New problem::emplaceFrame()

include/core/problem/problem.h

@@ -242,6 +242,9 @@ class Problem : public std::enable_shared_from_this<Problem>
                                   const TimeStamp& _time_stamp, //
                                   const StateStructure& _frame_structure, //
                                   const VectorComposite& _frame_state);
+        FrameBasePtr emplaceFrame(FrameType _frame_key_type, //
+                                  const TimeStamp& _time_stamp, //
+                                  const VectorComposite& _frame_state);
 
         /** \brief Emplace frame from string frame_structure without state
          * \param _frame_structure String indicating the frame structure.

src/problem/problem.cpp

@@ -360,6 +360,17 @@ FrameBasePtr Problem::emplaceFrame (FrameType _frame_key_type, //
                                          _frame_state);
 }
 
+FrameBasePtr Problem::emplaceFrame (FrameType _frame_key_type, //
+                                    const TimeStamp& _time_stamp, //
+                                    const VectorComposite& _frame_state)
+{
+    return FrameBase::emplace<FrameBase>(getTrajectory(),
+                                         _frame_key_type,
+                                         _time_stamp,
+                                         getFrameStructure(),
+                                         _frame_state);
+}
+
 FrameBasePtr Problem::emplaceFrame(FrameType _frame_key_type, //
                                    const TimeStamp& _time_stamp, //
                                    const Eigen::VectorXd& _frame_state)