From c0fb2122921fe942456ed8b9b7d971b4114f2c25 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 17 Jun 2020 19:14:09 +0200
Subject: [PATCH] Add constructor
---
include/core/processor/is_motion.h | 7 +++++++
src/processor/processor_motion.cpp | 2 +-
2 files changed, 8 insertions(+), 1 deletion(-)
diff --git a/include/core/processor/is_motion.h b/include/core/processor/is_motion.h
index 6fd65feec..c78994658 100644
--- a/include/core/processor/is_motion.h
+++ b/include/core/processor/is_motion.h
@@ -22,6 +22,7 @@ class IsMotion
{
public:
+ IsMotion(const StateStructure& _structure);
virtual ~IsMotion();
// Queries to the processor:
@@ -38,6 +39,12 @@ class IsMotion
};
+inline IsMotion::IsMotion(const StateStructure& _structure) :
+ state_structure_(_structure)
+{
+ //
+}
+
}
///// IMPLEMENTATION ///////
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index fe0e98412..e6466605e 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -23,6 +23,7 @@ ProcessorMotion::ProcessorMotion(const std::string& _type,
SizeEigen _calib_size,
ParamsProcessorMotionPtr _params_motion) :
ProcessorBase(_type, _dim, _params_motion),
+ IsMotion(_state_structure),
params_motion_(_params_motion),
processing_step_(RUNNING_WITHOUT_KF),
x_size_(_state_size),
@@ -44,7 +45,6 @@ ProcessorMotion::ProcessorMotion(const std::string& _type,
jacobian_delta_(delta_cov_size_, delta_cov_size_),
jacobian_calib_(delta_cov_size_, calib_size_)
{
- setStateStructure(_state_structure);
//
}
--
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