From 1893c174d2c7ab0bd7bfb81852920c7e44040697 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sat, 11 Apr 2020 01:58:44 +0200
Subject: [PATCH] remove sizes info from Motion
---
include/core/processor/motion_buffer.h | 2 --
src/processor/motion_buffer.cpp | 22 ----------------------
2 files changed, 24 deletions(-)
diff --git a/include/core/processor/motion_buffer.h b/include/core/processor/motion_buffer.h
index a5b41ebfe..a8e06e0e1 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 5d0a59567..e7e349e91 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()
--
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