From a13278ce491b9ecd865a6355c34cbd9c0b804a45 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 25 Mar 2020 19:24:29 +0100
Subject: [PATCH] New state structure and getter
---
include/core/state_block/has_state_blocks.h | 16 +++++++++++++++-
1 file changed, 15 insertions(+), 1 deletion(-)
diff --git a/include/core/state_block/has_state_blocks.h b/include/core/state_block/has_state_blocks.h
index 42b8b03a4..76df765d2 100644
--- a/include/core/state_block/has_state_blocks.h
+++ b/include/core/state_block/has_state_blocks.h
@@ -15,6 +15,10 @@
namespace wolf
{
+/// State of nodes containing several state blocks
+typedef std::unordered_map<std::string, Eigen::VectorXd> State;
+
+
class HasStateBlocks
{
public:
@@ -70,6 +74,8 @@ class HasStateBlocks
unsigned int getSize(std::string _sub_structure="") const;
unsigned int getLocalSize(std::string _sub_structure="") const;
+ State getStateComposite();
+
private:
std::string structure_;
std::map<std::string, StateBlockPtr> state_block_map_;
@@ -266,6 +272,15 @@ inline Eigen::VectorXd HasStateBlocks::getState(std::string _sub_structure) cons
return state;
}
+inline State HasStateBlocks::getStateComposite()
+{
+ State state;
+ for (auto& pair_key_kf : state_block_map_)
+ {
+ state.emplace(pair_key_kf.first, pair_key_kf.second->getState());
+ }
+ return state;
+}
inline unsigned int HasStateBlocks::getSize(std::string _sub_structure) const
{
@@ -303,6 +318,5 @@ inline unsigned int HasStateBlocks::getLocalSize(std::string _sub_structure) con
return size;
}
-
} // namespace wolf
#endif /* STATE_BLOCK_HAS_STATE_BLOCKS_H_ */
--
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