diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h
index 4c3e24fcd787158ad6b79df32f6320096b9fafab..2f790d6335dadc8d4c96d13d20948a8009da517d 100644
--- a/include/core/frame/frame_base.h
+++ b/include/core/frame/frame_base.h
@@ -84,8 +84,6 @@ class FrameBase : public NodeBase, public HasStateBlocks, public std::enable_sha
// State blocks ----------------------------------------------------
public:
- using HasStateBlocks::addStateBlock;
- StateBlockPtr addStateBlock(const char& _sb_type, const StateBlockPtr& _sb);
StateBlockPtr getV() const;
protected:
@@ -169,12 +167,6 @@ inline unsigned int FrameBase::id() const
return frame_id_;
}
-//inline bool FrameBase::isKey() const
-//{
-// return true;
-//// return (type_ == KEY);
-//}
-
inline void FrameBase::getTimeStamp(TimeStamp& _ts) const
{
_ts = time_stamp_;
@@ -210,14 +202,6 @@ inline const FactorBasePtrList& FrameBase::getConstrainedByList() const
return constrained_by_list_;
}
-inline StateBlockPtr FrameBase::addStateBlock(const char& _sb_type,
- const StateBlockPtr& _sb)
-{
- HasStateBlocks::addStateBlock(_sb_type, _sb, getProblem());
-
- return _sb;
-}
-
inline void FrameBase::setTrajectory(TrajectoryBasePtr _trj_ptr)
{
trajectory_ptr_ = _trj_ptr;
diff --git a/src/frame/frame_base.cpp b/src/frame/frame_base.cpp
index 1ae177c0fc7b9b93685c092bcf711b88625e892e..cbf11f07e9d8e6173ed3812c1152834fb275cf75 100644
--- a/src/frame/frame_base.cpp
+++ b/src/frame/frame_base.cpp
@@ -28,7 +28,7 @@ FrameBase::FrameBase(const TimeStamp& _ts,
StateBlockPtr sb = FactoryStateBlock::create(string(1,key), vec, false); // false = non fixed
- addStateBlock(key, sb);
+ addStateBlock(key, sb, getProblem());
}
}
@@ -51,7 +51,7 @@ FrameBase::FrameBase(const TimeStamp& _ts,
StateBlockPtr sb = FactoryStateBlock::create(string(1,key), vec, false); // false = non fixed
- addStateBlock(key, sb);
+ addStateBlock(key, sb, getProblem());
vec_it++;
}
@@ -70,15 +70,15 @@ FrameBase::FrameBase(const TimeStamp& _ts,
{
if (_p_ptr)
{
- addStateBlock('P', _p_ptr);
+ addStateBlock('P', _p_ptr, getProblem());
}
if (_o_ptr)
{
- addStateBlock('O', _o_ptr);
+ addStateBlock('O', _o_ptr, getProblem());
}
if (_v_ptr)
{
- addStateBlock('V', _v_ptr);
+ addStateBlock('V', _v_ptr, getProblem());
}
}
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index ba21e4ccc7651fd7d95c6f47f130891563c19e41..2fb9f2bab8cbd88b5239a72168610decda30c38f 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -253,7 +253,8 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
keyframe_from_callback->addStateBlock(pair_ckey_vec.first,
FactoryStateBlock::create(string(1, pair_ckey_vec.first),
pair_ckey_vec.second,
- false));
+ false),
+ getProblem());
keyframe_from_callback->setState(proc_state);
// Find the capture acting as the buffer's origin
@@ -354,7 +355,8 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
keyframe_from_callback->addStateBlock(pair_ckey_vec.first,
FactoryStateBlock::create(string(1, pair_ckey_vec.first),
pair_ckey_vec.second,
- false));
+ false),
+ getProblem());
keyframe_from_callback->setState(proc_state);
auto & capture_existing = last_ptr_;
@@ -401,6 +403,13 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
last_ptr_->setTimeStamp( ts );
last_ptr_->getFrame()->setTimeStamp( ts );
VectorComposite state_propa = getState( ts );
+ for (auto pair_ckey_vec : state_propa)
+ if (!last_ptr_->getFrame()->isInStructure(pair_ckey_vec.first))
+ last_ptr_->getFrame()->addStateBlock(pair_ckey_vec.first,
+ FactoryStateBlock::create(string(1, pair_ckey_vec.first),
+ pair_ckey_vec.second,
+ false),
+ getProblem());
last_ptr_->getFrame()->setState( state_propa );
if (permittedKeyFrame() && voteForKeyFrame())
diff --git a/test/gtest_has_state_blocks.cpp b/test/gtest_has_state_blocks.cpp
index 0d42d813257b1b2b26aeefe3fb908a3b29b5b616..d9eb8a1be1a45d197d6c4cfcbf6cb8b8dad26a95 100644
--- a/test/gtest_has_state_blocks.cpp
+++ b/test/gtest_has_state_blocks.cpp
@@ -64,7 +64,7 @@ TEST_F(HasStateBlocksTest, Notifications_add_makeKF)
// ASSERT_FALSE(problem->getStateBlockNotification(sbv0, n));
- F0->addStateBlock('V', sbv0);
+ F0->addStateBlock('V', sbv0, nullptr);
ASSERT_FALSE(problem->getStateBlockNotification(sbv0, n));
@@ -87,7 +87,7 @@ TEST_F(HasStateBlocksTest, Notifications_makeKF_add)
// F1->link(problem->getTrajectory());
F1->link(problem);
- F1->addStateBlock('P', sbp1);
+ F1->addStateBlock('P', sbp1, problem);
ASSERT_TRUE(problem->getStateBlockNotification(sbp1, n));
ASSERT_EQ(n, ADD);
@@ -96,7 +96,7 @@ TEST_F(HasStateBlocksTest, Notifications_makeKF_add)
ASSERT_FALSE(problem->getStateBlockNotification(sbv1, n));
- F1->addStateBlock('V', sbv1);
+ F1->addStateBlock('V', sbv1, problem);
ASSERT_TRUE(problem->getStateBlockNotification(sbv1, n));
ASSERT_EQ(n, ADD);
@@ -115,7 +115,7 @@ TEST_F(HasStateBlocksTest, Add_solve_notify_solve_add)
ASSERT_FALSE(problem->getStateBlockNotification(sbp0, n));
- F0->addStateBlock('V', sbv0);
+ F0->addStateBlock('V', sbv0, nullptr);
F0->link(problem);
ASSERT_TRUE(problem->getStateBlockNotification(sbv0, n));
@@ -142,7 +142,7 @@ TEST_F(HasStateBlocksTest, Add_solve_notify_solve_add)
// Add again the same SB. This should crash
- ASSERT_DEATH( F0->addStateBlock('V', sbv0) , "" );
+ ASSERT_DEATH( F0->addStateBlock('V', sbv0, nullptr) , "" );
}
@@ -164,7 +164,7 @@ TEST_F(HasStateBlocksTest, stateBlockKey)
TEST_F(HasStateBlocksTest, getState_structure)
{
- F0->addStateBlock('V', sbv0); // now KF0 is POV
+ F0->addStateBlock('V', sbv0, nullptr); // now KF0 is POV
WOLF_DEBUG("Retrieving state from F0 with structure ", F0->getStructure());