diff --git a/include/core/trajectory/trajectory_base.h b/include/core/trajectory/trajectory_base.h index 8d6e69e41d741bd70bdc6e212df2490ecbc4b62c..37481e684cc0a57b74a93d1c1d124cabd6b7835d 100644 --- a/include/core/trajectory/trajectory_base.h +++ b/include/core/trajectory/trajectory_base.h @@ -26,17 +26,13 @@ class TrajectoryBase : public NodeBase, public std::enable_shared_from_this<Traj std::list<FrameBasePtr> frame_list_; 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_or_aux_frame_ptr_; // keeps pointer to the last estimated frame public: - TrajectoryBase(const std::string& _frame_sturcture); + TrajectoryBase(); virtual ~TrajectoryBase(); - // Properties - std::string getFrameStructure() const; - // Frames const FrameBasePtrList& getFrameList() const; FrameBasePtr getLastFrame() const; @@ -92,11 +88,6 @@ inline FrameBasePtr TrajectoryBase::getLastKeyOrAuxFrame() const return last_key_or_aux_frame_ptr_; } -inline std::string TrajectoryBase::getFrameStructure() const -{ - return frame_structure_; -} - } // namespace wolf #endif diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp index c95128244b1d66cda2d2747ce0940a360e133c03..89cfa5bbdd8b8a417fe902981f847514c944b743 100644 --- a/src/problem/problem.cpp +++ b/src/problem/problem.cpp @@ -43,7 +43,7 @@ namespace wolf Problem::Problem(const std::string& _frame_structure, SizeEigen _dim) : tree_manager_(nullptr), 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>()), processor_is_motion_list_(std::list<IsMotionPtr>()), frame_structure_(_frame_structure), diff --git a/src/trajectory/trajectory_base.cpp b/src/trajectory/trajectory_base.cpp index 84007a6cdbd9afece5ff51b271db25f92d4f41ff..281df3b63a181a653d936ebb86bd0d8e60044114 100644 --- a/src/trajectory/trajectory_base.cpp +++ b/src/trajectory/trajectory_base.cpp @@ -3,9 +3,8 @@ namespace wolf { -TrajectoryBase::TrajectoryBase(const std::string& _frame_structure) : +TrajectoryBase::TrajectoryBase() : NodeBase("TRAJECTORY", "TrajectoryBase"), - frame_structure_(_frame_structure), last_key_frame_ptr_(nullptr), last_key_or_aux_frame_ptr_(nullptr) {