From f3cbec3f70a5964639d2de63f781329f2d2b0fe7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu> Date: Mon, 13 Nov 2017 11:36:18 +0100 Subject: [PATCH] Make some things 'public' for debugging purposes ... MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit TODO: to be reverted to ‘protected’ --- src/processor_imu.h | 1 + src/processor_motion.h | 4 ++++ 2 files changed, 5 insertions(+) diff --git a/src/processor_imu.h b/src/processor_imu.h index 47decd316..82abfa1da 100644 --- a/src/processor_imu.h +++ b/src/processor_imu.h @@ -72,6 +72,7 @@ class ProcessorIMU : public ProcessorMotion{ const MatrixXs& _data_cov, const FrameBasePtr& _frame_origin) override; virtual FeatureBasePtr createFeature(CaptureMotionPtr _capture_motion) override; + public: virtual ConstraintBasePtr emplaceConstraint(FeatureBasePtr _feature_motion, CaptureBasePtr _capture_origin) override; diff --git a/src/processor_motion.h b/src/processor_motion.h index 412b36f64..a95243fbd 100644 --- a/src/processor_motion.h +++ b/src/processor_motion.h @@ -374,18 +374,22 @@ class ProcessorMotion : public ProcessorBase const MatrixXs& _data_cov, const FrameBasePtr& _frame_origin) = 0; + public: /** \brief create a feature corresponding to given capture and add the feature to this capture * \param _capture_motion: the parent capture */ FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_own); + protected: virtual FeatureBasePtr createFeature(CaptureMotionPtr _capture_own) = 0; + public: /** \brief create a constraint and link it in the wolf tree * \param _feature_motion: the parent feature * \param _frame_origin: the frame constrained by this motion constraint */ virtual ConstraintBasePtr emplaceConstraint(FeatureBasePtr _feature_motion, CaptureBasePtr _capture_origin) = 0; + protected: Motion motionZero(const TimeStamp& _ts); CaptureMotionPtr getCaptureMotionContainingTimeStamp(const TimeStamp& _ts); -- GitLab