Remove obsolete methods computeFramePose()

src/capture_base.h

@@ -83,12 +83,6 @@ class CaptureBase : public NodeLinked<FrameBase, FeatureBase>
          */
         virtual void process(); 
 
-        // TODO Move it to ProcessorX class()
-        //      Rename to computeFrameInitialGuess() ... for instance
-        //      Another name could be provideFrameInitialGuess();
-        //Should be virtual in ProcessorBase with an empty/error message
-        virtual Eigen::VectorXs computeFramePose(const TimeStamp& _now) const {return Eigen::VectorXs::Zero(0);};
-
 };
 
 inline unsigned int CaptureBase::id()

src/capture_fix.cpp

@@ -29,9 +29,5 @@ void CaptureFix::process()
     //std::cout << "ConstraintFix added " << std::endl;
 }
 
-Eigen::VectorXs CaptureFix::computeFramePose(const TimeStamp& _now) const
-{
-	return data_;
-}
 
 } // namespace wolf

src/capture_fix.h

@@ -32,7 +32,6 @@ class CaptureFix : public CaptureBase
 
         virtual void process();
 
-        virtual Eigen::VectorXs computeFramePose(const TimeStamp& _now) const;
 };
 
 } //namespace wolf

src/capture_gps.cpp

@@ -23,12 +23,4 @@ rawgpsutils::SatellitesObs &CaptureGPS::getData()
 }
 
 
-/*
- * Dummy implementation of the method, only because it's pure virtual
- */
-Eigen::VectorXs CaptureGPS::computeFramePose(const TimeStamp &_now) const
-{
-    return Eigen::Vector3s(0, 0, 0);
-}
-
 } //namespace wolf

src/capture_gps.h

@@ -27,10 +27,6 @@ public:
      **/
     virtual ~CaptureGPS();
 
-    /*
-     * Dummy implementation of the method, only because it's pure virtual
-     */
-    virtual Eigen::VectorXs computeFramePose(const TimeStamp &_now) const;
 
 };
 

src/capture_gps_fix.cpp

@@ -32,14 +32,5 @@ void CaptureGPSFix::process()
 	getFeatureListPtr()->front()->addConstraint(new ConstraintGPS2D(getFeatureListPtr()->front(), getFramePtr()));
 }
 
-Eigen::VectorXs CaptureGPSFix::computeFramePose(const TimeStamp& _now) const
-{
-	return data_;
-}
-
-//void CaptureGPSFix::printSelf(unsigned int _ntabs, std::ostream & _ost) const
-//{
-//	return data_;
-//}
 
 } //namespace wolf

src/capture_gps_fix.h

@@ -31,8 +31,6 @@ class CaptureGPSFix : public CaptureBase
 
         virtual void process();
 
-        virtual Eigen::VectorXs computeFramePose(const TimeStamp& _now) const;
-
 };
 
 } //namespace wolf

src/capture_image.cpp

@@ -40,11 +40,4 @@ std::vector<cv::KeyPoint>& CaptureImage::getKeypoints()
 }
 
 
-
-// TODO: This needs to go out some day
-Eigen::VectorXs CaptureImage::computeFramePose(const TimeStamp& _now) const
-{
-    return Eigen::VectorXs::Zero(7);
-}
-
 } // namespace wolf

src/capture_image.h

@@ -43,12 +43,6 @@ class CaptureImage : public CaptureBase
         virtual std::vector<cv::KeyPoint>& getKeypoints();
 
 
-
-
-        // TODO: This needs to go out some day
-        virtual Eigen::VectorXs computeFramePose(const TimeStamp& _now) const;
-
-
 };
 
 } // namespace wolf

src/capture_void.cpp

@@ -13,9 +13,5 @@ CaptureVoid::~CaptureVoid()
 	//std::cout << "deleting CaptureVoid " << nodeId() << std::endl;
 }
 
-Eigen::VectorXs CaptureVoid::computeFramePose(const TimeStamp& _now) const
-{
-    return Eigen::VectorXs::Zero(3);
-}
 
 } // namespace wolf

src/capture_void.h

@@ -20,7 +20,6 @@ class CaptureVoid : public CaptureBase
          **/
         virtual ~CaptureVoid();
 
-        virtual Eigen::VectorXs computeFramePose(const TimeStamp& _now) const;
 };
 
 } // namespace wolf