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ProcessorBase::selectPack() removed KF

Joan Vallvé Navarro requested to merge remove_KF into devel

Addressing #180 (closed): When a KF is removed after being notified to all the processors by keyFrameCallback(), the PackKeyFrameBuffer::selectPack...() functions can provide a KF pack which is being removed (it has no StateBlocks and is unlinked from the tree).

Since the decentralized structure of the KF callbacks, handling this within FrameBase::remove() is quite complicated. I rather add a check in the selectPack() and selectPackBefore() functions. They are called by the processors to get the notified KF since the last process().

Appliying #163 (closed): Changed the implementation and the name of the function selectPackBefore() (see issue for more info).

  • All tests OK

  • Merging to devel

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