From 3c20ccdf3ceebb26eea5671a949872ffecc1ffe5 Mon Sep 17 00:00:00 2001
From: jvallve <jvallve@iri.upc.edu>
Date: Thu, 9 Jun 2022 14:54:40 +0200
Subject: [PATCH] [skip ci] allow non-default extrinsic sizes

---
 src/sensor/sensor_base.cpp | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/src/sensor/sensor_base.cpp b/src/sensor/sensor_base.cpp
index b8fab4928..ab2e921d8 100644
--- a/src/sensor/sensor_base.cpp
+++ b/src/sensor/sensor_base.cpp
@@ -169,11 +169,6 @@ void SensorBase::loadPriors(const Priors& _priors,
                                      toString(prior.getState()) +
                                      " and should be of size: " + toString(state_spec.size) +
                                      "\nDoc:\n" + state_spec.doc);
-        // additional size checks for P, O, V
-        if ((key == 'P' or key == 'V') and prior.getState().size() != _dim)
-            throw std::runtime_error("Prior state for P or V has wrong size: " + toString(prior.getState().size()) + " in " + (_dim == 2 ? "2D" : "3D"));
-        if (key == '0' and prior.getState().size() != (_dim == 2 ? 1 : 4))
-            throw std::runtime_error("Prior state for O has wrong size: " + toString(prior.getState().size()) + " in " + (_dim == 2 ? "2D" : "3D"));
 
         // --- CREATE STATE BLOCK ---
         auto sb = FactoryStateBlock::create(prior.getType(), prior.getState(), prior.isFixed());
-- 
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