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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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1 merge request!466devel->main
Pipeline #13984 passed
...@@ -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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