(WM)(update_req) add removePose

Author: MatthijsBurgh

include/ed/update_request.h

@@ -131,6 +131,9 @@ class UpdateRequest
     std::map<UUID, geo::Pose3D> poses;
     void setPose(const UUID& id, const geo::Pose3D& pose) { poses[id] = pose; flagUpdated(id); }
 
+    std::vector<UUID> poses_removed;
+    void removePose(const UUID& id) { poses_removed.push_back(id); flagUpdated(id); }
+
 
     // RELATIONS
 

src/world_model.cpp

@@ -48,6 +48,12 @@ void WorldModel::update(const UpdateRequest& req)
         e->setPose(it->second);
     }
 
+    for (const UUID& id : req.poses_removed)
+    {
+        EntityPtr e = getOrAddEntity(id, new_entities);
+        e->removePose();
+    }
+
     // Update visuals
     for(std::map<UUID, geo::ShapeConstPtr>::const_iterator it = req.visuals.begin(); it != req.visuals.end(); ++it)
     {