Add clearProcessorMotion()

src/problem.cpp

@@ -166,12 +166,16 @@ ProcessorMotion::Ptr Problem::setProcessorMotion(const std::string& _processor_n
     return nullptr;
 }
 
-
 void Problem::setProcessorMotion(ProcessorMotion::Ptr _processor_motion_ptr)
 {
     processor_motion_ptr_ = _processor_motion_ptr;
 }
 
+void Problem::clearProcessorMotion()
+{
+    processor_motion_ptr_.reset();
+}
+
 FrameBasePtr Problem::emplaceFrame(FrameType _frame_type, const TimeStamp& _time_stamp)
 {
     return emplaceFrame(_frame_type, getStateAtTimeStamp(_time_stamp), _time_stamp);

src/problem.h

@@ -135,7 +135,8 @@ class Problem : public std::enable_shared_from_this<Problem>
          */
         void setProcessorMotion(std::shared_ptr<ProcessorMotion> _processor_motion_ptr);
         std::shared_ptr<ProcessorMotion> setProcessorMotion(const std::string& _unique_processor_name);
-        std::shared_ptr<ProcessorMotion> getProcessorMotionPtr();
+        void clearProcessorMotion();
+        ProcessorMotionPtr& getProcessorMotionPtr();
 
 
         // Trajectory branch ----------------------------------
@@ -267,6 +268,11 @@ class Problem : public std::enable_shared_from_this<Problem>
 
 };
 
+inline wolf::ProcessorMotionPtr& Problem::getProcessorMotionPtr()
+{
+    return processor_motion_ptr_;
+}
+
 } // namespace wolf
 
 // IMPLEMENTATION
@@ -274,11 +280,6 @@ class Problem : public std::enable_shared_from_this<Problem>
 namespace wolf
 {
 
-inline ProcessorMotionPtr Problem::getProcessorMotionPtr()
-{
-    return processor_motion_ptr_;
-}
-
 inline std::list<StateBlockNotification>& Problem::getStateBlockNotificationList()
 {
     return state_block_notification_list_;