diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h
index 356664ebcb2e88b4a0e854df94559e38770b4e08..c40eb2d92ee2d29b0921ccf55728054aa78bdc8f 100644
--- a/include/core/frame/frame_base.h
+++ b/include/core/frame/frame_base.h
@@ -155,18 +155,19 @@ class FrameBase : public NodeBase, public std::enable_shared_from_this<FrameBase
CaptureBasePtr addCapture(CaptureBasePtr _capt_ptr);
void removeCapture(CaptureBasePtr _capt_ptr);
void setTrajectory(TrajectoryBasePtr _trj_ptr);
- public:
- static FrameBasePtr create_PO_2D (const FrameType & _tp,
- const TimeStamp& _ts,
- const Eigen::VectorXs& _x = Eigen::VectorXs::Zero(3));
- static FrameBasePtr create_PO_3D (const FrameType & _tp,
- const TimeStamp& _ts,
- const Eigen::VectorXs& _x = Eigen::VectorXs::Zero(7));
- static FrameBasePtr create_POV_3D(const FrameType & _tp,
- const TimeStamp& _ts,
- const Eigen::VectorXs& _x = Eigen::VectorXs::Zero(10));
virtual FactorBasePtr addConstrainedBy(FactorBasePtr _fac_ptr);
virtual void removeConstrainedBy(FactorBasePtr _fac_ptr);
+
+// public:
+// static FrameBasePtr create_PO_2D (const FrameType & _tp,
+// const TimeStamp& _ts,
+// const Eigen::VectorXs& _x = Eigen::VectorXs::Zero(3));
+// static FrameBasePtr create_PO_3D (const FrameType & _tp,
+// const TimeStamp& _ts,
+// const Eigen::VectorXs& _x = Eigen::VectorXs::Zero(7));
+// static FrameBasePtr create_POV_3D(const FrameType & _tp,
+// const TimeStamp& _ts,
+// const Eigen::VectorXs& _x = Eigen::VectorXs::Zero(10));
};
} // namespace wolf
diff --git a/src/frame/frame_base.cpp b/src/frame/frame_base.cpp
index 0aa7712d3c3abead1fbf0d2df423e72c97ade501..a1ecb1b87cd4da5932174bb5737db0237d3c7112 100644
--- a/src/frame/frame_base.cpp
+++ b/src/frame/frame_base.cpp
@@ -386,42 +386,6 @@ void FrameBase::removeConstrainedBy(FactorBasePtr _fac_ptr)
constrained_by_list_.remove(_fac_ptr);
}
-FrameBasePtr FrameBase::create_PO_2D(const FrameType & _tp,
- const TimeStamp& _ts,
- const Eigen::VectorXs& _x)
-{
- assert(_x.size() == 3 && "Wrong state vector size. Should be 3 for 2D!");
- StateBlockPtr p_ptr ( std::make_shared<StateBlock> (_x.head <2> ( ) ) );
- StateBlockPtr o_ptr ( std::make_shared<StateAngle> ((Scalar) _x(2) ) );
- StateBlockPtr v_ptr ( nullptr );
- FrameBasePtr f ( std::make_shared<FrameBase>(_tp, _ts, p_ptr, o_ptr, v_ptr) );
- f->setType("PO 2D");
- return f;
-}
-FrameBasePtr FrameBase::create_PO_3D(const FrameType & _tp,
- const TimeStamp& _ts,
- const Eigen::VectorXs& _x)
-{
- assert(_x.size() == 7 && "Wrong state vector size. Should be 7 for 3D!");
- StateBlockPtr p_ptr ( std::make_shared<StateBlock> (_x.head <3> ( ) ) );
- StateBlockPtr o_ptr ( std::make_shared<StateQuaternion> (_x.tail <4> ( ) ) );
- StateBlockPtr v_ptr ( nullptr );
- FrameBasePtr f ( std::make_shared<FrameBase>(_tp, _ts, p_ptr, o_ptr, v_ptr) );
- f->setType("PO 3D");
- return f;
-}
-FrameBasePtr FrameBase::create_POV_3D(const FrameType & _tp,
- const TimeStamp& _ts,
- const Eigen::VectorXs& _x)
-{
- assert(_x.size() == 10 && "Wrong state vector size. Should be 10 for 3D!");
- StateBlockPtr p_ptr ( std::make_shared<StateBlock> (_x.head <3> ( ) ) );
- StateBlockPtr o_ptr ( std::make_shared<StateQuaternion> (_x.segment <4> (3) ) );
- StateBlockPtr v_ptr ( std::make_shared<StateBlock> (_x.tail <3> ( ) ) );
- FrameBasePtr f ( std::make_shared<FrameBase>(_tp, _ts, p_ptr, o_ptr, v_ptr) );
- f->setType("POV 3D");
- return f;
-}
void FrameBase::link(TrajectoryBasePtr _ptr)
{
if(_ptr)
@@ -436,14 +400,8 @@ void FrameBase::link(TrajectoryBasePtr _ptr)
WOLF_WARN("Linking with a nullptr");
}
}
-} // namespace wolf
-#include "core/common/factory.h"
-namespace wolf
{
-namespace{ const bool WOLF_UNUSED Frame_PO_2D_Registered = FrameFactory::get().registerCreator("PO 2D", FrameBase::create_PO_2D ); }
-namespace{ const bool WOLF_UNUSED Frame_PO_3D_Registered = FrameFactory::get().registerCreator("PO 3D", FrameBase::create_PO_3D ); }
-namespace{ const bool WOLF_UNUSED Frame_POV_3D_Registered = FrameFactory::get().registerCreator("POV 3D", FrameBase::create_POV_3D); }
void FrameBase::setProblem(ProblemPtr _problem)
{
if (_problem == nullptr || _problem == this->getProblem())
@@ -456,4 +414,52 @@ void FrameBase::setProblem(ProblemPtr _problem)
for (auto cap : capture_list_)
cap->setProblem(_problem);
}
+
+//FrameBasePtr FrameBase::create_PO_2D(const FrameType & _tp,
+// const TimeStamp& _ts,
+// const Eigen::VectorXs& _x)
+//{
+// assert(_x.size() == 3 && "Wrong state vector size. Should be 3 for 2D!");
+// StateBlockPtr p_ptr ( std::make_shared<StateBlock> (_x.head <2> ( ) ) );
+// StateBlockPtr o_ptr ( std::make_shared<StateAngle> ((Scalar) _x(2) ) );
+// StateBlockPtr v_ptr ( nullptr );
+// FrameBasePtr f ( std::make_shared<FrameBase>(_tp, _ts, p_ptr, o_ptr, v_ptr) );
+// f->setType("PO 2D");
+// return f;
+//}
+//
+//FrameBasePtr FrameBase::create_PO_3D(const FrameType & _tp,
+// const TimeStamp& _ts,
+// const Eigen::VectorXs& _x)
+//{
+// assert(_x.size() == 7 && "Wrong state vector size. Should be 7 for 3D!");
+// StateBlockPtr p_ptr ( std::make_shared<StateBlock> (_x.head <3> ( ) ) );
+// StateBlockPtr o_ptr ( std::make_shared<StateQuaternion> (_x.tail <4> ( ) ) );
+// StateBlockPtr v_ptr ( nullptr );
+// FrameBasePtr f ( std::make_shared<FrameBase>(_tp, _ts, p_ptr, o_ptr, v_ptr) );
+// f->setType("PO 3D");
+// return f;
+//}
+//
+//FrameBasePtr FrameBase::create_POV_3D(const FrameType & _tp,
+// const TimeStamp& _ts,
+// const Eigen::VectorXs& _x)
+//{
+// assert(_x.size() == 10 && "Wrong state vector size. Should be 10 for 3D!");
+// StateBlockPtr p_ptr ( std::make_shared<StateBlock> (_x.head <3> ( ) ) );
+// StateBlockPtr o_ptr ( std::make_shared<StateQuaternion> (_x.segment <4> (3) ) );
+// StateBlockPtr v_ptr ( std::make_shared<StateBlock> (_x.tail <3> ( ) ) );
+// FrameBasePtr f ( std::make_shared<FrameBase>(_tp, _ts, p_ptr, o_ptr, v_ptr) );
+// f->setType("POV 3D");
+// return f;
+//}
+
} // namespace wolf
+
+//#include "core/common/factory.h"
+//namespace wolf
+//{
+//namespace{ const bool WOLF_UNUSED Frame_PO_2D_Registered = FrameFactory::get().registerCreator("PO 2D", FrameBase::create_PO_2D ); }
+//namespace{ const bool WOLF_UNUSED Frame_PO_3D_Registered = FrameFactory::get().registerCreator("PO 3D", FrameBase::create_PO_3D ); }
+//namespace{ const bool WOLF_UNUSED Frame_POV_3D_Registered = FrameFactory::get().registerCreator("POV 3D", FrameBase::create_POV_3D); }
+//} // namespace wolf