From 7b66b981039a23787ac2b17d3fe8724f6354b5d0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Thu, 15 Aug 2019 02:36:17 +0200
Subject: [PATCH] Remove origin_frame from CaptureMotion
---
include/core/capture/capture_motion.h | 15 ---------------
src/processor/processor_motion.cpp | 2 +-
2 files changed, 1 insertion(+), 16 deletions(-)
diff --git a/include/core/capture/capture_motion.h b/include/core/capture/capture_motion.h
index 22beb90dd..95d2b8d5c 100644
--- a/include/core/capture/capture_motion.h
+++ b/include/core/capture/capture_motion.h
@@ -97,8 +97,6 @@ class CaptureMotion : public CaptureBase
virtual VectorXs correctDelta(const VectorXs& _delta, const VectorXs& _delta_error) const;
// Origin frame and capture
- FrameBasePtr getOriginFrame();
- void setOriginFrame(FrameBasePtr _frame_ptr);
CaptureBasePtr getOriginCapture();
void setOriginCapture(CaptureBasePtr _origin_capture);
@@ -108,7 +106,6 @@ class CaptureMotion : public CaptureBase
Eigen::MatrixXs data_cov_; ///< Motion data covariance
Eigen::VectorXs calib_preint_; ///< Calibration parameters used during pre-integration
MotionBuffer buffer_; ///< Buffer of motions between this Capture and the next one.
-// FrameBaseWPtr origin_frame_ptr_; ///< Pointer to the origin frame of the motion
CaptureBaseWPtr origin_capture_; ///< Pointer to the origin capture of the motion
};
@@ -161,18 +158,6 @@ inline Eigen::VectorXs CaptureMotion::correctDelta(const VectorXs& _delta, const
return _delta + _delta_error;
}
-inline FrameBasePtr CaptureMotion::getOriginFrame()
-{
- return getOriginCapture()->getFrame();
-}
-
-inline void CaptureMotion::setOriginFrame(FrameBasePtr _frame_ptr)
-{
- auto sensor = getSensor();
- if (_frame_ptr && sensor)
- origin_capture_ = _frame_ptr->getCaptureOf(sensor);
-}
-
inline wolf::CaptureBasePtr CaptureMotion::getOriginCapture()
{
return origin_capture_.lock();
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index d077e156d..4e381ca5d 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -348,8 +348,8 @@ bool ProcessorMotion::getState(const TimeStamp& _ts, Eigen::VectorXs& _x)
if (capture_motion) // We found a CaptureMotion whose buffer contains the time stamp
{
// Get origin state and calibration
- VectorXs state_0 = capture_motion->getOriginFrame()->getState();
CaptureBasePtr cap_orig = capture_motion->getOriginCapture();
+ VectorXs state_0 = cap_orig->getFrame()->getState();
VectorXs calib = cap_orig->getCalibration();
// Get delta and correct it with new calibration params
--
GitLab