WIP: Resolve "Complete state vector new data structure?"

Closes #287 (closed)

Continues in !358 (closed)

include/core/capture/capture_base.h

@@ -83,7 +83,7 @@ class CaptureBase : public NodeBase, public HasStateBlocks, public std::enable_s
 
 
         // State blocks
-        const std::string& getStructure() const;
+        const StateStructure& getStructure() const;
         StateBlockPtr getStateBlock(const std::string& _key) const;
         StateBlockPtr getStateBlock(const char _key) const { return getStateBlock(std::string(1, _key)); }
         StateBlockPtr getSensorP() const;
@@ -95,7 +95,7 @@ class CaptureBase : public NodeBase, public HasStateBlocks, public std::enable_s
 
         bool hasCalibration() {return calib_size_ > 0;}
         SizeEigen getCalibSize() const;
-        virtual Eigen::VectorXd getCalibration() const;
+        virtual VectorComposite getCalibration() const;
         void setCalibration(const Eigen::VectorXd& _calib);
         void move(FrameBasePtr);
         void link(FrameBasePtr);