From c210f37d7a57333d14849d1cd2fd8f798d2223a9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 23 Dec 2020 18:08:07 +0100
Subject: [PATCH] Raplace string --> StateStructure
---
include/core/frame/frame_base.h | 4 ++--
include/core/state_block/has_state_blocks.h | 2 +-
include/core/trajectory/trajectory_base.h | 3 ++-
src/frame/frame_base.cpp | 4 ++--
src/processor/processor_motion.cpp | 4 ++--
5 files changed, 9 insertions(+), 8 deletions(-)
diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h
index c4e423947..4c3e24fcd 100644
--- a/include/core/frame/frame_base.h
+++ b/include/core/frame/frame_base.h
@@ -54,11 +54,11 @@ class FrameBase : public NodeBase, public HasStateBlocks, public std::enable_sha
StateBlockPtr _v_ptr = nullptr);
FrameBase(const TimeStamp& _ts,
- const std::string _frame_structure,
+ const StateStructure& _frame_structure,
const VectorComposite& _state);
FrameBase(const TimeStamp& _ts,
- const std::string _frame_structure,
+ const StateStructure& _frame_structure,
const std::list<VectorXd>& _vectors);
~FrameBase() override;
diff --git a/include/core/state_block/has_state_blocks.h b/include/core/state_block/has_state_blocks.h
index cc4764a4d..418e0909f 100644
--- a/include/core/state_block/has_state_blocks.h
+++ b/include/core/state_block/has_state_blocks.h
@@ -21,7 +21,7 @@ class HasStateBlocks
{
public:
HasStateBlocks();
- HasStateBlocks(const std::string& _structure) : structure_(_structure), state_block_map_() {}
+ HasStateBlocks(const StateStructure& _structure) : structure_(_structure), state_block_map_() {}
virtual ~HasStateBlocks();
const StateStructure& getStructure() const { return structure_; }
diff --git a/include/core/trajectory/trajectory_base.h b/include/core/trajectory/trajectory_base.h
index 23939e2e8..6029815eb 100644
--- a/include/core/trajectory/trajectory_base.h
+++ b/include/core/trajectory/trajectory_base.h
@@ -12,6 +12,7 @@ class FrameBase;
#include "core/common/wolf.h"
#include "core/common/node_base.h"
#include "core/common/time_stamp.h"
+#include "core/state_block/state_composite.h"
//std includes
@@ -56,7 +57,7 @@ class TrajectoryBase : public NodeBase, public std::enable_shared_from_this<Traj
FrameMap frame_map_;
protected:
- std::string frame_structure_; // Defines the structure of the Frames in the Trajectory.
+ StateStructure frame_structure_; // Defines the structure of the Frames in the Trajectory.
// FrameBasePtr last_key_frame_ptr_; // keeps pointer to the last key frame
// FrameBasePtr last_key_or_aux_frame_ptr_; // keeps pointer to the last estimated frame
diff --git a/src/frame/frame_base.cpp b/src/frame/frame_base.cpp
index 515de7b3d..1ae177c0f 100644
--- a/src/frame/frame_base.cpp
+++ b/src/frame/frame_base.cpp
@@ -13,7 +13,7 @@ namespace wolf {
unsigned int FrameBase::frame_id_count_ = 0;
FrameBase::FrameBase(const TimeStamp& _ts,
- const std::string _frame_structure,
+ const StateStructure& _frame_structure,
const VectorComposite& _state) :
NodeBase("FRAME", "FrameBase"),
HasStateBlocks(_frame_structure),
@@ -34,7 +34,7 @@ FrameBase::FrameBase(const TimeStamp& _ts,
FrameBase::FrameBase(const TimeStamp& _ts,
- const std::string _frame_structure,
+ const StateStructure& _frame_structure,
const std::list<VectorXd>& _vectors) :
NodeBase("FRAME", "FrameBase"),
HasStateBlocks(_frame_structure),
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 64536a919..ba21e4ccc 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -251,7 +251,7 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
for (auto pair_ckey_vec : proc_state)
if (!keyframe_from_callback->isInStructure(pair_ckey_vec.first))
keyframe_from_callback->addStateBlock(pair_ckey_vec.first,
- FactoryStateBlock::create(pair_ckey_vec.first,
+ FactoryStateBlock::create(string(1, pair_ckey_vec.first),
pair_ckey_vec.second,
false));
keyframe_from_callback->setState(proc_state);
@@ -352,7 +352,7 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
for (auto pair_ckey_vec : proc_state)
if (!keyframe_from_callback->isInStructure(pair_ckey_vec.first))
keyframe_from_callback->addStateBlock(pair_ckey_vec.first,
- FactoryStateBlock::create(pair_ckey_vec.first,
+ FactoryStateBlock::create(string(1, pair_ckey_vec.first),
pair_ckey_vec.second,
false));
keyframe_from_callback->setState(proc_state);
--
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