Add addToProblem to IsMotion

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

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_;

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_ */

src/processor/is_motion.cpp

+#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);
+}