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Commit 989dba2f authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Cleanup conflict comments

parent 4392a2f3
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1 merge request!362WIP: Resolve "std::set and std::map instead of std::list in wolf nodes"
Pipeline #5821 passed
Stage: build
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    include/core/state_block/has_state_blocks.h
    + 0
    − 10
    View file @ 989dba2f
    ......@@ -301,15 +301,6 @@ inline VectorXd HasStateBlocks::getStateVector(const StateStructure& _structure)
    inline VectorComposite HasStateBlocks::getState(const StateStructure& _structure) const
    {
    //<<<<<<< HEAD
    // StateStructure structure = (_structure == "" ? structure_ : _structure);
    //
    // VectorComposite state;
    // for (const auto& ckey : structure)
    // {
    // const auto& key = string(1,ckey); // ckey is char
    // state.emplace(key, state_block_map_.at(key)->getState());
    //=======
    const StateStructure& structure = (_structure == "" ? structure_ : _structure);
    VectorComposite state;
    ......@@ -321,7 +312,6 @@ inline VectorComposite HasStateBlocks::getState(const StateStructure& _structure
    if (state_it != state_block_map_.end())
    state.emplace(key, state_it->second->getState());
    //>>>>>>> devel
    }
    return state;
    ......
    src/problem/problem.cpp
    + 3
    − 48
    View file @ 989dba2f
    ......@@ -330,9 +330,6 @@ FrameBasePtr Problem::emplaceKeyFrame(const TimeStamp& _time_stamp, //
    const SizeEigen _dim, //
    const Eigen::VectorXd& _frame_state)
    {
    //<<<<<<< HEAD
    // auto frm = FrameBase::emplaceKeyFrame<FrameBase>(trajectory_ptr_,
    //=======
    VectorComposite state;
    SizeEigen index = 0;
    SizeEigen size = 0;
    ......@@ -356,11 +353,9 @@ FrameBasePtr Problem::emplaceKeyFrame(const TimeStamp& _time_stamp, //
    assert (_frame_state.size() == index && "State vector incompatible with given structure and dimension! Vector too large.");
    auto frm = FrameBase::emplaceKeyFrame<FrameBase>(trajectory_ptr_,
    // _frame_key_type,
    //>>>>>>> devel
    _time_stamp,
    _frame_structure,
    state);
    _time_stamp,
    _frame_structure,
    state);
    return frm;
    }
    ......@@ -410,17 +405,6 @@ FrameBasePtr Problem::emplaceKeyFrame(const TimeStamp& _time_stamp)
    TimeStamp Problem::getTimeStamp ( ) const
    {
    //<<<<<<< HEAD
    // if ( processor_is_motion_list_.empty() ) // Use last estimated frame's state
    // {
    // auto last_kf = trajectory_ptr_->getLastKeyFrame();
    //
    // assert(last_kf != nullptr && "Problem has no Keyframe so no timestamp can be obtained!");
    //
    // return last_kf->getTimeStamp();
    // }
    // else
    //=======
    TimeStamp ts = TimeStamp::Invalid();
    for (const auto& prc : processor_is_motion_list_)
    ......@@ -430,7 +414,6 @@ TimeStamp Problem::getTimeStamp ( ) const
    if (not ts.ok())
    //>>>>>>> devel
    {
    const auto& last_kf_or_aux = trajectory_ptr_->getLastKeyFrame();
    ......@@ -451,20 +434,8 @@ VectorComposite Problem::getState(const StateStructure& _structure) const
    VectorComposite state;
    //<<<<<<< HEAD
    // if ( processor_is_motion_list_.empty() ) // Use last estimated frame's state
    // {
    // auto last_kf = trajectory_ptr_->getLastKeyFrame();
    // if (last_kf)
    // state = last_kf->getState(structure);
    // else
    // state = stateZero(structure);
    // }
    // else // Compose from different processor motion
    //=======
    // compose the states of all processor motions into one only state
    for (const auto& prc : processor_is_motion_list_)
    //>>>>>>> devel
    {
    const auto& prc_state = prc->getState(structure);
    for (const auto& pair_key_vec : prc_state)
    ......@@ -507,22 +478,6 @@ VectorComposite Problem::getState (const TimeStamp& _ts, const StateStructure& _
    {
    StateStructure structure = (_structure == "" ? getFrameStructure() : _structure);
    //<<<<<<< HEAD
    // if ( processor_is_motion_list_.empty() ) // Use last estimated frame's state
    // {
    // const auto& last_kf = trajectory_ptr_->closestKeyFrameToTimeStamp(_ts);
    // if (last_kf)
    // {
    // return last_kf->getState(structure);
    // }
    // else
    // {
    // return stateZero(structure);
    // }
    // }
    //
    //=======
    //>>>>>>> devel
    VectorComposite state;
    for (const auto& prc : processor_is_motion_list_)
    ......
    src/processor/processor_motion.cpp
    + 2
    − 12
    View file @ 989dba2f
    ......@@ -656,16 +656,9 @@ void ProcessorMotion::setOrigin(FrameBasePtr _origin_frame)
    // ---------- LAST ----------
    // Make non-key-frame for last Capture
    //<<<<<<< HEAD
    last_frame_ptr_ = FrameBase::createNonKeyFrame<FrameBase>(origin_ts,
    getStateStructure(),
    _origin_frame->getState());
    //=======
    // auto new_frame_ptr = getProblem()->emplaceFrame(NON_ESTIMATED,
    // origin_ts,
    // getProblem()->getFrameStructure(),
    // _origin_frame->getState());
    //>>>>>>> devel
    // emplace (emtpy) last Capture
    last_ptr_ = emplaceCapture(last_frame_ptr_,
    ......@@ -801,20 +794,17 @@ void ProcessorMotion::reintegrateBuffer(CaptureMotionPtr _capture_ptr)
    CaptureMotionPtr ProcessorMotion::findCaptureContainingTimeStamp(const TimeStamp& _ts) const
    {
    //<<<<<<< HEAD
    assert(_ts.ok());
    // First check if last_ptr is the one we are looking for
    if (last_ptr_->containsTimeStamp(_ts, this->params_->time_tolerance))
    // if (fabs(last_ptr_->getTimeStamp() - _ts) <= this->params_->time_tolerance)
    return last_ptr_;
    // Then look in the Wolf tree...
    // -----------------------------
    //
    //=======
    assert(_ts.ok());
    //>>>>>>> devel
    // We need to search in previous keyframes for the capture containing a motion buffer with the queried time stamp
    // Note: since the buffer goes from a KF in the past until the next KF, we need to:
    // 1. See that the KF contains a CaptureMotion
    ......
    src/processor/processor_tracker.cpp
    + 0
    − 21
    View file @ 989dba2f
    ......@@ -81,17 +81,10 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
    {
    WOLF_DEBUG( "PT ", getName(), " FIRST_TIME_WITHOUT_PACK" );
    //<<<<<<< HEAD
    FrameBasePtr kfrm = FrameBase::emplaceKeyFrame<FrameBase>(getProblem()->getTrajectory(),
    incoming_ptr_->getTimeStamp(),
    getStateStructure(),
    getProblem()->getState(getStateStructure()));
    //=======
    // FrameBasePtr kfrm = getProblem()->emplaceFrame(KEY,
    // incoming_ptr_->getTimeStamp());//,
    // //getStateStructure(),
    // //getProblem()->getState(getStateStructure()));
    //>>>>>>> devel
    incoming_ptr_->link(kfrm);
    // Process info
    ......@@ -210,16 +203,9 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
    resetDerived();
    // make F; append incoming to new F
    //<<<<<<< HEAD
    FrameBasePtr frm = FrameBase::createNonKeyFrame<FrameBase>(incoming_ptr_->getTimeStamp(),
    getProblem()->getFrameStructure(),
    // getProblem()->getDim(),
    last_ptr_->getFrame()->getState());
    //=======
    // FrameBasePtr frm = getProblem()->emplaceFrame(NON_ESTIMATED,
    // incoming_ptr_->getTimeStamp(),
    // last_ptr_->getFrame()->getState());
    //>>>>>>> devel
    incoming_ptr_->link(frm);
    origin_ptr_ = last_ptr_;
    last_ptr_ = incoming_ptr_;
    ......@@ -266,16 +252,9 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
    advanceDerived();
    // Replace last frame for a new one in incoming
    //<<<<<<< HEAD
    FrameBasePtr frm = FrameBase::createNonKeyFrame<FrameBase>(incoming_ptr_->getTimeStamp(),
    getProblem()->getFrameStructure(),
    // getProblem()->getDim(),
    last_ptr_->getFrame()->getState());
    //=======
    // FrameBasePtr frm = getProblem()->emplaceFrame(NON_ESTIMATED,
    // incoming_ptr_->getTimeStamp(),
    // last_ptr_->getFrame()->getState());
    //>>>>>>> devel
    incoming_ptr_->link(frm);
    last_ptr_->getFrame()->remove(); // implicitly calling last_ptr_->remove();
    ......
    test/gtest_factor_diff_drive.cpp
    + 0
    − 15
    View file @ 989dba2f
    ......@@ -159,29 +159,14 @@ class FactorDiffDriveTest : public testing::Test
    processor = std::static_pointer_cast<ProcessorDiffDrivePublic>(prc);
    // frames
    //<<<<<<< HEAD
    // F0 = FrameBase::emplaceKeyFrame<FrameBase>(trajectory,
    // 0.0,
    // "PO",
    // 2,
    // Vector3d(0,0,0));
    // F1 = FrameBase::emplaceKeyFrame<FrameBase>(trajectory,
    // 1.0,
    // "PO",
    // 2,
    // Vector3d(1,0,0));
    //=======
    F0 = FrameBase::emplaceKeyFrame<FrameBase>(trajectory,
    // KEY,
    0.0,
    "PO",
    std::list<VectorXd>{Vector2d(0,0), Vector1d(0)});
    F1 = FrameBase::emplaceKeyFrame<FrameBase>(trajectory,
    // KEY,
    1.0,
    "PO",
    std::list<VectorXd>{Vector2d(1,0), Vector1d(0)});
    //>>>>>>> devel
    // captures
    C0 = CaptureBase::emplace<CaptureDiffDrive>(F0,
    ......
    test/gtest_has_state_blocks.cpp
    + 0
    − 10
    View file @ 989dba2f
    ......@@ -130,15 +130,8 @@ TEST_F(HasStateBlocksTest, Add_solve_notify_solve_add)
    ASSERT_FALSE(problem->getStateBlockNotification(sbp0, n));
    //<<<<<<< HEAD
    // // F0->link(problem->getTrajectory());
    // F0->addStateBlock("V", sbv0);
    // F0->setKey(problem);
    //=======
    // F0->link(problem->getTrajectory());
    F0->addStateBlock('V', sbv0);
    F0->setKey(problem);
    //>>>>>>> devel
    ASSERT_TRUE(problem->getStateBlockNotification(sbv0, n));
    ASSERT_EQ(n, ADD);
    ......@@ -219,9 +212,6 @@ TEST_F(HasStateBlocksTest, getState_structure)
    ASSERT_FALSE(state0.count('V'));
    ASSERT_FALSE(state0.count('W'));
    }
    ......
    test/gtest_processor_motion.cpp
    + 1
    − 7
    View file @ 989dba2f
    ......@@ -50,11 +50,6 @@ class ProcessorMotion_test : public testing::Test{
    Vector2d data;
    Matrix2d data_cov;
    // ProcessorMotion_test() :
    // ProcessorOdom2d(std::make_shared<ProcessorParamsOdom2d>()),
    // dt(0)
    // { }
    void SetUp() override
    {
    std::string wolf_root = _WOLF_ROOT_DIR;
    ......@@ -146,8 +141,7 @@ TEST_F(ProcessorMotion_test, getState_time_structure)
    capture->setTimeStamp(t);
    capture->setData(data);
    capture->setDataCovariance(data_cov);
    // capture->process();
    processor->captureCallback(capture);
    capture->process();
    WOLF_DEBUG("t: ", t, " x: ", problem->getState().vector("PO").transpose());
    }
    ......
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