diff --git a/include/core/common/wolf_list.h b/include/core/common/wolf_list.h
deleted file mode 100644
index 85af60362b97005e54d2f327d3a7e2b04fc41025..0000000000000000000000000000000000000000
--- a/include/core/common/wolf_list.h
+++ /dev/null
@@ -1,36 +0,0 @@
-//--------LICENSE_START--------
-//
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
-// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
-// All rights reserved.
-//
-// This file is part of WOLF
-// WOLF is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-// GNU Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-//
-//--------LICENSE_END--------
-#ifndef WOLF_LIST_H_
-#define WOLF_LIST_H_
-
-// Wolf includes
-#include "core/common/wolf.h"
-#include "core/utils/check_log.h"
-
-namespace wolf {
-
-template <class T>
-class WolfList
-{
- std::list<std::shared_pointer<T>> list;
- std::list<std::shared_pointer<const T>> list_const;
-}
diff --git a/include/core/trajectory/trajectory_base.h b/include/core/trajectory/trajectory_base.h
index 4fa2ec43e5b5fd593561886420ccd2b26d646264..5c1cf57997a9a6dac1c21467335913b3063a22b9 100644
--- a/include/core/trajectory/trajectory_base.h
+++ b/include/core/trajectory/trajectory_base.h
@@ -35,70 +35,8 @@ class FrameBase;
#include "core/common/time_stamp.h"
#include "core/state_block/state_composite.h"
-//std includes
-
namespace wolf {
-typedef std::map<TimeStamp, FrameBasePtr>::const_iterator TrajectoryIter;
-typedef std::map<TimeStamp, FrameBasePtr>::const_reverse_iterator TrajectoryRevIter;
-typedef std::map<TimeStamp, FrameBaseConstPtr>::const_iterator TrajectoryConstIter;
-typedef std::map<TimeStamp, FrameBaseConstPtr>::const_reverse_iterator TrajectoryConstRevIter;
-
-/*class TrajectoryIter : public std::map<TimeStamp, FrameBasePtr>::const_iterator
-{
- public:
- TrajectoryIter(std::map<TimeStamp, FrameBasePtr>::const_iterator src)
- : std::map<TimeStamp, FrameBasePtr>::const_iterator(std::move(src))
- {}
- // override the indirection operator
- const FrameBasePtr& operator*() const
- {
- return std::map<TimeStamp, FrameBasePtr>::const_iterator::operator*().second;
- }
-};
-
-class TrajectoryRevIter : public std::map<TimeStamp, FrameBasePtr>::const_reverse_iterator
-{
- public:
- TrajectoryRevIter(std::map<TimeStamp, FrameBasePtr>::const_reverse_iterator src)
- : std::map<TimeStamp, FrameBasePtr>::const_reverse_iterator(std::move(src))
- {}
-
- // override the indirection operator
- const FrameBasePtr& operator*() const
- {
- return std::map<TimeStamp, FrameBasePtr>::const_reverse_iterator::operator*().second;
- }
-};
-
-class TrajectoryConstIter : public std::map<TimeStamp, FrameBaseConstPtr>::const_iterator
-{
- public:
- TrajectoryConstIter(std::map<TimeStamp, FrameBaseConstPtr>::const_iterator src)
- : std::map<TimeStamp, FrameBaseConstPtr>::const_iterator(std::move(src))
- {}
- // override the indirection operator
- const FrameBaseConstPtr& operator*() const
- {
- return std::map<TimeStamp, FrameBaseConstPtr>::const_iterator::operator*().second;
- }
-};
-
-class TrajectoryConstRevIter : public std::map<TimeStamp, FrameBaseConstPtr>::const_reverse_iterator
-{
- public:
- TrajectoryConstRevIter(std::map<TimeStamp, FrameBaseConstPtr>::const_reverse_iterator src)
- : std::map<TimeStamp, FrameBaseConstPtr>::const_reverse_iterator(std::move(src))
- {}
-
- // override the indirection operator
- const FrameBaseConstPtr& operator*() const
- {
- return std::map<TimeStamp, FrameBaseConstPtr>::const_reverse_iterator::operator*().second;
- }
-};*/
-
-//class TrajectoryBase
class TrajectoryBase : public NodeBase, public std::enable_shared_from_this<TrajectoryBase>
{
friend FrameBase;
@@ -124,14 +62,6 @@ class TrajectoryBase : public NodeBase, public std::enable_shared_from_this<Traj
TimeStamp closestTimeStampToTimeStamp(const TimeStamp& _ts) const;
FrameBaseConstPtr closestFrameToTimeStamp(const TimeStamp& _ts) const;
FrameBasePtr closestFrameToTimeStamp(const TimeStamp& _ts);
- // TrajectoryIter begin();
- // TrajectoryIter end();
- // TrajectoryRevIter rbegin();
- // TrajectoryRevIter rend();
- // TrajectoryConstIter begin() const;
- // TrajectoryConstIter end() const;
- // TrajectoryConstRevIter rbegin() const;
- // TrajectoryConstRevIter rend() const;
virtual void printHeader(int depth, //
bool constr_by, //
@@ -196,46 +126,6 @@ inline FrameBasePtr TrajectoryBase::getLastFrame()
return frame_map_.rbegin()->second;
}
-// inline TrajectoryConstIter TrajectoryBase::begin() const
-// {
-// return frame_const_map_.begin();
-// }
-
-// inline TrajectoryIter TrajectoryBase::begin()
-// {
-// return frame_map_.begin();
-// }
-
-// inline TrajectoryConstIter TrajectoryBase::end() const
-// {
-// return frame_const_map_.end();
-// }
-
-// inline TrajectoryIter TrajectoryBase::end()
-// {
-// return frame_map_.end();
-// }
-
-// inline TrajectoryConstRevIter TrajectoryBase::rbegin() const
-// {
-// return frame_const_map_.rbegin();
-// }
-
-// inline TrajectoryRevIter TrajectoryBase::rbegin()
-// {
-// return frame_map_.rbegin();
-// }
-
-// inline TrajectoryConstRevIter TrajectoryBase::rend() const
-// {
-// return frame_const_map_.rend();
-// }
-
-// inline TrajectoryRevIter TrajectoryBase::rend()
-// {
-// return frame_map_.rend();
-// }
-
} // namespace wolf
#endif
diff --git a/src/sensor/sensor_base.cpp b/src/sensor/sensor_base.cpp
index 305561a0fe397184b929048577af70bcaf55370d..c6027ce19a092b86b4eb6d5e0223ae1edbec5641 100644
--- a/src/sensor/sensor_base.cpp
+++ b/src/sensor/sensor_base.cpp
@@ -244,7 +244,7 @@ void SensorBase::updateLastCapture()
{
auto frame_map = getProblem()->getTrajectory()->getFrameMap();
- TrajectoryRevIter frame_rev_it = frame_map.rbegin();
+ auto frame_rev_it = frame_map.rbegin();
while (frame_rev_it != frame_map.rend())
{
auto capture = frame_rev_it->second->getCaptureOf(shared_from_this());
@@ -296,7 +296,7 @@ CaptureBasePtr SensorBase::findLastCaptureBefore(const TimeStamp& _ts)
auto frame_map = getProblem()->getTrajectory()->getFrameMap();
// We iterate in reverse since we're likely to find it close to the rbegin() place.
- TrajectoryRevIter frame_rev_it = frame_map.rbegin();
+ auto frame_rev_it = frame_map.rbegin();
while (frame_rev_it != frame_map.rend())
{
if (frame_rev_it->second->getTimeStamp() <= _ts)