Merge branch 'makeFrame' into 'master'

Transfer ProcessorMotion::makeFrame() to ProcessorBase::makeFrame()

Function makeFrame was shadowed in ProcessorMotion and was creating many warnings.

This MR solves this, although a proper organization of the makeFrame functionality might require extra re-thinking.

See merge request !95

src/processor_base.cpp

@@ -28,10 +28,8 @@ bool ProcessorBase::permittedKeyFrame()
     return getProblem()->permitKeyFrame(shared_from_this());
 }
 
-void ProcessorBase::makeFrame(CaptureBasePtr _capture_ptr, FrameKeyType _type)
+FrameBasePtr ProcessorBase::makeFrame(CaptureBasePtr _capture_ptr, FrameKeyType _type)
 {
-    std::cout << __FILE__ << ":" << __FUNCTION__ << "():" << __LINE__ << std::endl;
-
     // We need to create the new free Frame to hold what will become the last Capture
     FrameBasePtr new_frame_ptr = getProblem()->createFrame(_type, _capture_ptr->getTimeStamp());
 
@@ -41,7 +39,16 @@ void ProcessorBase::makeFrame(CaptureBasePtr _capture_ptr, FrameKeyType _type)
         // Keyframe callback in order to let the other processors to establish their constraints
         getProblem()->keyFrameCallback(_capture_ptr->getFramePtr(), shared_from_this(), time_tolerance_);
 
-    std::cout << __FILE__ << ":" << __FUNCTION__ << "():" << __LINE__ << std::endl;
+    return new_frame_ptr;
+}
+
+FrameBasePtr ProcessorBase::makeFrame(CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state, FrameKeyType _type)
+{
+    // We need to create the new free Frame to hold what will become the last Capture
+    FrameBasePtr new_frame_ptr = getProblem()->createFrame(_type, _state, _capture_ptr->getTimeStamp());
+
+    new_frame_ptr->addCapture(_capture_ptr); // Add incoming Capture to the new Frame
+    return new_frame_ptr;
 }
 
 void ProcessorBase::remove()

src/processor_base.h

@@ -54,7 +54,8 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
 
         /**\brief make a Frame with the provided Capture
          */
-        virtual void makeFrame(CaptureBasePtr _capture_ptr, FrameKeyType _type = NON_KEY_FRAME);
+        FrameBasePtr makeFrame(CaptureBasePtr _capture_ptr, FrameKeyType _type = NON_KEY_FRAME);
+        FrameBasePtr makeFrame(CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state, FrameKeyType _type = NON_KEY_FRAME);
 
         virtual bool keyFrameCallback(FrameBasePtr _keyframe_ptr, const Scalar& _time_tolerance) = 0;
 

src/processor_motion.h

@@ -178,7 +178,7 @@ class ProcessorMotion : public ProcessorBase
 
         //        void reset(CaptureMotion2* _capture_ptr);
 
-        FrameBasePtr makeFrame(CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state, FrameKeyType _type);
+//        FrameBasePtr makeFrame(CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state, FrameKeyType _type = NON_KEY_FRAME);
 
         MotionBuffer& getBuffer();
 
@@ -658,14 +658,14 @@ inline void ProcessorMotion::splitBuffer(const TimeStamp& _t_split, MotionBuffer
     last_ptr_->getBuffer().split(_t_split, _oldest_part);
 }
 
-inline FrameBasePtr ProcessorMotion::makeFrame(CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state, FrameKeyType _type)
-{
-    // We need to create the new free Frame to hold what will become the last Capture
-    FrameBasePtr new_frame_ptr = getProblem()->createFrame(_type, _state, _capture_ptr->getTimeStamp());
-
-    new_frame_ptr->addCapture(_capture_ptr); // Add incoming Capture to the new Frame
-    return new_frame_ptr;
-}
+//FrameBasePtr ProcessorMotion::makeFrame(CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state, FrameKeyType _type)
+//{
+//    // We need to create the new free Frame to hold what will become the last Capture
+//    FrameBasePtr new_frame_ptr = getProblem()->createFrame(_type, _state, _capture_ptr->getTimeStamp());
+//
+//    new_frame_ptr->addCapture(_capture_ptr); // Add incoming Capture to the new Frame
+//    return new_frame_ptr;
+//}
 
 inline void ProcessorMotion::resetDerived()
 {