From cb74da1d8e6402c45573ee5266a968f0b3028799 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sat, 11 Apr 2020 00:19:04 +0200
Subject: [PATCH] Add composite API to IsMotion
---
include/core/processor/is_motion.h | 21 +++++++++++----------
1 file changed, 11 insertions(+), 10 deletions(-)
diff --git a/include/core/processor/is_motion.h b/include/core/processor/is_motion.h
index b1fabc0a7..761e41e8d 100644
--- a/include/core/processor/is_motion.h
+++ b/include/core/processor/is_motion.h
@@ -22,17 +22,18 @@ class IsMotion
{
public:
- // TODO move somewhere below
- virtual bool getStateComposite(VectorComposite& _state) const = 0;
- virtual bool getStateComposite(const TimeStamp& _ts, VectorComposite& _state) const = 0;
- VectorComposite getStateComposite() const;
- VectorComposite getStateComposite(const TimeStamp& _ts) const;
-
virtual ~IsMotion();
// Queries to the processor:
+ virtual bool getVectorComposite(VectorComposite& _state) const = 0;
+ virtual bool getVectorComposite(const TimeStamp& _ts, VectorComposite& _state) const = 0;
+
+ VectorComposite getVectorComposite() const;
+ VectorComposite getVectorComposite(const TimeStamp& _ts) const;
+
+
/** \brief Fill a reference to the state integrated so far
* \param _x the returned state vector
*/
@@ -91,17 +92,17 @@ inline Eigen::VectorXd IsMotion::getState(const TimeStamp& _ts) const
return x;
}
-inline VectorComposite IsMotion::getStateComposite() const
+inline VectorComposite IsMotion::getVectorComposite() const
{
VectorComposite state;
- getStateComposite(state);
+ getVectorComposite(state);
return state;
}
-inline VectorComposite IsMotion::getStateComposite(const TimeStamp &_ts) const
+inline VectorComposite IsMotion::getVectorComposite(const TimeStamp &_ts) const
{
VectorComposite state;
- getStateComposite(_ts, state);
+ getVectorComposite(_ts, state);
return state;
}
--
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