Add constructor

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 ///////

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);
     //
 }