Fix conditions for Capture::move()

src/capture/capture_base.cpp

@@ -177,11 +177,9 @@ void CaptureBase::unfix()
 
 void CaptureBase::move(FrameBasePtr _frm_ptr)
 {
-    WOLF_WARN_COND(this->getFrame() == nullptr, "moving a capture not linked to any frame. Consider just linking it with link() instead of move()!");
+    WOLF_WARN_COND(this->getFrame() == nullptr, "Moving Capture ", id(), " at ts=", getTimeStamp(), " not linked to any frame. Consider just linking it with link() instead of move()!");
 
-    assert((this->getFrame() == nullptr || not this->getFrame()->getProblem()) && "Forbidden: moving a capture already linked to a KF");
-    assert((_frm_ptr != nullptr) && "Forbidden: moving a capture to a null frame");
-    assert((_frm_ptr != nullptr && _frm_ptr->getProblem()) && "Forbidden: moving a capture to a non-estimated frame");
+    assert((this->getFrame() == nullptr || not this->getFrame()->getProblem()) && "Forbidden: trying to move a capture already linked to a KF!");
 
     // Unlink
     if (this->getFrame())

test/gtest_capture_base.cpp

@@ -119,6 +119,7 @@ TEST(CaptureBase, move_from_F_to_KF)
 
     ASSERT_EQ(KF->getCaptureList().size(), 2);
     ASSERT_EQ(F->getCaptureList().size(), 0);
+    ASSERT_TRUE(C->getProblem());
 }
 
 TEST(CaptureBase, move_from_F_to_null)
@@ -133,7 +134,10 @@ TEST(CaptureBase, move_from_F_to_null)
 
     ASSERT_EQ(F->getCaptureList().size(), 1);
 
-    ASSERT_DEATH( C->move(F0), "");
+    C->move(F0);
+
+    ASSERT_EQ(F->getCaptureList().size(), 0);
+    ASSERT_FALSE(C->getProblem());
 }
 
 TEST(CaptureBase, move_from_null_to_KF)
@@ -151,6 +155,7 @@ TEST(CaptureBase, move_from_null_to_KF)
     C->move(KF);
 
     ASSERT_EQ(KF->getCaptureList().size(), 2);
+    ASSERT_TRUE(C->getProblem());
 }
 
 TEST(CaptureBase, move_from_null_to_F)
@@ -161,6 +166,23 @@ TEST(CaptureBase, move_from_null_to_F)
 
     auto C = std::make_shared<CaptureBase>("Dummy", 0.0);
 
+    C->move(F);
+
+    ASSERT_EQ(F->getCaptureList().size(), 1);
+
+    ASSERT_FALSE(C->getProblem());
+}
+
+TEST(CaptureBase, move_from_KF_to_F)
+{
+    ProblemPtr problem = Problem::create("PO", 2);
+
+    auto KF = problem->emplaceFrame(0.0); // dummy F object
+
+    auto F = std::make_shared<FrameBase>(0.0, nullptr); // dummy F object
+
+    auto C = CaptureBase::emplace<CaptureBase>(KF, "Dummy", 0.0);
+
     ASSERT_DEATH(C->move(F), "");
 }