From b310f2a7cb5693024d6edc21bdce9a97f521b76d Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Tue, 4 Jun 2019 17:38:08 +0200
Subject: [PATCH] Add setNonEstimated()
---
include/core/frame/frame_base.h | 1 +
src/frame/frame_base.cpp | 28 ++++++++++++++++++++++++----
2 files changed, 25 insertions(+), 4 deletions(-)
diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h
index 44e1cfbd2..0fdb349c1 100644
--- a/include/core/frame/frame_base.h
+++ b/include/core/frame/frame_base.h
@@ -80,6 +80,7 @@ class FrameBase : public NodeBase, public std::enable_shared_from_this<FrameBase
bool isKeyOrAux() const;
// set type
+ void setNonEstimated();
void setKey();
void setAux();
diff --git a/src/frame/frame_base.cpp b/src/frame/frame_base.cpp
index 49c5ae4f2..c8ac508f5 100644
--- a/src/frame/frame_base.cpp
+++ b/src/frame/frame_base.cpp
@@ -155,6 +155,20 @@ void FrameBase::removeStateBlocks()
}
}
+void FrameBase::setNonEstimated()
+{
+ // unregister if previously estimated
+ if (isKeyOrAux())
+ removeStateBlocks();
+
+ type_ = NON_ESTIMATED;
+ if (getTrajectory())
+ {
+ getTrajectory()->sortFrame(shared_from_this());
+ getTrajectory()->updateLastFrames();
+ }
+}
+
void FrameBase::setKey()
{
// register if previously not estimated
@@ -163,8 +177,11 @@ void FrameBase::setKey()
// WOLF_DEBUG("Set Key", this->id());
type_ = KEY;
- getTrajectory()->sortFrame(shared_from_this());
- getTrajectory()->updateLastFrames();
+ if (getTrajectory())
+ {
+ getTrajectory()->sortFrame(shared_from_this());
+ getTrajectory()->updateLastFrames();
+ }
}
void FrameBase::setAux()
@@ -174,8 +191,11 @@ void FrameBase::setAux()
// WOLF_DEBUG("Set Auxiliary", this->id());
type_ = AUXILIARY;
- getTrajectory()->sortFrame(shared_from_this());
- getTrajectory()->updateLastFrames();
+ if (getTrajectory())
+ {
+ getTrajectory()->sortFrame(shared_from_this());
+ getTrajectory()->updateLastFrames();
+ }
}
void FrameBase::fix()
--
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