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Transfer ProcessorMotion::makeFrame() to ProcessorBase::makeFrame()

Merged Joan Solà Ortega requested to merge makeFrame into master
3 files
+ 22
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@@ -28,10 +28,8 @@ bool ProcessorBase::permittedKeyFrame()
return getProblem()->permitKeyFrame(shared_from_this());
}
void ProcessorBase::makeFrame(CaptureBasePtr _capture_ptr, FrameKeyType _type)
FrameBasePtr ProcessorBase::makeFrame(CaptureBasePtr _capture_ptr, FrameKeyType _type)
{
std::cout << __FILE__ << ":" << __FUNCTION__ << "():" << __LINE__ << std::endl;
// We need to create the new free Frame to hold what will become the last Capture
FrameBasePtr new_frame_ptr = getProblem()->createFrame(_type, _capture_ptr->getTimeStamp());
@@ -41,7 +39,16 @@ void ProcessorBase::makeFrame(CaptureBasePtr _capture_ptr, FrameKeyType _type)
// Keyframe callback in order to let the other processors to establish their constraints
getProblem()->keyFrameCallback(_capture_ptr->getFramePtr(), shared_from_this(), time_tolerance_);
std::cout << __FILE__ << ":" << __FUNCTION__ << "():" << __LINE__ << std::endl;
return new_frame_ptr;
}
FrameBasePtr ProcessorBase::makeFrame(CaptureBasePtr _capture_ptr, const Eigen::VectorXs& _state, FrameKeyType _type)
{
// We need to create the new free Frame to hold what will become the last Capture
FrameBasePtr new_frame_ptr = getProblem()->createFrame(_type, _state, _capture_ptr->getTimeStamp());
new_frame_ptr->addCapture(_capture_ptr); // Add incoming Capture to the new Frame
return new_frame_ptr;
}
void ProcessorBase::remove()
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