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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
fb7d9189
Commit
fb7d9189
authored
2 years ago
by
Joan Vallvé Navarro
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removing local_reference code (developed in MR)
parent
dcb2730a
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1 merge request
!466
devel->main
Pipeline
#13984
passed
2 years ago
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include/core/problem/problem.h
+0
-32
0 additions, 32 deletions
include/core/problem/problem.h
with
0 additions
and
32 deletions
include/core/problem/problem.h
+
0
−
32
View file @
fb7d9189
...
@@ -62,12 +62,6 @@ struct PriorOptions
...
@@ -62,12 +62,6 @@ struct PriorOptions
};
};
WOLF_STRUCT_PTR_TYPEDEFS
(
PriorOptions
);
WOLF_STRUCT_PTR_TYPEDEFS
(
PriorOptions
);
struct
Reference
{
StateBlockPtr
p_ptr
;
StateBlockPtr
o_ptr
;
};
/** \brief Wolf problem node element in the Wolf Tree
/** \brief Wolf problem node element in the Wolf Tree
*/
*/
class
Problem
:
public
std
::
enable_shared_from_this
<
Problem
>
class
Problem
:
public
std
::
enable_shared_from_this
<
Problem
>
...
@@ -96,8 +90,6 @@ class Problem : public std::enable_shared_from_this<Problem>
...
@@ -96,8 +90,6 @@ class Problem : public std::enable_shared_from_this<Problem>
VectorComposite
transformation_
;
VectorComposite
transformation_
;
mutable
std
::
mutex
mut_transform_
;
mutable
std
::
mutex
mut_transform_
;
Reference
local_reference_
;
private:
// CAUTION: THESE METHODS ARE PRIVATE, DO NOT MAKE THEM PUBLIC !!
private:
// CAUTION: THESE METHODS ARE PRIVATE, DO NOT MAKE THEM PUBLIC !!
Problem
(
const
std
::
string
&
_frame_structure
,
SizeEigen
_dim
,
MapBasePtr
_map
);
// USE create() below !!
Problem
(
const
std
::
string
&
_frame_structure
,
SizeEigen
_dim
,
MapBasePtr
_map
);
// USE create() below !!
void
setup
();
void
setup
();
...
@@ -113,10 +105,6 @@ class Problem : public std::enable_shared_from_this<Problem>
...
@@ -113,10 +105,6 @@ class Problem : public std::enable_shared_from_this<Problem>
public:
public:
SizeEigen
getDim
()
const
;
SizeEigen
getDim
()
const
;
const
StateStructure
&
getFrameStructure
()
const
;
const
StateStructure
&
getFrameStructure
()
const
;
StateBlockPtr
getLocalReferenceP
();
StateBlockConstPtr
getLocalReferenceP
()
const
;
StateBlockPtr
getLocalReferenceO
();
StateBlockConstPtr
getLocalReferenceO
()
const
;
protected:
protected:
void
appendToStructure
(
const
StateStructure
&
_structure
);
void
appendToStructure
(
const
StateStructure
&
_structure
);
...
@@ -465,26 +453,6 @@ class Problem : public std::enable_shared_from_this<Problem>
...
@@ -465,26 +453,6 @@ class Problem : public std::enable_shared_from_this<Problem>
namespace
wolf
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
inline
TreeManagerBaseConstPtr
Problem
::
getTreeManager
()
const
{
{
return
tree_manager_
;
return
tree_manager_
;
...
...
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