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Commit bca7b779 authored by Angel Santamaria-Navarro's avatar Angel Santamaria-Navarro
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Add STATE_UPDATE in solver_manager SM

parent 4a8b6949
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1 merge request!211State blocks
...@@ -53,19 +53,20 @@ void SolverManager::update() ...@@ -53,19 +53,20 @@ void SolverManager::update()
break; break;
} }
// case StateBlock::Notification::STATE_UPDATE: case StateBlock::Notification::STATE_UPDATE:
// { {
// WOLF_DEBUG_COND(state_blocks_.find(state)==state_blocks_.end(), WOLF_DEBUG_COND(state_blocks_.find(state)==state_blocks_.end(),
// "Updating the state of an unregistered StateBlock !"); "Updating the state of an unregistered StateBlock !");
//
// assert(state_blocks_.find(state)!=state_blocks_.end() && assert(state_blocks_.find(state)!=state_blocks_.end() &&
// "Updating the state of an unregistered StateBlock !"); "Updating the state of an unregistered StateBlock !");
//
// Eigen::VectorXs new_state = state->getState(); Eigen::VectorXs new_state = state->getState();
// std::copy(new_state.data(),new_state.data()+new_state.size(),getAssociatedMemBlockPtr(state)); // We assume the same size for the states in both WOLF and the solver.
// std::copy(new_state.data(),new_state.data()+new_state.size(),getAssociatedMemBlockPtr(state));
// break;
// } break;
}
case StateBlock::Notification::FIX_UPDATE: case StateBlock::Notification::FIX_UPDATE:
{ {
WOLF_DEBUG_COND(state_blocks_.find(state)==state_blocks_.end(), WOLF_DEBUG_COND(state_blocks_.find(state)==state_blocks_.end(),
......
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