Small modifs in getConstraintList( c_list )

src/capture_base.h

@@ -137,7 +137,7 @@ inline FeatureBaseList& CaptureBase::getFeatureList()
 
 inline void CaptureBase::getConstraintList(ConstraintBaseList& _ctr_list)
 {
-    for (FeatureBasePtr f_ptr : getFeatureList())
+    for (auto f_ptr : getFeatureList())
         f_ptr->getConstraintList(_ctr_list);
 }
 

src/feature_base.cpp

@@ -94,8 +94,9 @@ ConstraintBaseList& FeatureBase::getConstraintList()
 
 void FeatureBase::getConstraintList(ConstraintBaseList & _ctr_list)
 {
-	for(ConstraintBasePtr c_ptr : constraint_list_)
-		_ctr_list.push_back(c_ptr);
+    _ctr_list.insert(_ctr_list.end(), constraint_list_.begin(), constraint_list_.end());
+//	for(ConstraintBasePtr c_ptr : constraint_list_)
+//		_ctr_list.push_back(c_ptr);
 }
 
 void FeatureBase::setMeasurementCovariance(const Eigen::MatrixXs & _meas_cov)

src/frame_base.h

@@ -251,7 +251,7 @@ inline void FrameBase::unlinkCapture(CaptureBasePtr _cap_ptr)
 
 inline void FrameBase::getConstraintList(ConstraintBaseList& _ctr_list)
 {
-    for (CaptureBasePtr c_ptr : getCaptureList())
+    for (auto c_ptr : getCaptureList())
         c_ptr->getConstraintList(_ctr_list);
 }