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Resolve "IsMotion used in Problem::getState()"

Merged Joan Vallvé Navarro requested to merge 399-ismotion-used-in-problem-getstate into devel
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14 files
+ 147
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@@ -58,7 +58,7 @@ class Problem : public std::enable_shared_from_this<Problem>
HardwareBasePtr hardware_ptr_;
TrajectoryBasePtr trajectory_ptr_;
MapBasePtr map_ptr_;
std::list<IsMotionPtr> processor_is_motion_list_;
std::map<int, IsMotionPtr> processor_is_motion_map_;
std::map<std::pair<StateBlockPtr, StateBlockPtr>, Eigen::MatrixXd> covariances_;
SizeEigen state_size_, state_cov_size_, dim_;
std::map<FactorBasePtr, Notification> factor_notification_map_;
@@ -178,7 +178,7 @@ class Problem : public std::enable_shared_from_this<Problem>
public:
IsMotionPtr getProcessorIsMotion();
std::list<IsMotionPtr> getProcessorIsMotionList();
std::map<int,IsMotionPtr> getProcessorIsMotionMap();
@@ -431,15 +431,15 @@ inline bool Problem::isPriorSet() const
inline IsMotionPtr Problem::getProcessorIsMotion()
{
if (!processor_is_motion_list_.empty())
return processor_is_motion_list_.front();
if (not processor_is_motion_map_.empty())
return processor_is_motion_map_.begin()->second;
return nullptr;
}
inline std::list<IsMotionPtr> Problem::getProcessorIsMotionList()
inline std::map<int,IsMotionPtr> Problem::getProcessorIsMotionMap()
{
return processor_is_motion_list_;
return processor_is_motion_map_;
}
inline SizeStd Problem::getStateBlockNotificationMapSize() const
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