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Commit ea1fa449 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Remove structure info from Trajectory

parent 146f8308
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1 merge request!366Resolve "Complete state vector new data structure?"
Pipeline #5452 passed
...@@ -26,17 +26,13 @@ class TrajectoryBase : public NodeBase, public std::enable_shared_from_this<Traj ...@@ -26,17 +26,13 @@ class TrajectoryBase : public NodeBase, public std::enable_shared_from_this<Traj
std::list<FrameBasePtr> frame_list_; std::list<FrameBasePtr> frame_list_;
protected: protected:
std::string frame_structure_; // Defines the structure of the Frames in the Trajectory.
FrameBasePtr last_key_frame_ptr_; // keeps pointer to the last key frame FrameBasePtr last_key_frame_ptr_; // keeps pointer to the last key frame
FrameBasePtr last_key_or_aux_frame_ptr_; // keeps pointer to the last estimated frame FrameBasePtr last_key_or_aux_frame_ptr_; // keeps pointer to the last estimated frame
public: public:
TrajectoryBase(const std::string& _frame_sturcture); TrajectoryBase();
virtual ~TrajectoryBase(); virtual ~TrajectoryBase();
// Properties
std::string getFrameStructure() const;
// Frames // Frames
const FrameBasePtrList& getFrameList() const; const FrameBasePtrList& getFrameList() const;
FrameBasePtr getLastFrame() const; FrameBasePtr getLastFrame() const;
...@@ -92,11 +88,6 @@ inline FrameBasePtr TrajectoryBase::getLastKeyOrAuxFrame() const ...@@ -92,11 +88,6 @@ inline FrameBasePtr TrajectoryBase::getLastKeyOrAuxFrame() const
return last_key_or_aux_frame_ptr_; return last_key_or_aux_frame_ptr_;
} }
inline std::string TrajectoryBase::getFrameStructure() const
{
return frame_structure_;
}
} // namespace wolf } // namespace wolf
#endif #endif
...@@ -43,7 +43,7 @@ namespace wolf ...@@ -43,7 +43,7 @@ namespace wolf
Problem::Problem(const std::string& _frame_structure, SizeEigen _dim) : Problem::Problem(const std::string& _frame_structure, SizeEigen _dim) :
tree_manager_(nullptr), tree_manager_(nullptr),
hardware_ptr_(std::make_shared<HardwareBase>()), hardware_ptr_(std::make_shared<HardwareBase>()),
trajectory_ptr_(std::make_shared<TrajectoryBase>(_frame_structure)), trajectory_ptr_(std::make_shared<TrajectoryBase>()),
map_ptr_(std::make_shared<MapBase>()), map_ptr_(std::make_shared<MapBase>()),
processor_is_motion_list_(std::list<IsMotionPtr>()), processor_is_motion_list_(std::list<IsMotionPtr>()),
frame_structure_(_frame_structure), frame_structure_(_frame_structure),
......
...@@ -3,9 +3,8 @@ ...@@ -3,9 +3,8 @@
namespace wolf { namespace wolf {
TrajectoryBase::TrajectoryBase(const std::string& _frame_structure) : TrajectoryBase::TrajectoryBase() :
NodeBase("TRAJECTORY", "TrajectoryBase"), NodeBase("TRAJECTORY", "TrajectoryBase"),
frame_structure_(_frame_structure),
last_key_frame_ptr_(nullptr), last_key_frame_ptr_(nullptr),
last_key_or_aux_frame_ptr_(nullptr) last_key_or_aux_frame_ptr_(nullptr)
{ {
......
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