From 00ee69146dd369cc27e226fdc5488c2fb52b388f Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Tue, 2 Aug 2016 10:43:57 +0200
Subject: [PATCH] Remove obsolete methods computeFramePose()
---
src/capture_base.h | 6 ------
src/capture_fix.cpp | 4 ----
src/capture_fix.h | 1 -
src/capture_gps.cpp | 8 --------
src/capture_gps.h | 4 ----
src/capture_gps_fix.cpp | 9 ---------
src/capture_gps_fix.h | 2 --
src/capture_image.cpp | 7 -------
src/capture_image.h | 6 ------
src/capture_void.cpp | 4 ----
src/capture_void.h | 1 -
11 files changed, 52 deletions(-)
diff --git a/src/capture_base.h b/src/capture_base.h
index ff9e8605a..3734edbd4 100644
--- a/src/capture_base.h
+++ b/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()
diff --git a/src/capture_fix.cpp b/src/capture_fix.cpp
index 0d4561dbe..11a26d39e 100644
--- a/src/capture_fix.cpp
+++ b/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
diff --git a/src/capture_fix.h b/src/capture_fix.h
index 781a35c56..adb776ef3 100644
--- a/src/capture_fix.h
+++ b/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
diff --git a/src/capture_gps.cpp b/src/capture_gps.cpp
index e8a294e6f..fffc9e467 100644
--- a/src/capture_gps.cpp
+++ b/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
diff --git a/src/capture_gps.h b/src/capture_gps.h
index 5904e3706..f90122ab8 100644
--- a/src/capture_gps.h
+++ b/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;
};
diff --git a/src/capture_gps_fix.cpp b/src/capture_gps_fix.cpp
index 5e30b3a01..faf5f8cb8 100644
--- a/src/capture_gps_fix.cpp
+++ b/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
diff --git a/src/capture_gps_fix.h b/src/capture_gps_fix.h
index 65bb17e44..1198e0d29 100644
--- a/src/capture_gps_fix.h
+++ b/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
diff --git a/src/capture_image.cpp b/src/capture_image.cpp
index cbb7b67d6..4a39878c5 100644
--- a/src/capture_image.cpp
+++ b/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
diff --git a/src/capture_image.h b/src/capture_image.h
index ea21600af..f62a042cb 100644
--- a/src/capture_image.h
+++ b/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
diff --git a/src/capture_void.cpp b/src/capture_void.cpp
index 72b874145..b601bf6fd 100644
--- a/src/capture_void.cpp
+++ b/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
diff --git a/src/capture_void.h b/src/capture_void.h
index 8bf009ef5..63c7a5c4b 100644
--- a/src/capture_void.h
+++ b/src/capture_void.h
@@ -20,7 +20,6 @@ class CaptureVoid : public CaptureBase
**/
virtual ~CaptureVoid();
- virtual Eigen::VectorXs computeFramePose(const TimeStamp& _now) const;
};
} // namespace wolf
--
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