documentation

include/core/processor/processor_motion.h

@@ -271,6 +271,10 @@ class ProcessorMotion : public ProcessorBase, public MotionProvider
         bool voteForKeyFrame() const override;
 
         double updateDt();
+        /** \brief Make one step of motion integration
+         * 
+         * Integrate motiondata in incoming_ptr_ and store all results in the MotionBuffer in last_ptr_
+         */
         void integrateOneStep();
         void reintegrateBuffer(CaptureMotionPtr _capture_ptr) const;
         void splitBuffer(const wolf::CaptureMotionPtr& capture_source,

src/processor/processor_motion.cpp

@@ -438,7 +438,7 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
          *    x : any capture
          *    o : origin capture
          *    l : last capture      -> we'll make a KF here
-         *    i : incoming capture
+         *    i : incoming capture  -> data has already been integrated into last capture
          *    n : new capture       ->
          *  --- : buffer history
          *
@@ -560,8 +560,6 @@ VectorComposite ProcessorMotion::getState(const StateStructure& _structure) cons
     auto calib_preint = last_ptr_->getCalibrationPreint();
 
     VectorComposite state;
-    //WOLF_INFO("processorMotion last timestamp: ", last_ptr_->getTimeStamp());
-    //WOLF_INFO("processorMotion origin timestamp: ", origin_ptr_->getTimeStamp());
     if ( hasCalibration())
     {
         // Get current calibration -- from origin capture
@@ -606,7 +604,6 @@ VectorComposite ProcessorMotion::getState(const StateStructure& _structure) cons
 
 
 
-// _x needs to have the size of the processor state
 VectorComposite ProcessorMotion::getState(const TimeStamp& _ts, const StateStructure& _structure) const
 {
     assert(_ts.ok());
@@ -759,6 +756,9 @@ void ProcessorMotion::setOrigin(FrameBasePtr _origin_frame)
 
 void ProcessorMotion::integrateOneStep()
 {
+    /* Integrate motiondata in incoming_ptr_ and store all results in the MotionBuffer in last_ptr_
+     */
+
     // Set dt
     dt_ = updateDt();
     assert(dt_ >= 0 && "Time interval _dt is negative!");