From 42433cc6c7c3e40c2fb494ed62490a3710cda275 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Sat, 1 Jan 2022 23:03:20 +0100
Subject: [PATCH] Follow core 434
---
include/imu/processor/processor_imu.h | 2 --
include/imu/processor/processor_imu2d.h | 2 --
src/processor/processor_imu.cpp | 6 +-----
src/processor/processor_imu2d.cpp | 6 +-----
4 files changed, 2 insertions(+), 14 deletions(-)
diff --git a/include/imu/processor/processor_imu.h b/include/imu/processor/processor_imu.h
index fe9d4af4b..c3842613a 100644
--- a/include/imu/processor/processor_imu.h
+++ b/include/imu/processor/processor_imu.h
@@ -98,8 +98,6 @@ class ProcessorImu : public ProcessorMotion{
protected:
ParamsProcessorImuPtr params_motion_Imu_;
- Eigen::Matrix<double, 9, 9> unmeasured_perturbation_cov_;
-
};
}
diff --git a/include/imu/processor/processor_imu2d.h b/include/imu/processor/processor_imu2d.h
index 7942d0663..7b1c4de31 100644
--- a/include/imu/processor/processor_imu2d.h
+++ b/include/imu/processor/processor_imu2d.h
@@ -98,8 +98,6 @@ class ProcessorImu2d : public ProcessorMotion{
protected:
ParamsProcessorImu2dPtr params_motion_Imu_;
- Eigen::Matrix<double, 5, 5> unmeasured_perturbation_cov_;
-
};
}
diff --git a/src/processor/processor_imu.cpp b/src/processor/processor_imu.cpp
index d9e7045d8..d22c2366e 100644
--- a/src/processor/processor_imu.cpp
+++ b/src/processor/processor_imu.cpp
@@ -33,11 +33,7 @@ ProcessorImu::ProcessorImu(ParamsProcessorImuPtr _params_motion_imu) :
ProcessorMotion("ProcessorImu", "POV", 3, 10, 10, 9, 6, 6, _params_motion_imu),
params_motion_Imu_(std::make_shared<ParamsProcessorImu>(*_params_motion_imu))
{
- // Set constant parts of Jacobians
- jacobian_delta_preint_.setIdentity(9,9); // dDp'/dDp, dDv'/dDv, all zeros
- jacobian_delta_.setIdentity(9,9); //
- jacobian_calib_.setZero(9,6);
- unmeasured_perturbation_cov_ = pow(params_motion_Imu_->unmeasured_perturbation_std, 2.0) * Eigen::Matrix<double, 9, 9>::Identity();
+ //
}
ProcessorImu::~ProcessorImu()
diff --git a/src/processor/processor_imu2d.cpp b/src/processor/processor_imu2d.cpp
index 49c40a452..d5ad65300 100644
--- a/src/processor/processor_imu2d.cpp
+++ b/src/processor/processor_imu2d.cpp
@@ -33,11 +33,7 @@ namespace wolf {
ProcessorMotion("ProcessorImu2d", "POV", 2, 5, 5, 5, 6, 3, _params_motion_imu),
params_motion_Imu_(std::make_shared<ParamsProcessorImu2d>(*_params_motion_imu))
{
- // Set constant parts of Jacobians
- jacobian_delta_preint_.setIdentity(5,5); // dDp'/dDp, dDv'/dDv, all zeros
- jacobian_delta_.setIdentity(5,5); //
- jacobian_calib_.setZero(5,3);
- unmeasured_perturbation_cov_ = pow(params_motion_Imu_->unmeasured_perturbation_std, 2.0) * Eigen::Matrix<double, 5, 5>::Identity();
+ //
}
ProcessorImu2d::~ProcessorImu2d()
--
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