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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
ea1fa449
Commit
ea1fa449
authored
5 years ago
by
Joan Solà Ortega
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Remove structure info from Trajectory
parent
146f8308
No related branches found
No related tags found
1 merge request
!366
Resolve "Complete state vector new data structure?"
Pipeline
#5452
passed
5 years ago
Stage: build
Changes
3
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1
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3 changed files
include/core/trajectory/trajectory_base.h
+1
-10
1 addition, 10 deletions
include/core/trajectory/trajectory_base.h
src/problem/problem.cpp
+1
-1
1 addition, 1 deletion
src/problem/problem.cpp
src/trajectory/trajectory_base.cpp
+1
-2
1 addition, 2 deletions
src/trajectory/trajectory_base.cpp
with
3 additions
and
13 deletions
include/core/trajectory/trajectory_base.h
+
1
−
10
View file @
ea1fa449
...
@@ -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
This diff is collapsed.
Click to expand it.
src/problem/problem.cpp
+
1
−
1
View file @
ea1fa449
...
@@ -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
),
...
...
This diff is collapsed.
Click to expand it.
src/trajectory/trajectory_base.cpp
+
1
−
2
View file @
ea1fa449
...
@@ -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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