Resolve "Emplace API inconsistent with ProcessorTrackerFeature/Landmark functions"

Closes #191 (closed)

include/core/capture/capture_base.h

@@ -19,6 +19,9 @@ namespace wolf{
 //class CaptureBase
 class CaptureBase : public NodeBase, public std::enable_shared_from_this<CaptureBase>
 {
+    friend FeatureBase;
+    friend FactorBase;
+
     private:
         FrameBaseWPtr   frame_ptr_;
         FeatureBasePtrList feature_list_;
@@ -57,14 +60,12 @@ class CaptureBase : public NodeBase, public std::enable_shared_from_this<Capture
         void setTimeStampToNow();
 
         FrameBasePtr getFrame() const;
+    private:
         void setFrame(const FrameBasePtr _frm_ptr);
-        void unlinkFromFrame(){frame_ptr_.reset();}
 
+    public:
         virtual void setProblem(ProblemPtr _problem) final;
-
-        FeatureBasePtr addFeature(FeatureBasePtr _ft_ptr);
         FeatureBasePtrList& getFeatureList();
-        void addFeatureList(FeatureBasePtrList& _new_ft_list);
 
         void getFactorList(FactorBasePtrList& _fac_list);
 
@@ -72,9 +73,12 @@ class CaptureBase : public NodeBase, public std::enable_shared_from_this<Capture
         virtual void setSensor(const SensorBasePtr sensor_ptr);
 
         // constrained by
+    private:
         virtual FactorBasePtr addConstrainedBy(FactorBasePtr _fac_ptr);
+        virtual void removeConstrainedBy(FactorBasePtr _fac_ptr);
+    public:
         unsigned int getHits() const;
-        FactorBasePtrList& getConstrainedByList();
+        const FactorBasePtrList& getConstrainedByList() const;
 
         // State blocks
         const std::vector<StateBlockPtr>& getStateBlockVec() const;
@@ -106,6 +110,10 @@ class CaptureBase : public NodeBase, public std::enable_shared_from_this<Capture
     protected:
         SizeEigen computeCalibSize() const;
 
+    private:
+        FeatureBasePtr addFeature(FeatureBasePtr _ft_ptr);
+        void removeFeature(FeatureBasePtr _ft_ptr);
+
     private:
         void updateCalibSize();
 };
@@ -132,13 +140,6 @@ inline SizeEigen CaptureBase::getCalibSize() const
     return calib_size_;
 }
 
-inline void CaptureBase::setProblem(ProblemPtr _problem)
-{
-    NodeBase::setProblem(_problem);
-    for (auto ft : feature_list_)
-        ft->setProblem(_problem);
-}
-
 inline void CaptureBase::updateCalibSize()
 {
     calib_size_ = computeCalibSize();
@@ -199,7 +200,7 @@ inline unsigned int CaptureBase::getHits() const
     return constrained_by_list_.size();
 }
 
-inline FactorBasePtrList& CaptureBase::getConstrainedByList()
+inline const FactorBasePtrList& CaptureBase::getConstrainedByList() const
 {
     return constrained_by_list_;
 }