Transfer problem_ptr_ to NodeBase

getProblem is virtual and overriden in several Base classes.

src/capture_base.cpp

@@ -8,7 +8,6 @@ unsigned int CaptureBase::capture_id_count_ = 0;
 
 CaptureBase::CaptureBase(const std::string& _type, const TimeStamp& _ts, SensorBasePtr _sensor_ptr) :
         NodeBase("CAPTURE", _type),
-        problem_ptr_(nullptr),
         frame_ptr_(nullptr),
         capture_id_(++capture_id_count_),
         time_stamp_(_ts),

src/capture_base.h

@@ -20,7 +20,6 @@ namespace wolf{
 class CaptureBase : public NodeBase, public std::enable_shared_from_this<CaptureBase>
 {
     private:
-        ProblemWPtr problem_ptr_;
         FrameBaseWPtr frame_ptr_;
         FeatureBaseList feature_list_;
 
@@ -48,7 +47,6 @@ class CaptureBase : public NodeBase, public std::enable_shared_from_this<Capture
         void setTimeStampToNow();
 
         ProblemPtr getProblem();
-        void setProblem(ProblemPtr _prob_ptr){problem_ptr_ = _prob_ptr;}
 
         FrameBasePtr getFramePtr() const;
         void setFramePtr(const FrameBasePtr _frm_ptr);

src/constraint_base.cpp

@@ -8,7 +8,6 @@ unsigned int ConstraintBase::constraint_id_count_ = 0;
 
 ConstraintBase::ConstraintBase(ConstraintType _tp, bool _apply_loss_function, ConstraintStatus _status) :
     NodeBase("CONSTRAINT", "Base"),
-    problem_ptr_(nullptr),
     feature_ptr_(nullptr),
     constraint_id_(++constraint_id_count_),
     type_id_(_tp),
@@ -25,7 +24,6 @@ ConstraintBase::ConstraintBase(ConstraintType _tp, bool _apply_loss_function, Co
 
 ConstraintBase::ConstraintBase(ConstraintType _tp, FrameBasePtr _frame_ptr, bool _apply_loss_function, ConstraintStatus _status) :
     NodeBase("CONSTRAINT", "Base"),
-    problem_ptr_(nullptr),
     feature_ptr_(nullptr),
     constraint_id_(++constraint_id_count_),
     type_id_(_tp),
@@ -43,7 +41,6 @@ ConstraintBase::ConstraintBase(ConstraintType _tp, FrameBasePtr _frame_ptr, bool
 
 ConstraintBase::ConstraintBase(ConstraintType _tp, FeatureBasePtr _feature_ptr, bool _apply_loss_function, ConstraintStatus _status) :
     NodeBase("CONSTRAINT"),
-    problem_ptr_(nullptr),
     feature_ptr_(nullptr),
     constraint_id_(++constraint_id_count_),
     type_id_(_tp),
@@ -61,7 +58,6 @@ ConstraintBase::ConstraintBase(ConstraintType _tp, FeatureBasePtr _feature_ptr,
 
 ConstraintBase::ConstraintBase(ConstraintType _tp, LandmarkBasePtr _landmark_ptr, bool _apply_loss_function, ConstraintStatus _status) :
     NodeBase("CONSTRAINT"),
-    problem_ptr_(nullptr),
     feature_ptr_(nullptr),
     constraint_id_(++constraint_id_count_),
     type_id_(_tp),

src/constraint_base.h

@@ -19,7 +19,6 @@ namespace wolf {
 class ConstraintBase : public NodeBase, public std::enable_shared_from_this<ConstraintBase>
 {
     private:
-        ProblemWPtr problem_ptr_;
         FeatureBaseWPtr feature_ptr_;                    ///< FeatureBase pointer (upper node)
 
         static unsigned int constraint_id_count_;
@@ -131,7 +130,6 @@ class ConstraintBase : public NodeBase, public std::enable_shared_from_this<Cons
         LandmarkBasePtr getLandmarkOtherPtr();
 
         ProblemPtr getProblem();
-        void setProblem(ProblemPtr _prob_ptr){problem_ptr_ = _prob_ptr;}
 
 };
 

src/feature_base.cpp

@@ -8,7 +8,6 @@ unsigned int FeatureBase::feature_id_count_ = 0;
 
 FeatureBase::FeatureBase(FeatureType _tp, const std::string& _type, unsigned int _dim_measurement) :
     NodeBase("FEATURE", _type),
-    problem_ptr_(nullptr),
     capture_ptr_(nullptr),
     feature_id_(++feature_id_count_),
     track_id_(0),
@@ -21,7 +20,6 @@ FeatureBase::FeatureBase(FeatureType _tp, const std::string& _type, unsigned int
 
 FeatureBase::FeatureBase(FeatureType _tp, const std::string& _type, const Eigen::VectorXs& _measurement, const Eigen::MatrixXs& _meas_covariance) :
 	NodeBase("FEATURE", _type),
-    problem_ptr_(nullptr),
     capture_ptr_(nullptr),
     feature_id_(++feature_id_count_),
     track_id_(0),
@@ -58,13 +56,6 @@ FeatureBase::~FeatureBase()
 
 }
 
-void FeatureBase::setProblem(ProblemPtr _prob_ptr)
-{
-    problem_ptr_ = _prob_ptr;
-}
-
-
-
 ConstraintBasePtr FeatureBase::addConstraint(ConstraintBasePtr _co_ptr)
 {
     constraint_list_.push_back(_co_ptr);

src/feature_base.h

@@ -20,7 +20,6 @@ namespace wolf {
 class FeatureBase : public NodeBase, public std::enable_shared_from_this<FeatureBase>
 {
     private:
-        ProblemWPtr problem_ptr_;
         CaptureBaseWPtr capture_ptr_;
         ConstraintBaseList constraint_list_;
         ConstraintBaseList constrained_by_list_;
@@ -73,7 +72,6 @@ class FeatureBase : public NodeBase, public std::enable_shared_from_this<Feature
 
 
         ProblemPtr getProblem();
-        void setProblem(ProblemPtr _prob_ptr);
 
         FrameBasePtr getFramePtr() const;
 

src/frame_base.cpp

@@ -11,7 +11,6 @@ unsigned int FrameBase::frame_id_count_ = 0;
 
 FrameBase::FrameBase(const TimeStamp& _ts, StateBlock* _p_ptr, StateBlock* _o_ptr, StateBlock* _v_ptr) :
             NodeBase("FRAME", "BASE"),
-            problem_ptr_(nullptr),
             trajectory_ptr_(nullptr),
             frame_id_(++frame_id_count_),
             type_id_(NON_KEY_FRAME),
@@ -26,7 +25,6 @@ FrameBase::FrameBase(const TimeStamp& _ts, StateBlock* _p_ptr, StateBlock* _o_pt
 
 FrameBase::FrameBase(const FrameKeyType & _tp, const TimeStamp& _ts, StateBlock* _p_ptr, StateBlock* _o_ptr, StateBlock* _v_ptr) :
             NodeBase("FRAME", "BASE"),
-            problem_ptr_(nullptr),
             trajectory_ptr_(nullptr),
             frame_id_(++frame_id_count_),
             type_id_(_tp),

src/frame_base.h

@@ -22,7 +22,6 @@ namespace wolf {
 class FrameBase : public NodeBase, public std::enable_shared_from_this<FrameBase>
 {
     private:
-        ProblemWPtr problem_ptr_;
         TrajectoryBasePtr trajectory_ptr_;
         CaptureBaseList capture_list_;
         ConstraintBaseList constrained_by_list_;
@@ -100,7 +99,6 @@ class FrameBase : public NodeBase, public std::enable_shared_from_this<FrameBase
         // Wolf tree access ---------------------------------------------------
 
         ProblemPtr getProblem();
-        void setProblem(ProblemPtr _prob_ptr);
 
         TrajectoryBasePtr getTrajectoryPtr() const;
         void setTrajectoryPtr(TrajectoryBasePtr _trj_ptr);
@@ -282,11 +280,6 @@ inline void FrameBase::getConstraintList(ConstraintBaseList& _ctr_list)
 }
 
 
-inline void FrameBase::setProblem(ProblemPtr _prob_ptr)
-{
-    problem_ptr_ = _prob_ptr;
-}
-
 inline void FrameBase::addConstrainedBy(ConstraintBasePtr _ctr_ptr)
 {
     constrained_by_list_.push_back(_ctr_ptr);

src/hardware_base.cpp

@@ -5,8 +5,7 @@
 namespace wolf {
 
 HardwareBase::HardwareBase() :
-        NodeBase("HARDWARE"),
-        problem_ptr_(nullptr)
+        NodeBase("HARDWARE")
 {
     //std::cout << "HardwareBase::HardwareBase(): " << __LINE__ << std::endl;
 }

src/hardware_base.h

@@ -14,19 +14,15 @@ class SensorBase;
 namespace wolf {
 
 //class HardwareBase
-class HardwareBase : public NodeBase //: public NodeLinked<Problem, SensorBase>
+class HardwareBase : public NodeBase
 {
     private:
-        ProblemWPtr problem_ptr_;
         SensorBaseList sensor_list_;
 
     public:
         HardwareBase();
         virtual ~HardwareBase();
 
-        ProblemPtr getProblem(){return problem_ptr_;}
-        void setProblem(ProblemPtr _prob_ptr){problem_ptr_ = _prob_ptr;}
-
         virtual SensorBasePtr addSensor(SensorBasePtr _sensor_ptr);
         SensorBaseList* getSensorListPtr();
         void removeSensor(const SensorBaseIter& _sensor_iter);

src/landmark_base.cpp

@@ -11,7 +11,6 @@ unsigned int LandmarkBase::landmark_id_count_ = 0;
 
 LandmarkBase::LandmarkBase(const LandmarkType & _tp, const std::string& _type, StateBlock* _p_ptr, StateBlock* _o_ptr) :
             NodeBase("LANDMARK", _type),
-            problem_ptr_(nullptr),
             map_ptr_(nullptr),
             landmark_id_(++landmark_id_count_),
             type_id_(_tp),

src/landmark_base.h

@@ -28,7 +28,6 @@ namespace wolf {
 class LandmarkBase : public NodeBase, public std::enable_shared_from_this<LandmarkBase>
 {
     private:
-        ProblemWPtr problem_ptr_;
         MapBaseWPtr map_ptr_;
         ConstraintBaseList constrained_by_list_;
 
@@ -105,7 +104,6 @@ class LandmarkBase : public NodeBase, public std::enable_shared_from_this<Landma
 
         void setMapPtr(MapBasePtr _map_ptr){map_ptr_ = _map_ptr.get();} // TODO remove .get()
         ProblemPtr getProblem();
-        void setProblem(ProblemPtr _prob_ptr){problem_ptr_ = _prob_ptr;}
 
 
 };

src/map_base.cpp

@@ -19,8 +19,7 @@
 namespace wolf {
 
 MapBase::MapBase() :
-    NodeBase("MAP"),
-    problem_ptr_(nullptr)
+    NodeBase("MAP")
 {
     std::cout << "created M"<< std::endl;
 }

src/map_base.h

@@ -20,7 +20,6 @@ namespace wolf {
 class MapBase : public NodeBase, public std::enable_shared_from_this<MapBase>
 {
     private:
-        ProblemWPtr problem_ptr_;
         LandmarkBaseList landmark_list_;
 
     public:
@@ -33,9 +32,6 @@ class MapBase : public NodeBase, public std::enable_shared_from_this<MapBase>
         ~MapBase();
 //        void destruct();
         
-        ProblemPtr getProblem(){return problem_ptr_;}
-        void setProblem(ProblemPtr _prob_ptr){problem_ptr_ = _prob_ptr;}
-
         virtual LandmarkBasePtr addLandmark(LandmarkBasePtr _landmark_ptr);
         virtual void addLandmarkList(LandmarkBaseList _landmark_list);
         void removeLandmark(const LandmarkBaseIter& _landmark_iter);

src/node_base.h

@@ -57,13 +57,14 @@ class NodeBase
         static unsigned int node_id_count_; ///< Object counter (acts as simple ID factory)
 
     protected:
+        ProblemWPtr problem_ptr_;
+        bool is_removing_;
+
         unsigned int node_id_;   ///< Node id. It is unique over the whole Wolf Tree
         std::string node_class_; ///< Text label identifying the class of node ("SENSOR", "FEATURE", etc)
         std::string node_type_;  ///< Text label identifying the type or subclass of node ("Pin Hole", "Point 2D", etc)
         std::string node_name_;  ///< Text label identifying each specific object ("left camera", "LIDAR 1", "PointGrey", "Andrew", etc)
 
-        bool is_removing_;
-
     public: 
 
         NodeBase(const std::string& _class, const std::string& _type = "Undefined", const std::string& _name = "");
@@ -76,6 +77,10 @@ class NodeBase
 
         void setType(const std::string& _name){node_type_ = _name;};
         void setName(const std::string& _name);
+
+        virtual ProblemPtr getProblem(){return problem_ptr_;}
+        void setProblem(ProblemPtr _prob_ptr) {problem_ptr_ = _prob_ptr;}
+
 };
 
 } // namespace wolf
@@ -85,9 +90,8 @@ class NodeBase
 namespace wolf{
 
 inline NodeBase::NodeBase(const std::string& _class, const std::string& _type, const std::string& _name) :
-        node_id_(++node_id_count_), node_class_(_class), node_type_(_type), node_name_(_name)
+        problem_ptr_(nullptr), is_removing_(false), node_id_(++node_id_count_), node_class_(_class), node_type_(_type), node_name_(_name)
 {
-    is_removing_ = false;
     //
 }
 

src/sensor_base.h

@@ -30,7 +30,6 @@ struct IntrinsicsBase
 class SensorBase : public NodeBase, public std::enable_shared_from_this<SensorBase>
 {
     private:
-        ProblemPtr problem_ptr_;
         HardwareBasePtr hardware_ptr_;
         ProcessorBaseList processor_list_;
 
@@ -129,7 +128,6 @@ class SensorBase : public NodeBase, public std::enable_shared_from_this<SensorBa
         Eigen::MatrixXs getNoiseCov();
 
         ProblemPtr getProblem();
-        void setProblem(ProblemPtr _prob_ptr){problem_ptr_ = _prob_ptr;}
 
 };
 

src/trajectory_base.h

@@ -22,7 +22,6 @@ namespace wolf {
 class TrajectoryBase : public NodeBase, public std::enable_shared_from_this<TrajectoryBase>
 {
     private:
-        ProblemWPtr problem_ptr_;
         std::list<FrameBasePtr> frame_list_;
 
     protected:
@@ -42,10 +41,6 @@ class TrajectoryBase : public NodeBase, public std::enable_shared_from_this<Traj
         // Properties
         FrameStructure getFrameStructure() const;
 
-        // Problem
-        ProblemPtr getProblem() { return problem_ptr_; }
-        void setProblem(ProblemPtr _prob_ptr);
-
         // Frames
         FrameBasePtr addFrame(FrameBasePtr _frame_ptr);
         void removeFrame(const FrameBaseIter& _frame_iter);
@@ -70,11 +65,6 @@ class TrajectoryBase : public NodeBase, public std::enable_shared_from_this<Traj
 
 namespace wolf{
 
-inline void TrajectoryBase::setProblem(ProblemPtr _prob_ptr)
-{
-    problem_ptr_ = _prob_ptr;
-}
-
 inline void TrajectoryBase::moveFrame(FrameBasePtr _frm_ptr, FrameBaseIter _place)
 {
     if (*_place != _frm_ptr)