From b691f7a9be6cfc87376c43a87a303cfc0d263eff Mon Sep 17 00:00:00 2001
From: jcasals <jcasals@iri.upc.edu>
Date: Thu, 14 May 2020 10:26:05 +0200
Subject: [PATCH] Add addToProblem to IsMotion
---
CMakeLists.txt | 1 +
include/core/problem/problem.h | 1 +
include/core/processor/is_motion.h | 5 ++---
src/processor/is_motion.cpp | 9 +++++++++
4 files changed, 13 insertions(+), 3 deletions(-)
create mode 100644 src/processor/is_motion.cpp
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 75b2269f9..0910fe579 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -356,6 +356,7 @@ SET(SRCS_LANDMARK
src/landmark/landmark_base.cpp
)
SET(SRCS_PROCESSOR
+ src/processor/is_motion.cpp
src/processor/motion_buffer.cpp
src/processor/processor_base.cpp
src/processor/processor_diff_drive.cpp
diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index 42dc859ad..36e5e338b 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -50,6 +50,7 @@ class Problem : public std::enable_shared_from_this<Problem>
friend SolverManager; // Enable SolverManager to acces protected functions (consumeXXXNotificationMap())
friend ProcessorBase;
friend ProcessorMotion;
+ friend IsMotion;
protected:
TreeManagerBasePtr tree_manager_;
diff --git a/include/core/processor/is_motion.h b/include/core/processor/is_motion.h
index 8c99fe72e..3ba3f97ad 100644
--- a/include/core/processor/is_motion.h
+++ b/include/core/processor/is_motion.h
@@ -45,7 +45,8 @@ class IsMotion
std::string getStateStructure(){return state_structure_;};
void setStateStructure(std::string _state_structure){state_structure_ = _state_structure;};
-
+ void addToProblem(ProblemPtr _prb_ptr, IsMotionPtr _motion_ptr);
+
protected:
std::string state_structure_; ///< The structure of the state vector (to retrieve state blocks from frames)
@@ -83,8 +84,6 @@ inline Eigen::VectorXd IsMotion::getState(const TimeStamp& _ts) const
return x;
}
-
-
} /* namespace wolf */
#endif /* PROCESSOR_IS_MOTION_H_ */
diff --git a/src/processor/is_motion.cpp b/src/processor/is_motion.cpp
new file mode 100644
index 000000000..1bfd06a5e
--- /dev/null
+++ b/src/processor/is_motion.cpp
@@ -0,0 +1,9 @@
+#include "core/processor/is_motion.h"
+#include "core/problem/problem.h"
+
+using namespace wolf;
+
+void IsMotion::addToProblem(ProblemPtr _prb_ptr, IsMotionPtr _motion_ptr)
+{
+ _prb_ptr->addProcessorIsMotion(_motion_ptr);
+}
--
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