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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
9aaeb93b
Commit
9aaeb93b
authored
5 years ago
by
Médéric Fourmy
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Spliting switch to call integrateOneStep at the right time
parent
2ccbe83e
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1 merge request
!373
Resolve "Processor motion composite state adaptation"
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src/processor/processor_motion.cpp
+12
-9
12 additions, 9 deletions
src/processor/processor_motion.cpp
with
12 additions
and
9 deletions
src/processor/processor_motion.cpp
+
12
−
9
View file @
9aaeb93b
...
...
@@ -96,15 +96,6 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
preProcess
();
// Derived class operations
// integrate data
if
(
last_ptr_
!=
nullptr
)
{
integrateOneStep
();
}
else
{
last_nullptr_
=
true
;
}
PackKeyFramePtr
pack
=
computeProcessingStep
();
if
(
pack
)
buffer_pack_kf_
.
removeUpTo
(
pack
->
key_frame
->
getTimeStamp
()
);
...
...
@@ -139,6 +130,18 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
case
RUNNING_WITH_KF_ON_ORIGIN
:
break
;
default
:
break
;
}
// integrate data
// Done at this place because setPrior() needs
integrateOneStep
();
switch
(
processing_step_
)
{
case
RUNNING_WITH_KF_BEFORE_ORIGIN
:
{
...
...
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