devel->main

This reverts commit 190ea5b1.

include/core/processor/motion_provider.h

@@ -86,8 +86,12 @@ class MotionProvider
 
     protected:
         StateStructure state_structure_; ///< The structure of the state vector (to retrieve state blocks from frames)
-        VectorComposite odometry_;
         ParamsMotionProviderPtr params_motion_provider_;
+
+    private:
+        VectorComposite odometry_;
+        mutable std::mutex mut_odometry_;
+
 };
 
 inline MotionProvider::MotionProvider(const StateStructure& _structure, ParamsMotionProviderPtr _params) :
@@ -97,11 +101,6 @@ inline MotionProvider::MotionProvider(const StateStructure& _structure, ParamsMo
     //
 }
 
-inline wolf::VectorComposite MotionProvider::getOdometry ( ) const
-{
-    return odometry_;
-}
-
 }
 
 /////  IMPLEMENTATION ///////