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Kfpackmanager

Merged Joan Solà Ortega requested to merge kfpackmanager into master
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@@ -286,7 +286,7 @@ void ProcessorMotion::process(CaptureBasePtr _incoming_ptr)
void ProcessorMotion::getState(const TimeStamp& _ts, Eigen::VectorXs& _x)
{
CaptureMotionPtr capture_motion;
if (_ts >= origin_ptr_->getTimeStamp())
if (origin_ptr_ && _ts >= origin_ptr_->getTimeStamp())
// timestamp found in the current processor buffer
capture_motion = last_ptr_;
else
@@ -302,8 +302,12 @@ void ProcessorMotion::getState(const TimeStamp& _ts, Eigen::VectorXs& _x)
statePlusDelta(state_0, delta, dt, _x);
}
else
{
// We could not find any CaptureMotion for the time stamp requested
std::runtime_error("Could not find any Capture for the time stamp requested");
WOLF_ERROR("Could not find any Capture for the time stamp requested. ");
WOLF_TRACE("Did you forget to call Problem::setPrior() in your application?")
throw std::runtime_error("Could not find any Capture for the time stamp requested. Did you forget to call Problem::setPrior() in your application?");
}
}
CaptureMotionPtr ProcessorMotion::findCaptureContainingTimeStamp(const TimeStamp& _ts) const
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