Resolve "Processor motion model"

Closes #407 (closed)

include/core/processor/processor_frame_factor.h

+/*
+ * processor_frame_factor.h
+ *
+ *  Created on: Sep 6, 2021
+ *      Author: joanvallve
+ */
+
+#ifndef INCLUDE_CORE_PROCESSOR_PROCESSOR_FRAME_FACTOR_H_
+#define INCLUDE_CORE_PROCESSOR_PROCESSOR_FRAME_FACTOR_H_
+
+#include "core/processor/processor_base.h"
+
+namespace wolf
+{
+
+WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorFrameFactor);
+
+struct ParamsProcessorFrameFactor : public ParamsProcessorBase
+{
+        ParamsProcessorFrameFactor() = default;
+        ParamsProcessorFrameFactor(std::string _unique_name, const wolf::ParamsServer & _server) :
+            ParamsProcessorBase(_unique_name, _server)
+        {
+        }
+        std::string print() const override
+        {
+            return ParamsProcessorBase::print();
+        }
+};
+
+WOLF_PTR_TYPEDEFS(ProcessorFrameFactor);
+
+class ProcessorFrameFactor : public ProcessorBase
+{
+    public:
+        ProcessorFrameFactor(ParamsProcessorMotionModelPtr);
+
+        // Factory method for high level API
+        WOLF_PROCESSOR_CREATE(ProcessorFrameFactor, ParamsProcessorFrameFactor);
+
+        virtual ~ProcessorFrameFactor() override;
+        void configure(SensorBasePtr _sensor) override {};
+
+    protected:
+
+        /** \brief process an incoming capture NEVER CALLED
+         */
+        virtual void processCapture(CaptureBasePtr) override {};
+
+        /** \brief process an incoming key-frame: applies the motion model between consecutive keyframes
+         */
+        virtual void processKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) override;
+
+        /** \brief trigger in capture
+         */
+        virtual bool triggerInCapture(CaptureBasePtr) const override {return false;};
+
+        /** \brief trigger in key-frame
+         */
+        virtual bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const double& _time_tolerance) const override {return true;};
+
+        /** \brief store key frame
+        */
+        virtual bool storeKeyFrame(FrameBasePtr) override {return false;};
+
+        /** \brief store capture
+        */
+        virtual bool storeCapture(CaptureBasePtr) override {return false;};
+
+        /** \brief Vote for KeyFrame generation
+         */
+        virtual bool voteForKeyFrame() const override {return false;};
+
+        // ATTRIBUTES
+        ParamsProcessorFrameFactorPtr params_processor_;
+};
+
+} /* namespace wolf */
+
+#endif /* INCLUDE_CORE_PROCESSOR_PROCESSOR_FRAME_FACTOR_H_ */