added processor voting/permit auxiliary frames machinery

include/base/processor/processor_base.h

@@ -110,16 +110,19 @@ struct ProcessorParamsBase
     ProcessorParamsBase() = default;
 
     ProcessorParamsBase(bool _voting_active,
-                        Scalar _time_tolerance)
-      : voting_active(_voting_active)
-      , time_tolerance(_time_tolerance)
+                        Scalar _time_tolerance,
+                        bool _voting_aux_active = false) :
+        voting_active(_voting_active),
+        voting_aux_active(_voting_aux_active),
+        time_tolerance(_time_tolerance)
     {
       //
     }
 
     virtual ~ProcessorParamsBase() = default;
 
-    bool voting_active = false;
+    bool voting_active = false;     ///< Whether this processor is allowed to vote for a Key Frame or not
+    bool voting_aux_active = false; ///< Whether this processor is allowed to vote for an Auxiliary Frame or not
 
     ///< maximum time difference between a Keyframe time stamp and
     /// a particular Capture of this processor to allow assigning
@@ -159,8 +162,19 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
          */
         virtual bool voteForKeyFrame() = 0;
 
+        /** \brief Vote for Auxiliary Frame generation
+         *
+         * If a Auxiliary Frame criterion is validated, this function returns true,
+         * meaning that it wants to create a Auxiliary Frame at the \b last Capture.
+         *
+         * WARNING! This function only votes! It does not create Auxiliary Frames!
+         */
+        virtual bool voteForAuxFrame(){return false;};
+
         virtual bool permittedKeyFrame() final;
 
+        virtual bool permittedAuxFrame() final;
+
         /**\brief make a Frame with the provided Capture
          *
          * Provide the following functionality:
@@ -192,7 +206,11 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
 
         bool isVotingActive() const;
 
+        bool isVotingAuxActive() const;
+
         void setVotingActive(bool _voting_active = true);
+
+        void setVotingAuxActive(bool _voting_active = true);
 };
 
 inline bool ProcessorBase::isVotingActive() const
@@ -200,11 +218,21 @@ inline bool ProcessorBase::isVotingActive() const
     return params_->voting_active;
 }
 
+inline bool ProcessorBase::isVotingAuxActive() const
+{
+    return params_->voting_aux_active;
+}
+
 inline void ProcessorBase::setVotingActive(bool _voting_active)
 {
     params_->voting_active = _voting_active;
 }
 
+inline void ProcessorBase::setVotingAuxActive(bool _voting_active)
+{
+    params_->voting_aux_active = _voting_active;
+}
+
 }
 
 #include "base/sensor/sensor_base.h"

src/processor/processor_IMU.cpp

@@ -35,8 +35,6 @@ ProcessorBasePtr ProcessorIMU::create(const std::string& _unique_name, const Pro
 
 bool ProcessorIMU::voteForKeyFrame()
 {
-    if(!isVotingActive())
-        return false;
     // time span
     if (getBuffer().get().back().ts_ - getBuffer().get().front().ts_ > params_motion_IMU_->max_time_span)
     {

src/processor/processor_base.cpp

@@ -26,6 +26,11 @@ bool ProcessorBase::permittedKeyFrame()
     return isVotingActive() && getProblem()->permitKeyFrame(shared_from_this());
 }
 
+bool ProcessorBase::permittedAuxFrame()
+{
+    return isVotingAuxActive() && getProblem()->permitAuxFrame(shared_from_this());
+}
+
 FrameBasePtr ProcessorBase::emplaceFrame(FrameType _type, CaptureBasePtr _capture_ptr)
 {
     std::cout << "Making " << (_type == KEY ? "key-" : (_type == AUXILIARY ? "aux-" : "")) << "frame" << std::endl;