From ad060899e9a3ed4b899a88b253ed5c2cc335a624 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Mon, 21 Sep 2020 16:44:11 +0200
Subject: [PATCH] Revert "lock() != nullptr instead of expired()"
This reverts commit bccd028383ce30f3d62d2adc610590fa3d687fe2
---
src/capture/capture_base.cpp | 12 ++++++++----
src/feature/feature_base.cpp | 6 ++++--
src/frame/frame_base.cpp | 18 +++++++++++-------
src/hardware/hardware_base.cpp | 3 ++-
src/landmark/landmark_base.cpp | 9 ++++++---
src/map/map_base.cpp | 3 ++-
src/processor/processor_base.cpp | 1 -
src/sensor/sensor_base.cpp | 12 ++++++++----
src/trajectory/trajectory_base.cpp | 4 ++--
9 files changed, 43 insertions(+), 25 deletions(-)
diff --git a/src/capture/capture_base.cpp b/src/capture/capture_base.cpp
index 94df0d2c9..a8d5f502e 100644
--- a/src/capture/capture_base.cpp
+++ b/src/capture/capture_base.cpp
@@ -247,7 +247,8 @@ void CaptureBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _s
{
_stream << " <-- ";
for (auto cby : getConstrainedByList())
- _stream << "Fac" << cby->id() << " \t";
+ if (cby)
+ _stream << "Fac" << cby->id() << " \t";
}
_stream << std::endl;
@@ -257,7 +258,8 @@ void CaptureBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _s
for (const auto& key : getStructure())
{
auto sb = getStateBlock(key);
- _stream << _tabs << key << "[" << (sb->isFixed() ? "Fix" : "Est") << "] = ( " << sb->getState().transpose() << " )" << std::endl;
+ if (sb)
+ _stream << _tabs << key << "[" << (sb->isFixed() ? "Fix" : "Est") << "] = ( " << sb->getState().transpose() << " )" << std::endl;
}
}
else if (_metric)
@@ -272,7 +274,8 @@ void CaptureBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _s
for (const auto& key : getStructure())
{
const auto& sb = getStateBlock(key);
- _stream << " " << key << "[" << (sb->isFixed() ? "Fix" : "Est") << "]; ";
+ if (sb)
+ _stream << " " << key << "[" << (sb->isFixed() ? "Fix" : "Est") << "]; ";
}
_stream << std::endl;
}
@@ -284,7 +287,8 @@ void CaptureBase::print(int _depth, bool _constr_by, bool _metric, bool _state_b
printHeader(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs);
if (_depth >= 3)
for (auto f : getFeatureList())
- f->print(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs + " ");
+ if (f)
+ f->print(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs + " ");
}
CheckLog CaptureBase::localCheck(bool _verbose, CaptureBasePtr _cap_ptr, std::ostream& _stream, std::string _tabs) const
diff --git a/src/feature/feature_base.cpp b/src/feature/feature_base.cpp
index 69133345e..c2af9127c 100644
--- a/src/feature/feature_base.cpp
+++ b/src/feature/feature_base.cpp
@@ -182,7 +182,8 @@ void FeatureBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _s
{
_stream << " <--\t";
for (auto cby : getConstrainedByList())
- _stream << "Fac" << cby->id() << " \t";
+ if (cby)
+ _stream << "Fac" << cby->id() << " \t";
}
_stream << std::endl;
if (_metric)
@@ -196,7 +197,8 @@ void FeatureBase::print(int _depth, bool _constr_by, bool _metric, bool _state_b
printHeader(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs);
if (_depth >= 4)
for (auto c : getFactorList())
- c->print(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs + " ");
+ if (c)
+ c->print(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs + " ");
}
CheckLog FeatureBase::localCheck(bool _verbose, FeatureBasePtr _ftr_ptr, std::ostream& _stream, std::string _tabs) const
diff --git a/src/frame/frame_base.cpp b/src/frame/frame_base.cpp
index f7c7ce6ea..80b804d90 100644
--- a/src/frame/frame_base.cpp
+++ b/src/frame/frame_base.cpp
@@ -324,7 +324,8 @@ void FrameBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _sta
{
_stream << " <-- ";
for (auto cby : getConstrainedByList())
- _stream << "Fac" << cby->id() << " \t";
+ if (cby)
+ _stream << "Fac" << cby->id() << " \t";
}
_stream << std::endl;
@@ -333,10 +334,11 @@ void FrameBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _sta
for (const auto& key : getStructure())
{
auto sb = getStateBlock(key);
- _stream << _tabs << " " << key
- << "[" << (sb->isFixed() ? "Fix" : "Est")
- << "] = ( " << std::setprecision(3) << sb->getState().transpose() << " )"
- << std::endl;
+ if (sb)
+ _stream << _tabs << " " << key
+ << "[" << (sb->isFixed() ? "Fix" : "Est")
+ << "] = ( " << std::setprecision(3) << sb->getState().transpose() << " )"
+ << std::endl;
}
}
else if (_metric)
@@ -351,7 +353,8 @@ void FrameBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _sta
for (const auto& key : getStructure())
{
const auto& sb = getStateBlock(key);
- _stream << " " << key << "[" << (sb->isFixed() ? "Fix" : "Est") << "]; ";
+ if (sb)
+ _stream << " " << key << "[" << (sb->isFixed() ? "Fix" : "Est") << "]; ";
}
_stream << std::endl;
}
@@ -362,7 +365,8 @@ void FrameBase::print(int _depth, bool _constr_by, bool _metric, bool _state_blo
printHeader(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs);
if (_depth >= 2)
for (auto C : getCaptureList())
- C->print(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs + " ");
+ if (C)
+ C->print(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs + " ");
}
CheckLog FrameBase::localCheck(bool _verbose, FrameBasePtr _frm_ptr, std::ostream& _stream, std::string _tabs) const
diff --git a/src/hardware/hardware_base.cpp b/src/hardware/hardware_base.cpp
index 72f07b8e2..e6e5a15c3 100644
--- a/src/hardware/hardware_base.cpp
+++ b/src/hardware/hardware_base.cpp
@@ -30,7 +30,8 @@ void HardwareBase::print(int _depth, bool _constr_by, bool _metric, bool _state_
printHeader(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs);
if (_depth >= 1)
for (auto S : getSensorList())
- S->print(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs + " ");
+ if (S)
+ S->print(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs + " ");
}
CheckLog HardwareBase::localCheck(bool _verbose, HardwareBasePtr _hwd_ptr, std::ostream& _stream, std::string _tabs) const
diff --git a/src/landmark/landmark_base.cpp b/src/landmark/landmark_base.cpp
index af2d01b68..555f74f91 100644
--- a/src/landmark/landmark_base.cpp
+++ b/src/landmark/landmark_base.cpp
@@ -165,7 +165,8 @@ void LandmarkBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _
{
_stream << "\t<-- ";
for (auto cby : getConstrainedByList())
- _stream << "Fac" << cby->id() << " \t";
+ if (cby)
+ _stream << "Fac" << cby->id() << " \t";
}
_stream << std::endl;
@@ -173,7 +174,8 @@ void LandmarkBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _
for (const auto& key : getStructure())
{
auto sb = getStateBlock(key);
- _stream << " " << key << "[" << (sb->isFixed() ? "Fix" : "Est") << "] = ( " << sb->getState().transpose() << " )" << std::endl;
+ if (sb)
+ _stream << " " << key << "[" << (sb->isFixed() ? "Fix" : "Est") << "] = ( " << sb->getState().transpose() << " )" << std::endl;
}
}
else if (_metric)
@@ -188,7 +190,8 @@ void LandmarkBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _
for (const auto& key : getStructure())
{
const auto& sb = getStateBlock(key);
- _stream << " " << key << "[" << (sb->isFixed() ? "Fix" : "Est") << "]; ";
+ if (sb)
+ _stream << " " << key << "[" << (sb->isFixed() ? "Fix" : "Est") << "]; ";
}
_stream << std::endl;
}
diff --git a/src/map/map_base.cpp b/src/map/map_base.cpp
index 67c37971b..7f6db136f 100644
--- a/src/map/map_base.cpp
+++ b/src/map/map_base.cpp
@@ -99,7 +99,8 @@ void MapBase::print(int _depth, bool _constr_by, bool _metric, bool _state_block
printHeader(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs);
if (_depth >= 1)
for (auto L : getLandmarkList())
- L->print(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs + " ");
+ if (L)
+ L->print(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs + " ");
}
CheckLog MapBase::localCheck(bool _verbose, MapBasePtr _map_ptr, std::ostream& _stream, std::string _tabs) const
diff --git a/src/processor/processor_base.cpp b/src/processor/processor_base.cpp
index 5c769cde3..caa850ebc 100644
--- a/src/processor/processor_base.cpp
+++ b/src/processor/processor_base.cpp
@@ -220,7 +220,6 @@ void BufferPackKeyFrame::print(void) const
void ProcessorBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _state_blocks, std::ostream& _stream, std::string _tabs) const
{
_stream << _tabs << "Prc" << id() << " " << getType() << " \"" << getName() << "\"" << std::endl;
-
}
void ProcessorBase::print(int _depth, bool _metric, bool _state_blocks, bool _constr_by, std::ostream& _stream, std::string _tabs) const
diff --git a/src/sensor/sensor_base.cpp b/src/sensor/sensor_base.cpp
index fefc4d332..696061983 100644
--- a/src/sensor/sensor_base.cpp
+++ b/src/sensor/sensor_base.cpp
@@ -479,7 +479,8 @@ void SensorBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _st
for (auto& key : getStructure())
{
auto sb = getStateBlockDynamic(key);
- _stream << key << "[" << (isStateBlockDynamic(key) ? "Dyn" : "Sta") << "," << (sb->isFixed() ? "Fix" : "Est") << "] = ( " << sb->getState().transpose() << " ); ";
+ if (sb)
+ _stream << key << "[" << (isStateBlockDynamic(key) ? "Dyn" : "Sta") << "," << (sb->isFixed() ? "Fix" : "Est") << "] = ( " << sb->getState().transpose() << " ); ";
}
_stream << std::endl;
}
@@ -489,7 +490,8 @@ void SensorBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _st
for (auto& key : getStructure())
{
auto sb = getStateBlockDynamic(key);
- _stream << sb->getState().transpose() << " ";
+ if (sb)
+ _stream << sb->getState().transpose() << " ";
}
_stream << ")" << std::endl;
}
@@ -499,7 +501,8 @@ void SensorBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _st
for (auto& key : getStructure())
{
auto sb = getStateBlockDynamic(key);
- _stream << key << "[" << (isStateBlockDynamic(key) ? "Dyn" : "Sta") << "," << (sb->isFixed() ? "Fix" : "Est") << "]; ";
+ if (sb)
+ _stream << key << "[" << (isStateBlockDynamic(key) ? "Dyn" : "Sta") << "," << (sb->isFixed() ? "Fix" : "Est") << "]; ";
}
_stream << std::endl;
}
@@ -511,7 +514,8 @@ void SensorBase::print(int _depth, bool _constr_by, bool _metric, bool _state_bl
if (_depth >= 2)
for (auto p : getProcessorList())
- p->print(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs + " ");
+ if (p)
+ p->print(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs + " ");
}
CheckLog SensorBase::localCheck(bool _verbose, SensorBasePtr _sen_ptr, std::ostream& _stream, std::string _tabs) const
diff --git a/src/trajectory/trajectory_base.cpp b/src/trajectory/trajectory_base.cpp
index 8ab61006c..23f967716 100644
--- a/src/trajectory/trajectory_base.cpp
+++ b/src/trajectory/trajectory_base.cpp
@@ -91,8 +91,8 @@ void TrajectoryBase::print(int _depth, bool _constr_by, bool _metric, bool _stat
printHeader(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs);
if (_depth >= 1)
for (auto F : *this)
- F->print(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs + " ");
-
+ if (F)
+ F->print(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs + " ");
}
CheckLog TrajectoryBase::localCheck(bool _verbose, TrajectoryBasePtr _trj_ptr, std::ostream& _stream, std::string _tabs) const
--
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