptr = getProblem()->createFrame(_type, _state, _capture_ptr->getTimeStamp());
+//
+// new_frame_ptr->addCapture(_capture_ptr); // Add incoming Capture to the new Frame
+// return new_frame_ptr;
+//}
inline void ProcessorMotion::resetDerived()
{
--
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