From ea1fa44964a4dc07ee8b2286bff65515c504b72f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 27 May 2020 16:05:37 +0200
Subject: [PATCH] Remove structure info from Trajectory
---
include/core/trajectory/trajectory_base.h | 11 +----------
src/problem/problem.cpp | 2 +-
src/trajectory/trajectory_base.cpp | 3 +--
3 files changed, 3 insertions(+), 13 deletions(-)
diff --git a/include/core/trajectory/trajectory_base.h b/include/core/trajectory/trajectory_base.h
index 8d6e69e41..37481e684 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 c95128244..89cfa5bbd 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 84007a6cd..281df3b63 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)
{
--
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