From aad356508edf5aeb18fb6e5bc1857d43e251ae72 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Mon, 3 Oct 2022 17:38:35 +0200
Subject: [PATCH] documentation
---
include/core/processor/processor_motion.h | 4 ++++
src/processor/processor_motion.cpp | 8 ++++----
2 files changed, 8 insertions(+), 4 deletions(-)
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 3bf0b9961..3902c1f83 100644
--- a/include/core/processor/processor_motion.h
+++ b/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,
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 4dae38147..3c014ca6a 100644
--- a/src/processor/processor_motion.cpp
+++ b/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!");
--
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