From a8ca19baf8e2989742b65efb18e91802e3488685 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Wed, 26 Jun 2019 16:23:50 +0200
Subject: [PATCH] in FactorBase::link() skip if nullptr (not seting constrained
by)
---
src/factor/factor_base.cpp | 24 +++++++++++++-----------
1 file changed, 13 insertions(+), 11 deletions(-)
diff --git a/src/factor/factor_base.cpp b/src/factor/factor_base.cpp
index adec4caf9..4e29f0bf7 100644
--- a/src/factor/factor_base.cpp
+++ b/src/factor/factor_base.cpp
@@ -145,20 +145,22 @@ void FactorBase::link(FeatureBasePtr _ftr_ptr)
{
assert(this->getFeature() == nullptr && "linking an already linked factor");
- if(_ftr_ptr)
+ // not link if nullptr
+ if(_ftr_ptr == nullptr)
{
- _ftr_ptr->addFactor(shared_from_this());
- this->setFeature(_ftr_ptr);
- this->setProblem(_ftr_ptr->getProblem());
- // add factor to be added in solver
- if (this->getProblem() == nullptr)
- {
- WOLF_WARN("ADDING FACTOR ", this->id(), " TO FEATURE ", _ftr_ptr->id(), " NOT CONNECTED WITH PROBLEM.");
- }
- }
- else
WOLF_WARN("Linking with nullptr");
+ return;
+ }
+
+ // link with feature
+ _ftr_ptr->addFactor(shared_from_this());
+ this->setFeature(_ftr_ptr);
+
+ // set problem ( and register factor )
+ WOLF_WARN_COND(this->getProblem() == nullptr, "ADDING FACTOR ", this->id(), " TO FEATURE ", _ftr_ptr->id(), " NOT CONNECTED WITH PROBLEM.");
+ this->setProblem(_ftr_ptr->getProblem());
+ // constrained by
auto frame_other = this->frame_other_ptr_.lock();
if(frame_other != nullptr) frame_other->addConstrainedBy(shared_from_this());
auto capture_other = this->capture_other_ptr_.lock();
--
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