Resolve "Allowed changes in wolf nodes"

Closes #218 (closed)

src/factor/factor_base.cpp

@@ -145,20 +145,22 @@ void FactorBase::link(FeatureBasePtr _ftr_ptr)
 {
     assert(this->getFeature() == nullptr && "linking an already linked factor");
 
-    if(_ftr_ptr)
+    // not link if nullptr
+    if(_ftr_ptr == nullptr)
     {
-        _ftr_ptr->addFactor(shared_from_this());
-        this->setFeature(_ftr_ptr);
-        this->setProblem(_ftr_ptr->getProblem());
-        // add factor to be added in solver
-        if (this->getProblem() == nullptr)
-        {
-            WOLF_WARN("ADDING FACTOR ", this->id(), " TO FEATURE ", _ftr_ptr->id(), " NOT CONNECTED WITH PROBLEM.");
-        }
-    }
-    else
         WOLF_WARN("Linking with nullptr");
+        return;
+    }
+
+    // link with feature
+    _ftr_ptr->addFactor(shared_from_this());
+    this->setFeature(_ftr_ptr);
+
+    // set problem ( and register factor )
+    WOLF_WARN_COND(this->getProblem() == nullptr, "ADDING FACTOR ", this->id(), " TO FEATURE ", _ftr_ptr->id(), " NOT CONNECTED WITH PROBLEM.");
+    this->setProblem(_ftr_ptr->getProblem());
 
+    // constrained by
     auto frame_other = this->frame_other_ptr_.lock();
     if(frame_other != nullptr) frame_other->addConstrainedBy(shared_from_this());
     auto capture_other = this->capture_other_ptr_.lock();