From b1590f25dcfde77d5298febb7cca2ca4f6e56385 Mon Sep 17 00:00:00 2001
From: jcasals <jcasals@iri.upc.edu>
Date: Fri, 8 May 2020 14:33:28 +0200
Subject: [PATCH] [WIP] Debug weak_ptr segfault
---
include/core/processor/processor_motion.h | 4 ++--
src/processor/processor_motion.cpp | 4 ++--
test/gtest_processor_base.cpp | 6 +++---
3 files changed, 7 insertions(+), 7 deletions(-)
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 3e127c9cb..ab0e9b9cf 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -466,7 +466,7 @@ class ProcessorMotion : public ProcessorBase, public IsMotion
bool state_blocks,
std::ostream& stream ,
std::string _tabs = "") const override;
-CaptureMotionPtr last_ptr_;
+
protected:
// Attributes
SizeEigen x_size_; ///< The size of the state vector
@@ -475,7 +475,7 @@ CaptureMotionPtr last_ptr_;
SizeEigen delta_cov_size_; ///< the size of the delta covariances matrix
SizeEigen calib_size_; ///< the size of the calibration parameters (TBD in derived classes)
CaptureMotionPtr origin_ptr_;
-
+ CaptureMotionPtr last_ptr_;
CaptureMotionPtr incoming_ptr_;
protected:
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index d8c6c1a44..36425f794 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -25,13 +25,13 @@ ProcessorMotion::ProcessorMotion(const std::string& _type,
ProcessorBase(_type, _dim, _params_motion),
params_motion_(_params_motion),
processing_step_(RUNNING_WITHOUT_KF),
- last_ptr_(),
x_size_(_state_size),
data_size_(_data_size),
delta_size_(_delta_size),
delta_cov_size_(_delta_cov_size),
calib_size_(_calib_size),
origin_ptr_(),
+ last_ptr_(),
incoming_ptr_(),
dt_(0.0),
x_(_state_size),
@@ -302,7 +302,7 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
// Update state and time stamps
last_ptr_->setTimeStamp(getCurrentTimeStamp());
auto test_last = last_ptr_->getFrame();
- WOLF_TRACE("HELLO KITTY ", test_last == nullptr);
+ WOLF_TRACE("Is last_ptr_ null? ", test_last == nullptr);
test_last->setTimeStamp(getCurrentTimeStamp());
test_last->setState(getProblem()->getState(getCurrentTimeStamp()));
diff --git a/test/gtest_processor_base.cpp b/test/gtest_processor_base.cpp
index 5c62cac88..1665ca2df 100644
--- a/test/gtest_processor_base.cpp
+++ b/test/gtest_processor_base.cpp
@@ -116,9 +116,9 @@ TEST(ProcessorBase, KeyFrameCallback)
capt_odo->setTimeStamp(t);
std::cout << "2\n";
problem->check(1);
- auto proc_odo_motion = std::static_pointer_cast<ProcessorMotion>(proc_odo);
- auto last_ptr = proc_odo_motion->last_ptr_;
- auto last_ptr_frame = last_ptr->getFrame();
+// auto proc_odo_motion = std::static_pointer_cast<ProcessorMotion>(proc_odo);
+// auto last_ptr = proc_odo_motion->last_ptr_;
+// auto last_ptr_frame = last_ptr->getFrame();
proc_odo->captureCallback(capt_odo);
std::cout << "3\n";
--
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