diff --git a/include/core/processor/motion_buffer.h b/include/core/processor/motion_buffer.h index a5b41ebfe3ebf77f269148d42781b7dd96cd36a2..a8e06e0e112bfb5f07910ad56353bb71b2517ca8 100644 --- a/include/core/processor/motion_buffer.h +++ b/include/core/processor/motion_buffer.h @@ -21,7 +21,6 @@ using namespace Eigen; struct Motion { public: - SizeEigen data_size_, delta_size_, cov_size_, calib_size_; TimeStamp ts_; ///< Time stamp Eigen::VectorXd data_; ///< instantaneous motion data Eigen::MatrixXd data_cov_; ///< covariance of the instantaneous data @@ -47,7 +46,6 @@ struct Motion const MatrixXd& _jacobian_calib); ~Motion(); private: - void resize(SizeEigen _data_s, SizeEigen _delta_s, SizeEigen _delta_cov_s, SizeEigen _calib_s); }; ///< One instance of the buffered data, corresponding to a particular time stamp. diff --git a/src/processor/motion_buffer.cpp b/src/processor/motion_buffer.cpp index 5d0a595673da23a73efd69d6b1c12d0734f1172b..e7e349e9196b3b3b298fc1d5142d8a38f348e1a6 100644 --- a/src/processor/motion_buffer.cpp +++ b/src/processor/motion_buffer.cpp @@ -12,10 +12,6 @@ Motion::Motion(const TimeStamp& _ts, const MatrixXd& _jac_delta, const MatrixXd& _jac_delta_int, const MatrixXd& _jac_calib) : - data_size_(_data.size()), - delta_size_(_delta.size()), - cov_size_(_delta_cov.cols()), - calib_size_(_jac_calib.cols()), ts_(_ts), data_(_data), data_cov_(_data_cov), @@ -34,32 +30,14 @@ Motion::Motion(const TimeStamp& _ts, SizeEigen _delta_size, SizeEigen _cov_size, SizeEigen _calib_size) : - data_size_(_data_size), - delta_size_(_delta_size), - cov_size_(_cov_size), - calib_size_(_calib_size), ts_(_ts) { - resize(_data_size, _delta_size, _cov_size, _calib_size); } Motion::~Motion() { } -void Motion::resize(SizeEigen _data_s, SizeEigen _delta_s, SizeEigen _delta_cov_s, SizeEigen _calib_s) -{ - data_.resize(_data_s); - data_cov_.resize(_data_s, _data_s); - delta_.resize(_delta_s); - delta_cov_.resize(_delta_cov_s, _delta_cov_s); - delta_integr_.resize(_delta_s); - delta_integr_cov_.resize(_delta_cov_s, _delta_cov_s); - jacobian_delta_.resize(_delta_cov_s, _delta_cov_s); - jacobian_delta_integr_.resize(_delta_cov_s, _delta_cov_s); - jacobian_calib_.resize(_delta_cov_s, _calib_s); -} - //////////////////////////////////////////////////////////////////////////////////////// MotionBuffer::MotionBuffer()