Resolve "multiple processors per sensor"

Closes #489 (closed)

include/core/landmark/landmark_base.h

@@ -58,6 +58,7 @@ class LandmarkBase : public NodeBase, public HasStateBlocks, public std::enable_
         // Navigate wolf tree
         void setProblem(ProblemPtr _problem) override final;
         unsigned int landmark_id_; ///< landmark unique id
+	    unsigned int track_id_; ///< associated track id
         TimeStamp stamp_;       ///< stamp of the creation of the landmark
         Eigen::VectorXd descriptor_;    //TODO: agree? JS: No: It is not general enough as descriptor to be in LmkBase.
 
@@ -80,6 +81,9 @@ class LandmarkBase : public NodeBase, public HasStateBlocks, public std::enable_
         unsigned int id() const;
         void setId(unsigned int _id);
 
+	    unsigned int trackId(); // get track ID
+	    void setTrackId(unsigned int _track_id); // set track ID
+
         // State blocks
         //std::vector<StateBlockConstPtr> getUsedStateBlockVec() const;
         //std::vector<StateBlockPtr> getUsedStateBlockVec();
@@ -176,6 +180,18 @@ inline void LandmarkBase::setId(unsigned int _id)
         landmark_id_count_ = _id;
 }
 
+inline unsigned int LandmarkBase::trackId()
+{
+    return track_id_;
+}
+
+inline void LandmarkBase::setTrackId(unsigned int _track_id) 
+{
+    track_id_ = _track_id;
+}
+
+
+
 inline unsigned int LandmarkBase::getHits() const
 {
     return constrained_by_list_.size();