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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
7b66b981
Commit
7b66b981
authored
5 years ago
by
Joan Solà Ortega
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Remove origin_frame from CaptureMotion
parent
e7ad2e38
No related branches found
No related tags found
1 merge request
!318
CaptureMotion: replace origin_frame_ptr_ by capture_origin_ptr_.
Pipeline
#4262
passed
5 years ago
Changes
2
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1
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2 changed files
include/core/capture/capture_motion.h
+0
-15
0 additions, 15 deletions
include/core/capture/capture_motion.h
src/processor/processor_motion.cpp
+1
-1
1 addition, 1 deletion
src/processor/processor_motion.cpp
with
1 addition
and
16 deletions
include/core/capture/capture_motion.h
+
0
−
15
View file @
7b66b981
...
@@ -97,8 +97,6 @@ class CaptureMotion : public CaptureBase
...
@@ -97,8 +97,6 @@ class CaptureMotion : public CaptureBase
virtual
VectorXs
correctDelta
(
const
VectorXs
&
_delta
,
const
VectorXs
&
_delta_error
)
const
;
virtual
VectorXs
correctDelta
(
const
VectorXs
&
_delta
,
const
VectorXs
&
_delta_error
)
const
;
// Origin frame and capture
// Origin frame and capture
FrameBasePtr
getOriginFrame
();
void
setOriginFrame
(
FrameBasePtr
_frame_ptr
);
CaptureBasePtr
getOriginCapture
();
CaptureBasePtr
getOriginCapture
();
void
setOriginCapture
(
CaptureBasePtr
_origin_capture
);
void
setOriginCapture
(
CaptureBasePtr
_origin_capture
);
...
@@ -108,7 +106,6 @@ class CaptureMotion : public CaptureBase
...
@@ -108,7 +106,6 @@ class CaptureMotion : public CaptureBase
Eigen
::
MatrixXs
data_cov_
;
///< Motion data covariance
Eigen
::
MatrixXs
data_cov_
;
///< Motion data covariance
Eigen
::
VectorXs
calib_preint_
;
///< Calibration parameters used during pre-integration
Eigen
::
VectorXs
calib_preint_
;
///< Calibration parameters used during pre-integration
MotionBuffer
buffer_
;
///< Buffer of motions between this Capture and the next one.
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
CaptureBaseWPtr
origin_capture_
;
///< Pointer to the origin capture of the motion
};
};
...
@@ -161,18 +158,6 @@ inline Eigen::VectorXs CaptureMotion::correctDelta(const VectorXs& _delta, const
...
@@ -161,18 +158,6 @@ inline Eigen::VectorXs CaptureMotion::correctDelta(const VectorXs& _delta, const
return
_delta
+
_delta_error
;
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
()
inline
wolf
::
CaptureBasePtr
CaptureMotion
::
getOriginCapture
()
{
{
return
origin_capture_
.
lock
();
return
origin_capture_
.
lock
();
...
...
This diff is collapsed.
Click to expand it.
src/processor/processor_motion.cpp
+
1
−
1
View file @
7b66b981
...
@@ -348,8 +348,8 @@ bool ProcessorMotion::getState(const TimeStamp& _ts, Eigen::VectorXs& _x)
...
@@ -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
if
(
capture_motion
)
// We found a CaptureMotion whose buffer contains the time stamp
{
{
// Get origin state and calibration
// Get origin state and calibration
VectorXs
state_0
=
capture_motion
->
getOriginFrame
()
->
getState
();
CaptureBasePtr
cap_orig
=
capture_motion
->
getOriginCapture
();
CaptureBasePtr
cap_orig
=
capture_motion
->
getOriginCapture
();
VectorXs
state_0
=
cap_orig
->
getFrame
()
->
getState
();
VectorXs
calib
=
cap_orig
->
getCalibration
();
VectorXs
calib
=
cap_orig
->
getCalibration
();
// Get delta and correct it with new calibration params
// Get delta and correct it with new calibration params
...
...
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