From b96f768293b23d6d654c37315b9afd474b687f17 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 10 Dec 2021 02:21:16 +0100
Subject: [PATCH] Move checkTimeTol() to PrcBase
---
include/core/processor/processor_base.h | 16 ++++++++-----
include/core/processor/processor_motion.h | 25 ---------------------
include/core/processor/processor_tracker.h | 26 ----------------------
src/processor/processor_base.cpp | 21 +++++++++++++++++
4 files changed, 32 insertions(+), 56 deletions(-)
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 8c61f80b9..e3931fa17 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -334,7 +334,6 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
public:
bool isMotionProvider() const;
- void setTimeTolerance(double _time_tolerance);
bool isVotingActive() const;
@@ -342,7 +341,13 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
int getDim() const;
+ void setTimeTolerance(double _time_tolerance);
double getTimeTolerance() const;
+ bool checkTimeTolerance (const TimeStamp& _ts1, const TimeStamp& _ts2);
+ bool checkTimeTolerance (const CaptureBasePtr _cap, const TimeStamp& _ts);
+ bool checkTimeTolerance (const FrameBasePtr _frm, const TimeStamp& _ts);
+ bool checkTimeTolerance (const FrameBasePtr _frm, const CaptureBasePtr _cap);
+
void link(SensorBasePtr);
template<typename classType, typename... T>
@@ -418,14 +423,15 @@ inline SensorBasePtr ProcessorBase::getSensor() const
return sensor_ptr_.lock();
}
-inline void ProcessorBase::setTimeTolerance(double _time_tolerance)
-{
- params_->time_tolerance = _time_tolerance;
-}
inline int ProcessorBase::getDim() const
{
return dim_;
}
+
+inline void ProcessorBase::setTimeTolerance(double _time_tolerance)
+{
+ params_->time_tolerance = _time_tolerance;
+}
inline double ProcessorBase::getTimeTolerance() const
{
return params_->time_tolerance;
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 5186fb9c4..5d9716490 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -303,11 +303,6 @@ class ProcessorMotion : public ProcessorBase, public MotionProvider
FrameBasePtr computeProcessingStep();
- bool checkTimeTolerance (const TimeStamp& _ts1, const TimeStamp& _ts2);
- bool checkTimeTolerance (const CaptureBasePtr _cap, const TimeStamp& _ts);
- bool checkTimeTolerance (const FrameBasePtr _frm, const TimeStamp& _ts);
- bool checkTimeTolerance (const FrameBasePtr _frm, const CaptureBasePtr _cap);
-
// These are the pure virtual functions doing the mathematics
@@ -548,26 +543,6 @@ class ProcessorMotion : public ProcessorBase, public MotionProvider
Eigen::MatrixXd unmeasured_perturbation_cov_; ///< Covariance of unmeasured DoF to avoid singularity
};
-inline bool ProcessorMotion::checkTimeTolerance (const TimeStamp& _ts1, const TimeStamp& _ts2)
-{
- auto dt = std::fabs(_ts1 - _ts2);
- return dt <= params_motion_->time_tolerance;
-}
-
-inline bool ProcessorMotion::checkTimeTolerance (const CaptureBasePtr _cap, const TimeStamp& _ts)
-{
- return checkTimeTolerance(_cap->getTimeStamp(), _ts);
-}
-
-inline bool ProcessorMotion::checkTimeTolerance (const FrameBasePtr _frm, const TimeStamp& _ts)
-{
- return checkTimeTolerance(_frm->getTimeStamp(), _ts);
-}
-
-inline bool ProcessorMotion::checkTimeTolerance (const FrameBasePtr _frm, const CaptureBasePtr _cap)
-{
- return checkTimeTolerance(_frm->getTimeStamp(), _cap->getTimeStamp());
-}
}
diff --git a/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h
index 7164a4226..370421716 100644
--- a/include/core/processor/processor_tracker.h
+++ b/include/core/processor/processor_tracker.h
@@ -138,11 +138,6 @@ class ProcessorTracker : public ProcessorBase
StateStructure getStateStructure() const;
- bool checkTimeTolerance (const TimeStamp& _ts1, const TimeStamp& _ts2);
- bool checkTimeTolerance (const CaptureBasePtr _cap, const TimeStamp& _ts);
- bool checkTimeTolerance (const FrameBasePtr _frm, const TimeStamp& _ts);
- bool checkTimeTolerance (const FrameBasePtr _frm, const CaptureBasePtr _cap);
-
virtual CaptureBasePtr getOrigin() const;
virtual CaptureBasePtr getLast() const;
virtual CaptureBasePtr getIncoming() const;
@@ -306,27 +301,6 @@ inline FeatureBasePtrList& ProcessorTracker::getNewFeaturesListIncoming()
return new_features_incoming_;
}
-inline bool ProcessorTracker::checkTimeTolerance(const TimeStamp& _ts1, const TimeStamp& _ts2)
-{
- auto dt = std::fabs(_ts1 - _ts2);
- return dt <= params_tracker_->time_tolerance;
-}
-
-inline bool ProcessorTracker::checkTimeTolerance(const CaptureBasePtr _cap, const TimeStamp& _ts)
-{
- return checkTimeTolerance(_cap->getTimeStamp(), _ts);
-}
-
-inline bool ProcessorTracker::checkTimeTolerance(const FrameBasePtr _frm, const TimeStamp& _ts)
-{
- return checkTimeTolerance(_frm->getTimeStamp(), _ts);
-}
-
-inline bool ProcessorTracker::checkTimeTolerance(const FrameBasePtr _frm, const CaptureBasePtr _cap)
-{
- return checkTimeTolerance(_frm->getTimeStamp(), _cap->getTimeStamp());
-}
-
inline StateStructure ProcessorTracker::getStateStructure ( ) const
{
return state_structure_;
diff --git a/src/processor/processor_base.cpp b/src/processor/processor_base.cpp
index 3a7950391..2673eb246 100644
--- a/src/processor/processor_base.cpp
+++ b/src/processor/processor_base.cpp
@@ -217,4 +217,25 @@ void ProcessorBase::printProfiling(std::ostream& _stream) const
}
+bool ProcessorBase::checkTimeTolerance (const TimeStamp& _ts1, const TimeStamp& _ts2)
+{
+ auto dt = std::fabs(_ts1 - _ts2);
+ return dt <= params_->time_tolerance;
+}
+
+bool ProcessorBase::checkTimeTolerance (const CaptureBasePtr _cap, const TimeStamp& _ts)
+{
+ return checkTimeTolerance(_cap->getTimeStamp(), _ts);
+}
+
+bool ProcessorBase::checkTimeTolerance (const FrameBasePtr _frm, const TimeStamp& _ts)
+{
+ return checkTimeTolerance(_frm->getTimeStamp(), _ts);
+}
+
+bool ProcessorBase::checkTimeTolerance (const FrameBasePtr _frm, const CaptureBasePtr _cap)
+{
+ return checkTimeTolerance(_frm->getTimeStamp(), _cap->getTimeStamp());
+}
+
} // namespace wolf
--
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