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Commit fb7d9189 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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removing local_reference code (developed in MR)

parent dcb2730a
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Pipeline #13984 passed
......@@ -62,12 +62,6 @@ struct PriorOptions
};
WOLF_STRUCT_PTR_TYPEDEFS(PriorOptions);
struct Reference
{
StateBlockPtr p_ptr;
StateBlockPtr o_ptr;
};
/** \brief Wolf problem node element in the Wolf Tree
*/
class Problem : public std::enable_shared_from_this<Problem>
......@@ -96,8 +90,6 @@ class Problem : public std::enable_shared_from_this<Problem>
VectorComposite transformation_;
mutable std::mutex mut_transform_;
Reference local_reference_;
private: // CAUTION: THESE METHODS ARE PRIVATE, DO NOT MAKE THEM PUBLIC !!
Problem(const std::string& _frame_structure, SizeEigen _dim, MapBasePtr _map); // USE create() below !!
void setup();
......@@ -113,10 +105,6 @@ class Problem : public std::enable_shared_from_this<Problem>
public:
SizeEigen getDim() const;
const StateStructure& getFrameStructure() const;
StateBlockPtr getLocalReferenceP();
StateBlockConstPtr getLocalReferenceP() const;
StateBlockPtr getLocalReferenceO();
StateBlockConstPtr getLocalReferenceO() const;
protected:
void appendToStructure(const StateStructure& _structure);
......@@ -465,26 +453,6 @@ class Problem : public std::enable_shared_from_this<Problem>
namespace wolf
{
inline StateBlockPtr Problem::getLocalReferenceP()
{
return local_reference_.p_ptr;
}
inline StateBlockConstPtr Problem::getLocalReferenceP() const
{
return local_reference_.p_ptr;
}
inline StateBlockPtr Problem::getLocalReferenceO()
{
return local_reference_.o_ptr;
}
inline StateBlockConstPtr Problem::getLocalReferenceO() const
{
return local_reference_.o_ptr;
}
inline TreeManagerBaseConstPtr Problem::getTreeManager() const
{
return tree_manager_;
......
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