Resolve "Emplace API inconsistent with ProcessorTrackerFeature/Landmark functions"

Closes #191 (closed)

src/problem/problem.cpp

@@ -440,11 +440,19 @@ StateBlockPtr Problem::notifyStateBlock(StateBlockPtr _state_ptr, Notification _
 
     // Check if there is already a notification for this state block
     auto notification_it = state_block_notification_map_.find(_state_ptr);
-    if (notification_it != state_block_notification_map_.end() && notification_it->second == _noti)
+    // exsiting notification for this state block
+    if (notification_it != state_block_notification_map_.end())
     {
-        WOLF_WARN("This notification has been already notified");
+        // duplicated notification
+        if ( notification_it->second == _noti)
+        {
+            WOLF_WARN("This notification has been already notified");
+        }
+        // opposite notification -> cancell out eachother
+        else
+            state_block_notification_map_.erase(notification_it);
     }
-    // Add notification (override in case of different existing ADD overwrites REMOVE or viceversa)
+    // Add notification
     else
         state_block_notification_map_[_state_ptr] = _noti;
 
@@ -468,11 +476,20 @@ FactorBasePtr Problem::notifyFactor(FactorBasePtr _factor_ptr, Notification _not
 
     // Check if there is already the same notification for this factor
     auto notification_it = factor_notification_map_.find(_factor_ptr);
-    if (notification_it != factor_notification_map_.end() && notification_it->second == _noti)
+    // exsiting notification for this factor
+    if (notification_it != factor_notification_map_.end())
     {
-        WOLF_WARN("This notification has been already notified");
+        // duplicated notification
+        if (notification_it->second == _noti)
+        {
+            WOLF_WARN("This notification has been already notified");
+        }
+        // opposite notification -> cancell out eachother
+        else
+            factor_notification_map_.erase(notification_it);
+
     }
-    // Add notification (override in case of different existing ADD overwrites REMOVE or viceversa)
+    // Add notification
     else
         factor_notification_map_[_factor_ptr] = _noti;