Remove Problem::getMotionProvider()

demos/hello_wolf/hello_wolf_autoconf.cpp

@@ -144,7 +144,7 @@ int main()
     // APPLY PRIOR and SET PROCESSOR ODOM ORIGIN ===================================================
     TimeStamp     t(0.0);
     FrameBasePtr KF1 = problem->applyPriorOptions(t);
-    std::static_pointer_cast<ProcessorMotion>(problem->getMotionProvider())->setOrigin(KF1);
+    std::static_pointer_cast<ProcessorMotion>(problem->getMotionProviderMap().begin()->second)->setOrigin(KF1);
 
     // SELF CALIBRATION ===================================================
     // These few lines control whether we calibrate some sensor parameters or not.

demos/hello_wolf/yaml/hello_wolf_config.yaml

@@ -13,7 +13,7 @@ config:
       $sigma:
         P: [0.31, 0.31]
         O: [0.31]
-      time_tolerance:     0.1
+      time_tolerance:     0.5
 
     tree_manager:
       type: "none"

include/core/problem/problem.h

@@ -198,7 +198,7 @@ class Problem : public std::enable_shared_from_this<Problem>
         void removeMotionProvider(MotionProviderPtr proc);
 
     public:
-        MotionProviderPtr getMotionProvider();
+//        MotionProviderPtr getMotionProvider();
         std::map<int,MotionProviderPtr>& getMotionProviderMap();
         const std::map<int,MotionProviderPtr>& getMotionProviderMap() const;
 
@@ -449,12 +449,12 @@ inline bool Problem::isPriorSet() const
     return prior_options_ == nullptr;
 }
 
-inline MotionProviderPtr Problem::getMotionProvider()
-{
-    if (not motion_provider_map_.empty())
-        return motion_provider_map_.begin()->second;
-    return nullptr;
-}
+//inline MotionProviderPtr Problem::getMotionProvider()
+//{
+//    if (not motion_provider_map_.empty())
+//        return motion_provider_map_.begin()->second;
+//    return nullptr;
+//}
 
 inline std::map<int,MotionProviderPtr>& Problem::getMotionProviderMap()
 {

test/gtest_problem.cpp

@@ -85,7 +85,7 @@ TEST(Problem, Processor)
     ProblemPtr P = Problem::create("PO", 3);
 
     // check motion processor is null
-    ASSERT_FALSE(P->getMotionProvider());
+    ASSERT_TRUE(P->getMotionProviderMap().empty());
 
     // add a motion sensor and processor
     auto Sm = SensorBase::emplace<SensorOdom3d>(P->getHardware(), (Eigen::Vector7d()<<0,0,0, 0,0,0,1).finished(), ParamsSensorOdom3d());
@@ -94,7 +94,7 @@ TEST(Problem, Processor)
     auto Pm = ProcessorBase::emplace<ProcessorOdom3d>(Sm, std::make_shared<ParamsProcessorOdom3d>());
 
     // check motion processor IS NOT by emplace
-    ASSERT_EQ(P->getMotionProvider(), Pm);
+    ASSERT_EQ(P->getMotionProviderMap().begin()->second, Pm);
 }
 
 TEST(Problem, Installers)
@@ -109,16 +109,16 @@ TEST(Problem, Installers)
     auto pt = P->installProcessor("ProcessorTrackerFeatureDummy", "dummy", "odometer");
 
     // check motion processor IS NOT set
-    ASSERT_FALSE(P->getMotionProvider());
+    ASSERT_TRUE(P->getMotionProviderMap().empty());
 
     // install processor motion
     ProcessorBasePtr pm = P->installProcessor("ProcessorOdom3d", "odom integrator", "odometer", wolf_root + "/test/yaml/processor_odom_3d.yaml");
 
     // check motion processor is set
-    ASSERT_TRUE(P->getMotionProvider() != nullptr);
+    ASSERT_FALSE(P->getMotionProviderMap().empty());
 
     // check motion processor is correct
-    ASSERT_EQ(std::dynamic_pointer_cast<ProcessorMotion>(P->getMotionProvider()), pm);
+    ASSERT_EQ(std::dynamic_pointer_cast<ProcessorMotion>(P->getMotionProviderMap().begin()->second), pm);
 }
 
 TEST(Problem, SetOrigin_PO_2d)