From 732eb51e51340a1fda739f418b275c82a769b699 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Tue, 7 Dec 2021 21:19:48 +0100
Subject: [PATCH] Remove commented code
---
include/core/factor/factor_distance_3d.h | 4 ----
1 file changed, 4 deletions(-)
diff --git a/include/core/factor/factor_distance_3d.h b/include/core/factor/factor_distance_3d.h
index 96f9dfb78..bbcb846f6 100644
--- a/include/core/factor/factor_distance_3d.h
+++ b/include/core/factor/factor_distance_3d.h
@@ -78,10 +78,6 @@ class FactorDistance3d : public FactorAutodiff<FactorDistance3d, 1, 3, 3>
norm_squared += (T)1e-8;
}
Matrix<T,1,1> dist_exp ( sqrt(norm_squared) );
- // Matrix<T,1,1> dist_meas (getMeasurement().cast<T>());
- // Matrix<T,1,1> sqrt_info_upper = getMeasurementSquareRootInformationUpper();
-
- // res = sqrt_info_upper * (dist_meas - dist_exp);
res = getMeasurementSquareRootInformationUpper() * (getMeasurement() - dist_exp);
--
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