Resolve "New data structure for storing stateblocks"

Closes #256 (closed)

include/core/sensor/sensor_base.h

@@ -168,16 +168,16 @@ class SensorBase : public NodeBase, public HasStateBlocks, public std::enable_sh
         bool process(const CaptureBasePtr capture_ptr);
 
         // State blocks
-        void setStateBlockStatic(const std::string& _key, const StateBlockPtr _sb_ptr);
-        void setStateBlockStatic(const char& _key, const StateBlockPtr _sb_ptr){setStateBlockStatic(std::string(1, _key), _sb_ptr);}
+        void setStateBlock(const std::string& _key, const StateBlockPtr _sb_ptr);
+        void setStateBlock(const char& _key, const StateBlockPtr _sb_ptr){setStateBlock(std::string(1, _key), _sb_ptr);}
         StateBlockPtr getStateBlockAuto(const std::string& _key) const;
         StateBlockPtr getStateBlockAuto(const std::string& _key, const TimeStamp& _ts) const;
         StateBlockPtr getStateBlockAuto(const char _key) const { return getStateBlockAuto(std::string(1,_key)); }
         StateBlockPtr getStateBlockAuto(const char _key, const TimeStamp& _ts) const { return getStateBlockAuto(std::string(1,_key), _ts); }
 
         bool isStateBlockDynamic(const std::string& _key) const;
-        bool isStateBlockInCapture(const std::string& _key, const TimeStamp& _ts, CaptureBasePtr& cap) const;
-        bool isStateBlockInCapture(const std::string& _key, CaptureBasePtr& cap) const;
+        bool isStateBlockInCapture(const std::string& _key, const TimeStamp& _ts, CaptureBasePtr& _cap) const;
+        bool isStateBlockInCapture(const std::string& _key, CaptureBasePtr& _cap) const;
         bool isStateBlockInCapture(const std::string& _key, const TimeStamp& _ts) const;
         bool isStateBlockInCapture(const std::string& _key) const;
 
@@ -187,7 +187,6 @@ class SensorBase : public NodeBase, public HasStateBlocks, public std::enable_sh
         StateBlockPtr getP() const;
         StateBlockPtr getO() const;
         StateBlockPtr getIntrinsic() const;
-        void setIntrinsic(const StateBlockPtr _intr_ptr);
 
     protected:
         void removeStateBlocks();
@@ -237,8 +236,6 @@ class SensorBase : public NodeBase, public HasStateBlocks, public std::enable_sh
         void setNoiseCov(const Eigen::MatrixXs & _noise_std);
         Eigen::VectorXs getNoiseStd() const;
         Eigen::MatrixXs getNoiseCov() const;
-        void setExtrinsicDynamic(bool _extrinsic_dynamic);
-        void setIntrinsicDynamic(bool _intrinsic_dynamic);
 
         void link(HardwareBasePtr);
         template<typename classType, typename... T>
@@ -278,7 +275,7 @@ inline const ProcessorBasePtrList& SensorBase::getProcessorList() const
     return processor_list_;
 }
 
-inline void SensorBase::setStateBlockStatic(const std::string& _key, const StateBlockPtr _sb_ptr)
+inline void SensorBase::setStateBlock(const std::string& _key, const StateBlockPtr _sb_ptr)
 {
     assert((params_prior_map_.find(_key) == params_prior_map_.end() || _sb_ptr == nullptr) && "overwriting a state block that has an absolute factor");
     HasStateBlocks::setStateBlock(_key, _sb_ptr);
@@ -304,11 +301,6 @@ inline HardwareBasePtr SensorBase::getHardware() const
     return hardware_ptr_.lock();
 }
 
-inline void SensorBase::setIntrinsic(const StateBlockPtr _intr_ptr)
-{
-    setStateBlockStatic("I", _intr_ptr);
-}
-
 inline void SensorBase::setHardware(const HardwareBasePtr _hw_ptr)
 {
     hardware_ptr_ = _hw_ptr;