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Commit e3788491 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Move constructor to cpp

parent 00f28408
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...@@ -10,6 +10,20 @@ ...@@ -10,6 +10,20 @@
namespace wolf namespace wolf
{ {
CaptureMotion::CaptureMotion(const TimeStamp& _ts,
SensorBasePtr _sensor_ptr,
const Eigen::VectorXs& _data,
Size _delta_size,
Size _delta_cov_size,
FrameBasePtr _origin_frame_ptr) :
CaptureBase("MOTION", _ts, _sensor_ptr),
data_(_data),
data_cov_(_sensor_ptr ? _sensor_ptr->getNoiseCov() : Eigen::MatrixXs::Zero(_data.rows(), _data.rows())), // Someone should test this zero and do something smart accordingly
buffer_(_data.size(), _delta_size, _delta_cov_size, computeCalibSize()), origin_frame_ptr_(_origin_frame_ptr)
{
//
}
CaptureMotion::CaptureMotion(const TimeStamp& _ts, CaptureMotion::CaptureMotion(const TimeStamp& _ts,
SensorBasePtr _sensor_ptr, SensorBasePtr _sensor_ptr,
const Eigen::VectorXs& _data, const Eigen::VectorXs& _data,
......
...@@ -100,21 +100,6 @@ class CaptureMotion : public CaptureBase ...@@ -100,21 +100,6 @@ class CaptureMotion : public CaptureBase
FrameBasePtr origin_frame_ptr_; ///< Pointer to the origin frame of the motion FrameBasePtr origin_frame_ptr_; ///< Pointer to the origin frame of the motion
}; };
inline CaptureMotion::CaptureMotion(const TimeStamp& _ts,
SensorBasePtr _sensor_ptr,
const Eigen::VectorXs& _data,
Size _delta_size,
Size _delta_cov_size,
FrameBasePtr _origin_frame_ptr) :
CaptureBase("MOTION", _ts, _sensor_ptr),
data_(_data),
data_cov_(_sensor_ptr ? _sensor_ptr->getNoiseCov() : Eigen::MatrixXs::Zero(_data.rows(), _data.rows())), // Someone should test this zero and do something smart accordingly
buffer_(_data.size(), _delta_size, _delta_cov_size, computeCalibSize()),
origin_frame_ptr_(_origin_frame_ptr)
{
//
}
inline const Eigen::VectorXs& CaptureMotion::getData() const inline const Eigen::VectorXs& CaptureMotion::getData() const
{ {
return data_; return data_;
......
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