Resolve "HasStateBlocks::addStateBlock() needs to register SB's"

Closes #292 (closed)

include/core/frame/frame_base.h

@@ -96,8 +96,10 @@ class FrameBase : public NodeBase, public HasStateBlocks, public std::enable_sha
 
         // State blocks ----------------------------------------------------
     public:
+        using HasStateBlocks::addStateBlock;
+        StateBlockPtr addStateBlock(const std::string& _sb_type, const StateBlockPtr& _sb);
         StateBlockPtr getV() const;
-        void setV(const StateBlockPtr _v_ptr);
+
     protected:
         virtual void setProblem(ProblemPtr _problem) final;
 
@@ -192,11 +194,6 @@ inline StateBlockPtr FrameBase::getV() const
     return getStateBlock("V");
 }
 
-inline void FrameBase::setV(const StateBlockPtr _v_ptr)
-{
-    addStateBlock("V", _v_ptr);
-}
-
 inline TrajectoryBasePtr FrameBase::getTrajectory() const
 {
     return trajectory_ptr_.lock();
@@ -217,6 +214,17 @@ inline const FactorBasePtrList& FrameBase::getConstrainedByList() const
     return constrained_by_list_;
 }
 
+inline StateBlockPtr FrameBase::addStateBlock(const std::string& _sb_type,
+                                              const StateBlockPtr& _sb)
+{
+    if (isKeyOrAux())
+        HasStateBlocks::addStateBlock(_sb_type, _sb, getProblem());
+    else
+        HasStateBlocks::addStateBlock(_sb_type, _sb, nullptr);
+
+    return _sb;
+}
+
 inline void FrameBase::setTrajectory(TrajectoryBasePtr _trj_ptr)
 {
     trajectory_ptr_ = _trj_ptr;