Follow core 434

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_;
-
 };
 
 }

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_;
-
 };
 
 }

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()

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()