From a4c46a306aa3df834f08e73b1250af6f319fde5b Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Mon, 26 Feb 2018 12:39:38 +0100
Subject: [PATCH] Throw an error if getState() is called in an unitialized
ProcessorMotion
---
src/processor_motion.cpp | 8 ++++++--
1 file changed, 6 insertions(+), 2 deletions(-)
diff --git a/src/processor_motion.cpp b/src/processor_motion.cpp
index 3760d89df..bc3734a9b 100644
--- a/src/processor_motion.cpp
+++ b/src/processor_motion.cpp
@@ -286,7 +286,7 @@ void ProcessorMotion::process(CaptureBasePtr _incoming_ptr)
void ProcessorMotion::getState(const TimeStamp& _ts, Eigen::VectorXs& _x)
{
CaptureMotionPtr capture_motion;
- if (_ts >= origin_ptr_->getTimeStamp())
+ if (origin_ptr_ && _ts >= origin_ptr_->getTimeStamp())
// timestamp found in the current processor buffer
capture_motion = last_ptr_;
else
@@ -302,8 +302,12 @@ void ProcessorMotion::getState(const TimeStamp& _ts, Eigen::VectorXs& _x)
statePlusDelta(state_0, delta, dt, _x);
}
else
+ {
// We could not find any CaptureMotion for the time stamp requested
- std::runtime_error("Could not find any Capture for the time stamp requested");
+ WOLF_ERROR("Could not find any Capture for the time stamp requested. ");
+ WOLF_TRACE("Did you forget to call Problem::setPrior() in your application?")
+ throw std::runtime_error("Could not find any Capture for the time stamp requested. Did you forget to call Problem::setPrior() in your application?");
+ }
}
CaptureMotionPtr ProcessorMotion::findCaptureContainingTimeStamp(const TimeStamp& _ts) const
--
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