Inline things in all base classes

src/hardware_base.cpp

@@ -31,17 +31,7 @@ void HardwareBase::addSensor(SensorBase* _sensor_ptr)
 
 }
 
-void HardwareBase::removeSensor(const SensorBaseIter& _sensor_iter)
-{
-	removeDownNode(_sensor_iter);
-}
-
 void HardwareBase::removeSensor(SensorBase* _sensor_ptr)
 {
-	removeDownNode(_sensor_ptr->nodeId());
-}
-
-SensorBaseList* HardwareBase::getSensorListPtr()
-{
-    return getDownNodeListPtr();
+    removeDownNode(_sensor_ptr->nodeId());
 }

src/hardware_base.h

@@ -28,32 +28,31 @@ class HardwareBase : public NodeLinked<WolfProblem, SensorBase>
         virtual ~HardwareBase();
 
         /** \brief Adds a sensor
-         *
-         * Adds a sensor
-         *
          **/
         virtual void addSensor(SensorBase* _sensor_ptr);
 
         /** \brief Removes a sensor
-         *
-         * Removes a sensor
-         *
          **/
         void removeSensor(const SensorBaseIter& _sensor_iter);
 
         /** \brief Removes a sensor
-         *
-         * Removes a sensor
-         *
          **/
         void removeSensor(SensorBase* _sensor_ptr);
 
         /** \brief Returns Sensor list
-         * 
-         * Returns SensorBase list
-         * 
          **/
         SensorBaseList* getSensorListPtr();
 
 };
+
+inline void HardwareBase::removeSensor(const SensorBaseIter& _sensor_iter)
+{
+    removeDownNode(_sensor_iter);
+}
+
+inline SensorBaseList* HardwareBase::getSensorListPtr()
+{
+    return getDownNodeListPtr();
+}
+
 #endif

src/landmark_base.cpp

@@ -45,11 +45,6 @@ LandmarkBase::~LandmarkBase()
 	//std::cout << "constraints deleted" << std::endl;
 }
 
-void LandmarkBase::addConstraintTo(ConstraintBase* _ctr_ptr)
-{
-    constraint_to_list_.push_back(_ctr_ptr);
-}
-
 void LandmarkBase::removeConstraintTo(ConstraintBase* _ctr_ptr)
 {
     constraint_to_list_.remove(_ctr_ptr);
@@ -58,16 +53,6 @@ void LandmarkBase::removeConstraintTo(ConstraintBase* _ctr_ptr)
         this->destruct();
 }
 
-unsigned int LandmarkBase::getHits() const
-{
-    return constraint_to_list_.size();
-}
-
-std::list<ConstraintBase*>* LandmarkBase::getConstraintToListPtr()
-{
-    return &constraint_to_list_;
-}
-
 void LandmarkBase::setStatus(LandmarkStatus _st)
 {
     status_ = _st;
@@ -104,55 +89,3 @@ void LandmarkBase::setStatus(LandmarkStatus _st)
         }
     }
 }
-
-void LandmarkBase::fix()
-{
-	//std::cout << "Fixing frame " << nodeId() << std::endl;
-    this->setStatus(LANDMARK_FIXED);
-}
-
-void LandmarkBase::unfix()
-{
-	//std::cout << "Unfixing frame " << nodeId() << std::endl;
-    this->setStatus(LANDMARK_ESTIMATED);
-}
-
-StateBlock* LandmarkBase::getPPtr() const
-{
-	return p_ptr_;
-}
-
-StateBlock* LandmarkBase::getOPtr() const
-{
-	return o_ptr_;
-}
-
-void LandmarkBase::setPPtr(StateBlock* _st_ptr)
-{
-    p_ptr_ = _st_ptr;
-}
-
-void LandmarkBase::setOPtr(StateBlock* _st_ptr)
-{
-    o_ptr_ = _st_ptr;
-}
-
-void LandmarkBase::setDescriptor(const Eigen::VectorXs& _descriptor)
-{
-	descriptor_ = _descriptor;
-}
-
-const Eigen::VectorXs& LandmarkBase::getDescriptor() const
-{
-	return descriptor_;
-}
-
-WolfScalar LandmarkBase::getDescriptor(unsigned int _ii) const
-{
-    return descriptor_(_ii);
-}
-
-const LandmarkType LandmarkBase::getType() const
-{
-    return type_;
-}

src/landmark_base.h

@@ -47,109 +47,133 @@ class LandmarkBase : public NodeLinked<MapBase, NodeTerminus>
         virtual ~LandmarkBase();
 
         /** \brief Link with a constraint
-         *
-         * Link with a constraint
-         *
          **/
         void addConstraintTo(ConstraintBase* _ctr_ptr);
 
         /** \brief Remove a constraint to this landmark
-         *
-         * Remove a constraint to this landmark
-         *
          **/
         void removeConstraintTo(ConstraintBase* _ctr_ptr);
 
         /** \brief Gets the number of constraints linked with this landmark
-         *
-         * Gets the number of constraints linked with this landmark
-         *
          **/
         unsigned int getHits() const;
 
         /** \brief Gets the list of constraints linked with this landmark
-         *
-         * Gets the list of constraints linked with this landmark
-         *
          **/
         std::list<ConstraintBase*>* getConstraintToListPtr();
 
         /** \brief Sets the Landmark status
-         *
-         * Sets the Landmark status (see wolf.h)
-         *
          **/
         void setStatus(LandmarkStatus _st);
 
         /** \brief Sets the Landmark status to fixed
-         *
-         * Sets the Landmark status to fixed
-         *
          **/
         void fix();
 
         /** \brief Sets the Landmark status to estimated
-         *
-         * Sets the Landmark status to estimated
-         *
          **/
         void unfix();
 
         /** \brief Gets the position state block pointer
-         *
-         * Gets the position state block pointer
-         *
          **/
         StateBlock* getPPtr() const;
 
         /** \brief Gets the orientation state block pointer
-         *
-         * Gets the orientation state block pointer
-         *
          **/
         StateBlock* getOPtr() const;
 
         /** \brief Sets the position state block pointer
-         *
-         * Sets the position state block pointer
-         *
          **/
         void setPPtr(StateBlock* _st_ptr);
 
         /** \brief Sets the orientation state block pointer
-         *
-         * Sets the orientation state block pointer
-         *
          **/
         void setOPtr(StateBlock* _st_ptr);
 
         /** \brief Sets the descriptor
-         *
-         * Sets the descriptor
-         *
          **/
         void setDescriptor(const Eigen::VectorXs& _descriptor);
 
         /** \brief Gets the descriptor
-         *
-         * Gets the descriptor
-         *
          **/
         const Eigen::VectorXs& getDescriptor() const;        
         
         /** \brief Returns _ii component of descriptor vector
          * 
-         * Returns _ii component of descriptor_ vector
          * WARNING: To be fast, it does not check that index _ii is smaller than dimension.
-         * 
          **/
         WolfScalar getDescriptor(unsigned int _ii) const;
 
         /** \brief Return the type of the landmark
-         *
-         * Return the type of the landmark (see wolf.h)
-         *
          **/
         const LandmarkType getType() const;
 };
+
+inline void LandmarkBase::addConstraintTo(ConstraintBase* _ctr_ptr)
+{
+    constraint_to_list_.push_back(_ctr_ptr);
+}
+
+inline unsigned int LandmarkBase::getHits() const
+{
+    return constraint_to_list_.size();
+}
+
+inline std::list<ConstraintBase*>* LandmarkBase::getConstraintToListPtr()
+{
+    return &constraint_to_list_;
+}
+
+inline void LandmarkBase::fix()
+{
+    //std::cout << "Fixing frame " << nodeId() << std::endl;
+    this->setStatus(LANDMARK_FIXED);
+}
+
+inline void LandmarkBase::unfix()
+{
+    //std::cout << "Unfixing frame " << nodeId() << std::endl;
+    this->setStatus(LANDMARK_ESTIMATED);
+}
+
+inline StateBlock* LandmarkBase::getPPtr() const
+{
+    return p_ptr_;
+}
+
+inline StateBlock* LandmarkBase::getOPtr() const
+{
+    return o_ptr_;
+}
+
+inline void LandmarkBase::setPPtr(StateBlock* _st_ptr)
+{
+    p_ptr_ = _st_ptr;
+}
+
+inline void LandmarkBase::setOPtr(StateBlock* _st_ptr)
+{
+    o_ptr_ = _st_ptr;
+}
+
+inline void LandmarkBase::setDescriptor(const Eigen::VectorXs& _descriptor)
+{
+    descriptor_ = _descriptor;
+}
+
+inline WolfScalar LandmarkBase::getDescriptor(unsigned int _ii) const
+{
+    return descriptor_(_ii);
+}
+
+inline const Eigen::VectorXs& LandmarkBase::getDescriptor() const
+{
+    return descriptor_;
+}
+
+inline const LandmarkType LandmarkBase::getType() const
+{
+    return type_;
+}
+
 #endif

src/node_base.cpp

@@ -21,23 +21,3 @@ NodeBase::~NodeBase()
 	//std::cout << "deleting NodeBase " << nodeId() << std::endl;
 }
 
-unsigned int NodeBase::nodeId() const
-{
-	return node_id_;
-}
-
-std::string NodeBase::nodeLabel() const
-{
-	return label_;
-}
-
-//void NodeBase::print(unsigned int _ntabs, std::ostream& _ost) const
-//{
-//	_ost << label_ << " " << node_id_ << std::endl;
-//}
-
-//void NodeBase::printTabs(unsigned int _ntabs, std::ostream& _ost) const
-//{
-//		for (unsigned int i = 0; i < _ntabs; i++) _ost << "\t";
-//}
-

src/node_base.h

@@ -54,27 +54,16 @@ class NodeBase
          */
         std::string nodeLabel() const;
 
-//        /** \brief Print node information
-//         *
-//		 * Prints node information. Inine function.
-//         * \param _ntabs number of tabulations to print at the left of the printed information
-//         * \param _ost output stream
-//         *
-//         * Overload this function in derived classes to adapt the printed output to each object's relevant info.
-//		 *
-//         */
-//        virtual void print(unsigned int _ntabs = 0, std::ostream& _ost = std::cout) const;
+};
 
-    protected:
+inline unsigned int NodeBase::nodeId() const
+{
+    return node_id_;
+}
 
-//        /** \brief prints a number of tabulations.
-//         *
-//         * Prints a number of tabulations, i.e., "\t". Inline function.
-//         * \param _ntabs number of tabulations to print
-//         * \param _ost output stream
-//		 *
-//         */
-//        void printTabs(unsigned int _ntabs = 0, std::ostream& _ost = std::cout) const;
-};
+inline std::string NodeBase::nodeLabel() const
+{
+    return label_;
+}
 
 #endif /* NODE_BASE_H_ */

src/processor_base.cpp

@@ -12,9 +12,3 @@ ProcessorBase::~ProcessorBase()
 {
     //
 }
-
-SensorBase* ProcessorBase::getSensorPtr()
-{
-    return upperNodePtr();
-}
-

src/processor_base.h

@@ -34,4 +34,10 @@ class ProcessorBase : public NodeLinked<SensorBase, NodeTerminus>
         virtual void process(CaptureBase* _capture_ptr) = 0;
 
 };
+
+inline SensorBase* ProcessorBase::getSensorPtr()
+{
+    return upperNodePtr();
+}
+
 #endif

src/sensor_base.cpp

@@ -50,31 +50,6 @@ SensorBase::~SensorBase()
 
 }
 
-void SensorBase::addProcessor(ProcessorBase* _proc_ptr)
-{
-    addDownNode(_proc_ptr);
-}
-
-ProcessorBaseList* SensorBase::getProcessorListPtr()
-{
-    return getDownNodeListPtr();
-}
-
-StateBlock* SensorBase::getPPtr() const
-{
-    return p_ptr_;
-}
-
-StateBlock* SensorBase::getOPtr() const
-{
-    return o_ptr_;
-}
-
-StateBlock* SensorBase::getIntrinsicPtr() const
-{
-    return intrinsic_ptr_;
-}
-
 void SensorBase::fix()
 {
     // State Blocks
@@ -109,22 +84,9 @@ void SensorBase::unfix()
     }
 }
 
-bool SensorBase::isExtrinsicDynamic() {
-	return extrinsic_dynamic_;
-}
-
-
 void SensorBase::setNoise(const Eigen::VectorXs& _noise_std) {
 	noise_std_ = _noise_std;
 	noise_cov_.setZero();
 	for (unsigned int i=0; i<_noise_std.size(); i++)
 		noise_cov_(i,i) = _noise_std(i) * _noise_std(i);
 }
-
-Eigen::VectorXs SensorBase::getNoiseStd() {
-	return noise_std_;
-}
-
-Eigen::MatrixXs SensorBase::getNoiseCov() {
-	return noise_cov_;
-}

src/sensor_base.h

@@ -86,4 +86,45 @@ class SensorBase : public NodeLinked<HardwareBase, ProcessorBase>
         Eigen::MatrixXs getNoiseCov();
 
 };
+
+inline void SensorBase::addProcessor(ProcessorBase* _proc_ptr)
+{
+    addDownNode(_proc_ptr);
+}
+
+inline ProcessorBaseList* SensorBase::getProcessorListPtr()
+{
+    return getDownNodeListPtr();
+}
+
+inline StateBlock* SensorBase::getPPtr() const
+{
+    return p_ptr_;
+}
+
+inline StateBlock* SensorBase::getOPtr() const
+{
+    return o_ptr_;
+}
+
+inline StateBlock* SensorBase::getIntrinsicPtr() const
+{
+    return intrinsic_ptr_;
+}
+
+inline bool SensorBase::isExtrinsicDynamic()
+{
+    return extrinsic_dynamic_;
+}
+
+inline Eigen::VectorXs SensorBase::getNoiseStd()
+{
+    return noise_std_;
+}
+
+inline Eigen::MatrixXs SensorBase::getNoiseCov()
+{
+    return noise_cov_;
+}
+
 #endif

src/trajectory_base.cpp

@@ -29,26 +29,6 @@ void TrajectoryBase::addFrame(FrameBase* _frame_ptr)
     }
 }
 
-void TrajectoryBase::removeFrame(const FrameBaseIter& _frame_iter)
-{
-	removeDownNode(_frame_iter);
-}
-
-FrameStructure TrajectoryBase::getFrameStructure() const
-{
-    return frame_structure_;
-}
-
-FrameBaseList* TrajectoryBase::getFrameListPtr()
-{
-    return getDownNodeListPtr();
-}
-
-FrameBase* TrajectoryBase::getLastFramePtr()
-{
-    return getDownNodeListPtr()->back();
-}
-
 void TrajectoryBase::getConstraintList(ConstraintBaseList & _ctr_list)
 {
 	for(auto fr_it = getFrameListPtr()->begin(); fr_it != getFrameListPtr()->end(); ++fr_it)

src/trajectory_base.h

@@ -47,21 +47,30 @@ class TrajectoryBase : public NodeLinked<WolfProblem,FrameBase>
          * Remove a frame to the trajectory
          *
          **/
-        void removeFrame(const FrameBaseIter& _frame_ptr);
+        void removeFrame(const FrameBaseIter& _frame_iter)
+        {
+            removeDownNode(_frame_iter);
+        }
 
         /** \brief Returns a pointer to Frame list
          * 
          * Returns a pointer to Frame list
          * 
          **/
-        FrameBaseList* getFrameListPtr();
+        FrameBaseList* getFrameListPtr()
+        {
+            return getDownNodeListPtr();
+        }
 
         /** \brief Returns a pointer to last Frame
          *
          * Returns a pointer to last Frame
          *
          **/
-        FrameBase* getLastFramePtr();
+        FrameBase* getLastFramePtr()
+        {
+            return getDownNodeListPtr()->back();
+        }
 
 
         /** \brief Returns a list of all constraints in the trajectory thru reference
@@ -71,6 +80,9 @@ class TrajectoryBase : public NodeLinked<WolfProblem,FrameBase>
          **/
         void getConstraintList(ConstraintBaseList & _ctr_list);
         
-        FrameStructure getFrameStructure() const;
+        FrameStructure getFrameStructure() const
+        {
+            return frame_structure_;
+        }
 };
 #endif

src/wolf_problem.cpp

@@ -210,79 +210,11 @@ void WolfProblem::addTrajectory(TrajectoryBase* _trajectory_ptr)
     trajectory_ptr_->linkToUpperNode( this );
 }
 
-MapBase* WolfProblem::getMapPtr()
-{
-    return map_ptr_;
-}
-
-TrajectoryBase* WolfProblem::getTrajectoryPtr()
-{
-    return trajectory_ptr_;
-}
-
-HardwareBase* WolfProblem::getHardwarePtr()
-{
-    return hardware_ptr_;
-}
-
 FrameBase* WolfProblem::getLastFramePtr()
 {
     return trajectory_ptr_->getLastFramePtr();
 }
 
-StateBlockList* WolfProblem::getStateListPtr()
-{
-    return &state_block_ptr_list_;
-}
-
-//void WolfProblem::print(unsigned int _ntabs, std::ostream& _ost) const
-//{
-//    printSelf(_ntabs, _ost); //one line
-//    printLower(_ntabs, _ost);
-//}
-//
-//void WolfProblem::printSelf(unsigned int _ntabs, std::ostream& _ost) const
-//{
-//    printTabs(_ntabs);
-//    _ost << nodeLabel() << " " << nodeId() << " : ";
-//    _ost << "TOP" << std::endl;
-//}
-
-std::list<StateBlock*>* WolfProblem::getStateBlockAddList()
-{
-    return &state_block_add_list_;
-}
-
-std::list<StateBlock*>* WolfProblem::getStateBlockUpdateList()
-{
-    return &state_block_update_list_;
-}
-
-std::list<WolfScalar*>* WolfProblem::getStateBlockRemoveList()
-{
-    return &state_block_remove_list_;
-}
-
-std::list<ConstraintBase*>* WolfProblem::getConstraintAddList()
-{
-    return &constraint_add_list_;
-}
-
-std::list<unsigned int>* WolfProblem::getConstraintRemoveList()
-{
-    return &constraint_remove_list_;
-}
-
-WolfProblem* WolfProblem::getTop()
-{
-	return this;
-}
-
-bool WolfProblem::isTop()
-{
-    return true;
-}
-
 void WolfProblem::removeDownNode(const LowerNodePtr _ptr)
 {
     //

src/wolf_problem.h

@@ -183,4 +183,59 @@ class WolfProblem: public NodeBase
 
 };
 
+inline MapBase* WolfProblem::getMapPtr()
+{
+    return map_ptr_;
+}
+
+inline TrajectoryBase* WolfProblem::getTrajectoryPtr()
+{
+    return trajectory_ptr_;
+}
+
+inline HardwareBase* WolfProblem::getHardwarePtr()
+{
+    return hardware_ptr_;
+}
+
+inline StateBlockList* WolfProblem::getStateListPtr()
+{
+    return &state_block_ptr_list_;
+}
+
+inline std::list<StateBlock*>* WolfProblem::getStateBlockAddList()
+{
+    return &state_block_add_list_;
+}
+
+inline std::list<StateBlock*>* WolfProblem::getStateBlockUpdateList()
+{
+    return &state_block_update_list_;
+}
+
+inline std::list<WolfScalar*>* WolfProblem::getStateBlockRemoveList()
+{
+    return &state_block_remove_list_;
+}
+
+inline std::list<ConstraintBase*>* WolfProblem::getConstraintAddList()
+{
+    return &constraint_add_list_;
+}
+
+inline std::list<unsigned int>* WolfProblem::getConstraintRemoveList()
+{
+    return &constraint_remove_list_;
+}
+
+inline WolfProblem* WolfProblem::getTop()
+{
+    return this;
+}
+
+inline bool WolfProblem::isTop()
+{
+    return true;
+}
+
 #endif