Method removeState

src/FactorGraph.cpp:473–492

  }

  void FactorGraph::removeState(string Name, double Timestamp, int Number)
  {
    /** safety check */
    if (_StateData.checkElement(Name, Timestamp, Number))
    {
      /** remove from internal lists*/
      StateID State(Name, Timestamp, Number);
      _Structure.removeState(State);

      /** remove from ceres */
      _Graph.RemoveParameterBlock(_StateData.getElement(Name, Timestamp, Number).getMeanPointer());

      /** remove from our StateDataSet */
      _StateData.removeElement(Name, Timestamp, Number);
    }
    else
    {
      PRINT_ERROR("State doesn't exist at: ", Timestamp, " Type: ", Name, " Number: ", Number);
    }
  }

  void FactorGraph::removeState(const string Name, const double Timestamp)
  {