diff --git a/src/problem.h b/src/problem.h index 900c719f9a8e63e926336635a2891ea3d2ed1ce5..13e9af4d22855026f0cffac66dc5f58c033b1505 100644 --- a/src/problem.h +++ b/src/problem.h @@ -156,8 +156,10 @@ class Problem : public std::enable_shared_from_this<Problem> * - Add it to Trajectory * - If it is key-frame, update state-block lists in Problem */ - FrameBasePtr emplaceFrame(const std::string& _frame_structure, FrameType _frame_key_type, const Eigen::VectorXs& _frame_state, - const TimeStamp& _time_stamp); + FrameBasePtr emplaceFrame(const std::string& _frame_structure, + FrameType _frame_key_type, + const Eigen::VectorXs& _frame_state, + const TimeStamp& _time_stamp); /** \brief Emplace frame from string frame_structure without state * \param _frame_structure String indicating the frame structure. @@ -169,11 +171,13 @@ class Problem : public std::enable_shared_from_this<Problem> * - Add it to Trajectory * - If it is key-frame, update state-block lists in Problem */ - FrameBasePtr emplaceFrame(const std::string& _frame_structure, FrameType _frame_key_type, const TimeStamp& _time_stamp); + FrameBasePtr emplaceFrame(const std::string& _frame_structure, + FrameType _frame_key_type, + const TimeStamp& _time_stamp); /** \brief Emplace frame from string frame_structure without structure - * \param _frame_structure String indicating the frame structure. * \param _frame_key_type Either KEY_FRAME or NON_KEY_FRAME + * \param _frame_state State vector; must match the size and format of the chosen frame structure * \param _time_stamp Time stamp of the frame * * This acts as a Frame factory, but also takes care to update related lists in WolfProblem: @@ -181,10 +185,11 @@ class Problem : public std::enable_shared_from_this<Problem> * - Add it to Trajectory * - If it is key-frame, update state-block lists in Problem */ - FrameBasePtr emplaceFrame(FrameType _frame_key_type, const Eigen::VectorXs& _frame_state, const TimeStamp& _time_stamp); + FrameBasePtr emplaceFrame(FrameType _frame_key_type, + const Eigen::VectorXs& _frame_state, + const TimeStamp& _time_stamp); /** \brief Emplace frame from string frame_structure without structure nor state - * \param _frame_structure String indicating the frame structure. * \param _frame_key_type Either KEY_FRAME or NON_KEY_FRAME * \param _time_stamp Time stamp of the frame * @@ -193,7 +198,8 @@ class Problem : public std::enable_shared_from_this<Problem> * - Add it to Trajectory * - If it is key-frame, update state-block lists in Problem */ - FrameBasePtr emplaceFrame(FrameType _frame_key_type, const TimeStamp& _time_stamp); + FrameBasePtr emplaceFrame(FrameType _frame_key_type, + const TimeStamp& _time_stamp); // State getters Eigen::VectorXs getCurrentState();