Remove comments

src/capture_motion.h

@@ -71,9 +71,9 @@ class CaptureMotion : public CaptureBase
 
         // member data:
     private:
-        Eigen::VectorXs data_;        ///< Motion data in form of vector mandatory
-        Eigen::MatrixXs data_cov_;    ///< Motion data covariance
-        MotionBuffer buffer_;         ///< Buffer of motions between this Capture and the next one.
+        Eigen::VectorXs data_;          ///< Motion data in form of vector mandatory
+        Eigen::MatrixXs data_cov_;      ///< Motion data covariance
+        MotionBuffer buffer_;           ///< Buffer of motions between this Capture and the next one.
         FrameBasePtr origin_frame_ptr_; ///< Pointer to the origin frame of the motion
 };
 
@@ -86,24 +86,8 @@ inline CaptureMotion::CaptureMotion(const TimeStamp& _ts, SensorBasePtr _sensor_
         origin_frame_ptr_(_origin_frame_ptr)
 {
     //
-//    std::cout << "constructed    +C-Mot" << id() << std::endl;
 }
 
-//inline CaptureMotion::CaptureMotion(const TimeStamp& _ts, SensorBasePtr _sensor_ptr, const Eigen::VectorXs& _data,
-//                                    const Eigen::VectorXs& _data_sigmas, FrameBasePtr _origin_frame_ptr) :
-//        CaptureBase("MOTION", _ts, _sensor_ptr),
-//        data_(_data),
-//        data_cov_(_data_sigmas.size(), _data_sigmas.size()),
-//        buffer_(),
-//        origin_frame_ptr_(_origin_frame_ptr)
-//{
-//    data_cov_.setZero();
-//    for (int i = 0; i < _data_sigmas.size(); i++)
-//        data_cov_(i,i) = _data_sigmas(i) * _data_sigmas(i);
-//
-////    std::cout << "constructed    +C-Mot" << id() << std::endl;
-//}
-
 inline CaptureMotion::CaptureMotion(const TimeStamp& _ts, SensorBasePtr _sensor_ptr, const Eigen::VectorXs& _data,
                                     const Eigen::MatrixXs& _data_cov, FrameBasePtr _origin_frame_ptr) :
         CaptureBase("MOTION", _ts, _sensor_ptr),
@@ -113,12 +97,10 @@ inline CaptureMotion::CaptureMotion(const TimeStamp& _ts, SensorBasePtr _sensor_
         origin_frame_ptr_(_origin_frame_ptr)
 {
     //
-//    std::cout << "constructed    +C-Mot" << id() << std::endl;
 }
 
 inline CaptureMotion::~CaptureMotion()
 {
-//    std::cout << "destructed     -C-Mot" << id() << std::endl;
     //
 }
 

src/problem.cpp

@@ -565,13 +565,6 @@ FrameBasePtr Problem::setPrior(const Eigen::VectorXs& _prior_state, const Eigen:
         // Create origin frame
         FrameBasePtr origin_frame_ptr = emplaceFrame(KEY_FRAME, _prior_state, _ts);
 
-        // create origin capture with just pose
-        //        Size pose_size, pose_cov_size;
-        //        getFrameStructureSize(pose_size, pose_cov_size);
-        //        VectorXs pose     = _origin_state.head(pose_size);
-        //        MatrixXs pose_cov = _origin_state_cov.topLeftCorner(pose_cov_size,pose_cov_size);
-        //        CaptureFixPtr init_capture = std::make_shared<CaptureFix>(_ts, nullptr, pose, pose_cov);
-
         // create origin capture with the given state as data
         CaptureFixPtr init_capture = std::make_shared<CaptureFix>(_ts, nullptr, _prior_state, _prior_cov);
         origin_frame_ptr->addCapture(init_capture);
@@ -579,7 +572,7 @@ FrameBasePtr Problem::setPrior(const Eigen::VectorXs& _prior_state, const Eigen:
         // emplace feature and constraint
         init_capture->emplaceFeatureAndConstraint();
 
-        // notify processors about the new keyframe
+        // notify all motion processors about the origin keyframe
         for (auto sensor_ptr : hardware_ptr_->getSensorList())
             for (auto processor_ptr : sensor_ptr->getProcessorList())
                 if (processor_ptr->isMotion())

src/problem.h

@@ -132,7 +132,7 @@ class Problem : public std::enable_shared_from_this<Problem>
 
         /** \brief Set the processor motion
          *
-         * Set the processor motion. It will provide the state.
+         * Set the processor motion.
          */
         void setProcessorMotion(ProcessorMotionPtr _processor_motion_ptr);
         ProcessorMotionPtr setProcessorMotion(const std::string& _unique_processor_name);