diff --git a/src/constraint_AHP.h b/src/constraint_AHP.h
index 8062eb19ef93edf6ed0352e71783597202a9305f..d70ddd065cff349169ba5550cd873c7ded081cd4 100644
--- a/src/constraint_AHP.h
+++ b/src/constraint_AHP.h
@@ -51,11 +51,6 @@ class ConstraintAHP : public ConstraintAutodiff<ConstraintAHP, 2, 3, 4, 3, 4, 4>
const T* const _lmk_hmg,
T* _residuals) const;
- /** \brief Returns the jacobians computation method
- **/
- virtual JacobianMethod getJacobianMethod() const override;
-
-
// Static creator method
static ConstraintAHPPtr create(const FeatureBasePtr& _ftr_ptr,
const LandmarkAHPPtr& _lmk_ahp_ptr,
@@ -190,11 +185,6 @@ inline bool ConstraintAHP::operator ()(const T* const _current_frame_p,
return true;
}
-inline wolf::JacobianMethod ConstraintAHP::getJacobianMethod() const
-{
- return JAC_AUTO;
-}
-
inline wolf::ConstraintAHPPtr ConstraintAHP::create(const FeatureBasePtr& _ftr_ptr,
const LandmarkAHPPtr& _lmk_ahp_ptr,
const ProcessorBasePtr& _processor_ptr,
diff --git a/src/constraint_block_absolute.h b/src/constraint_block_absolute.h
index 737de58a81d0625dd9e31c877d2f227110076519..a02fcc237b0eccfa2f32f44b7de2440dfedb5bb2 100644
--- a/src/constraint_block_absolute.h
+++ b/src/constraint_block_absolute.h
@@ -33,11 +33,6 @@ class ConstraintBlockAbsolute: public ConstraintAutodiff<ConstraintBlockAbsolute
template<typename T>
bool operator ()(const T* const _sb, T* _residuals) const;
- virtual JacobianMethod getJacobianMethod() const override
- {
- return JAC_AUTO;
- }
-
};
template<typename T>
diff --git a/src/constraint_container.h b/src/constraint_container.h
index 6c7ca7df1c71f4fc426c33d864b2d6209ff886fe..e4c9e66c0ebdfd6d7b2f555fd1544fda4ea8a194 100644
--- a/src/constraint_container.h
+++ b/src/constraint_container.h
@@ -116,16 +116,6 @@ class ConstraintContainer: public ConstraintAutodiff<ConstraintContainer,3,2,1,2
return true;
}
- /** \brief Returns the jacobians computation method
- *
- * Returns the jacobians computation method
- *
- **/
- virtual JacobianMethod getJacobianMethod() const override
- {
- return JAC_AUTO;
- }
-
public:
static ConstraintBasePtr create(const FeatureBasePtr& _feature_ptr,
diff --git a/src/constraint_corner_2D.h b/src/constraint_corner_2D.h
index 0096e438d6bba2b72f7a98a0c9cb51f1bcfb2207..922d17d5aca43eba5e360426041e674d7f2827bf 100644
--- a/src/constraint_corner_2D.h
+++ b/src/constraint_corner_2D.h
@@ -34,16 +34,6 @@ class ConstraintCorner2D: public ConstraintAutodiff<ConstraintCorner2D, 3,2,1,2,
bool operator ()(const T* const _robotP, const T* const _robotO, const T* const _landmarkP,
const T* const _landmarkO, T* _residuals) const;
- /** \brief Returns the jacobians computation method
- *
- * Returns the jacobians computation method
- *
- **/
- virtual JacobianMethod getJacobianMethod() const override
- {
- return JAC_AUTO;
- }
-
static ConstraintBasePtr create(const FeatureBasePtr& _feature_ptr, const NodeBasePtr& _correspondant_ptr, const ProcessorBasePtr& _processor_ptr = nullptr)
{
return std::make_shared<ConstraintCorner2D>(_feature_ptr, std::static_pointer_cast<LandmarkCorner2D>(_correspondant_ptr), _processor_ptr);
diff --git a/src/constraint_epipolar.h b/src/constraint_epipolar.h
index fe184fed34a17f79cf4217725a6ad69947385dec..948a162be4fcd08d443272d46d470b99a76ae904 100644
--- a/src/constraint_epipolar.h
+++ b/src/constraint_epipolar.h
@@ -27,6 +27,7 @@ class ConstraintEpipolar : public ConstraintBase
/** Returns a residual vector and a vector of Jacobian matrix corresponding to each state block evaluated in the point provided in _states_ptr
**/
virtual void evaluate(const std::vector<const Scalar*>& _states_ptr, Eigen::VectorXs& residual_, std::vector<Eigen::MatrixXs>& jacobians_) const override {};
+
/** \brief Returns the jacobians computation method
**/
virtual JacobianMethod getJacobianMethod() const override {return JAC_ANALYTIC;}
diff --git a/src/constraint_fix_bias.h b/src/constraint_fix_bias.h
index acaac249aa8ddac4d6b3238afe3abf667d7b5781..407d368bb701e6db3a06c5e56a75740d067fad54 100644
--- a/src/constraint_fix_bias.h
+++ b/src/constraint_fix_bias.h
@@ -33,16 +33,6 @@ class ConstraintFixBias: public ConstraintAutodiff<ConstraintFixBias,6,3,3>
template<typename T>
bool operator ()(const T* const _ab, const T* const _wb, T* _residuals) const;
- /** \brief Returns the jacobians computation method
- *
- * Returns the jacobians computation method
- *
- **/
- virtual JacobianMethod getJacobianMethod() const override
- {
- return JAC_AUTO;
- }
-
};
template<typename T>
diff --git a/src/constraint_gps_2D.h b/src/constraint_gps_2D.h
index 5efd4007f7f2c433c27b2122c143125255f46f87..d8b5efda4a7f8bb2a43325cef3179821354f2897 100644
--- a/src/constraint_gps_2D.h
+++ b/src/constraint_gps_2D.h
@@ -26,16 +26,6 @@ class ConstraintGPS2D : public ConstraintAutodiff<ConstraintGPS2D, 2, 2>
template<typename T>
bool operator ()(const T* const _x, T* _residuals) const;
- /** \brief Returns the jacobians computation method
- *
- * Returns the jacobians computation method
- *
- **/
- virtual JacobianMethod getJacobianMethod() const override
- {
- return JAC_AUTO;
- }
-
};
template<typename T>
diff --git a/src/constraint_gps_pseudorange_2D.h b/src/constraint_gps_pseudorange_2D.h
index 0873355892d0d82b74c78a98fe238bbda034a2df..d8fc2325623da21ceffb6c356d27f478aed37375 100644
--- a/src/constraint_gps_pseudorange_2D.h
+++ b/src/constraint_gps_pseudorange_2D.h
@@ -54,16 +54,6 @@ class ConstraintGPSPseudorange2D : public ConstraintAutodiff<ConstraintGPSPseudo
const T* const _bias, const T* const _map_p, const T* const _map_o,
T* _residual) const;
- /** \brief Returns the jacobians computation method
- *
- * Returns the jacobians computation method
- *
- **/
- virtual JacobianMethod getJacobianMethod() const override
- {
- return JAC_AUTO;
- }
-
protected:
Eigen::Vector3s sat_position_;
Scalar pseudorange_;
diff --git a/src/constraint_gps_pseudorange_3D.h b/src/constraint_gps_pseudorange_3D.h
index 47e4d95ffc0a263ec2215742e473efa3165fac4d..58f471aa33cc3c0ae21aa9564b6930d0c6d0da5e 100644
--- a/src/constraint_gps_pseudorange_3D.h
+++ b/src/constraint_gps_pseudorange_3D.h
@@ -53,17 +53,6 @@ class ConstraintGPSPseudorange3D: public ConstraintAutodiff<ConstraintGPSPseudor
const T* const _bias, const T* const _init_vehicle_p, const T* const _init_vehicle_o,
T* _residual) const;
-
- /** \brief Returns the jacobians computation method
- *
- * Returns the jacobians computation method
- *
- **/
- virtual JacobianMethod getJacobianMethod() const override
- {
- return JAC_AUTO;
- }
-
protected:
Eigen::Vector3s sat_position_;
Scalar pseudorange_;
diff --git a/src/constraint_imu.h b/src/constraint_imu.h
index dd83a1b09f948669677ffa36fd9545f4b2136f25..72deeb9a7af847f5ec43b39b99f1a6a1e76d4eab 100644
--- a/src/constraint_imu.h
+++ b/src/constraint_imu.h
@@ -72,8 +72,6 @@ class ConstraintIMU : public ConstraintAutodiff<ConstraintIMU, 15, 3, 4, 3, 6, 3
const Eigen::MatrixBase<D1> & _wb2,
Eigen::MatrixBase<D3> & _res) const;
- virtual JacobianMethod getJacobianMethod() const override;
-
/* Function expectation(...)
* params :
* Vector3s _p1 : position in imu frame
@@ -450,13 +448,6 @@ inline void ConstraintIMU::expectation(const Eigen::MatrixBase<D1> & _p1,
imu::betweenStates(_p1, _q1, _v1, _p2, _q2, _v2, _dt, _pe, _qe, _ve);
}
-inline JacobianMethod ConstraintIMU::getJacobianMethod() const
-{
- return JAC_AUTO;
-}
-
-
-
} // namespace wolf
diff --git a/src/constraint_odom_2D.h b/src/constraint_odom_2D.h
index 3e6659633d0d56d6a6fa362515466d4e66d0b546..decbf0e1f3222b536758b360cd02865abd64afd9 100644
--- a/src/constraint_odom_2D.h
+++ b/src/constraint_odom_2D.h
@@ -37,13 +37,6 @@ class ConstraintOdom2D : public ConstraintAutodiff<ConstraintOdom2D, 3, 2, 1, 2,
bool operator ()(const T* const _p1, const T* const _o1, const T* const _p2, const T* const _o2,
T* _residuals) const;
- /** \brief Returns the jacobians computation method
- **/
- virtual JacobianMethod getJacobianMethod() const override
- {
- return JAC_AUTO;
- }
-
public:
static wolf::ConstraintBasePtr create(const FeatureBasePtr& _feature_ptr, const NodeBasePtr& _correspondant_ptr, const ProcessorBasePtr& _processor_ptr)
{
diff --git a/src/constraint_odom_2D_analytic.h b/src/constraint_odom_2D_analytic.h
index 5ae0f4f48852decee401ea6d9b365da21d01800a..dd35bfec72dd5dd239437afa6586e9856e62a3bb 100644
--- a/src/constraint_odom_2D_analytic.h
+++ b/src/constraint_odom_2D_analytic.h
@@ -90,16 +90,6 @@ class ConstraintOdom2DAnalytic : public ConstraintRelative2DAnalytic
//
// jacobians[3] << 0, 0, 1;
// jacobians[3] = getMeasurementSquareRootInformationUpper() * jacobians[0];
-// }
-//
-// /** \brief Returns the jacobians computation method
-// *
-// * Returns the jacobians computation method
-// *
-// **/
-// virtual JacobianMethod getJacobianMethod() const
-// {
-// return AUTO;
// }
diff --git a/src/constraint_odom_3D.h b/src/constraint_odom_3D.h
index f733ff5ede0701d2f0db8871fff6c38fe0899e70..4973dc4893fd7ea63efad2456bb096201bc27656 100644
--- a/src/constraint_odom_3D.h
+++ b/src/constraint_odom_3D.h
@@ -28,8 +28,6 @@ class ConstraintOdom3D : public ConstraintAutodiff<ConstraintOdom3D,6,3,4,3,4>
virtual ~ConstraintOdom3D() = default;
- JacobianMethod getJacobianMethod() const override {return JAC_AUTO;}
-
template<typename T>
bool operator ()(const T* const _p_current,
const T* const _q_current,
diff --git a/src/constraint_point_2D.h b/src/constraint_point_2D.h
index 7370ca7fc68b9faa69b3b612e7f90622f1f349ea..c001fb553363e162ca9c445d88ac2788583dac34 100644
--- a/src/constraint_point_2D.h
+++ b/src/constraint_point_2D.h
@@ -84,16 +84,6 @@ class ConstraintPoint2D: public ConstraintAutodiff<ConstraintPoint2D, 2,2,1,2,1,
template <typename T>
bool operator ()(const T* const _robotP, const T* const _robotO, const T* const _landmarkOriginP, const T* const _landmarkOriginO, const T* const _landmarkPoint, T* _residuals) const;
- /** \brief Returns the jacobians computation method
- *
- * Returns the jacobians computation method
- *
- **/
- virtual JacobianMethod getJacobianMethod() const override
- {
- return JAC_AUTO;
- }
-
/** \brief Returns a reference to the feature measurement
**/
virtual const Eigen::VectorXs& getMeasurement() const override
diff --git a/src/constraint_point_to_line_2D.h b/src/constraint_point_to_line_2D.h
index eeaa841883970a876601cad77370966fedc95c58..be69caa7e60aa8ef00e0162563bad298775e3548 100644
--- a/src/constraint_point_to_line_2D.h
+++ b/src/constraint_point_to_line_2D.h
@@ -75,16 +75,6 @@ class ConstraintPointToLine2D: public ConstraintAutodiff<ConstraintPointToLine2D
template <typename T>
bool operator ()(const T* const _robotP, const T* const _robotO, const T* const _landmarkOriginPosition, const T* const _landmarkOriginOrientation, const T* const _landmarkPoint, const T* const _landmarkPointAux, T* _residuals) const;
- /** \brief Returns the jacobians computation method
- *
- * Returns the jacobians computation method
- *
- **/
- virtual JacobianMethod getJacobianMethod() const override
- {
- return JAC_AUTO;
- }
-
/** \brief Returns a reference to the feature measurement
**/
virtual const Eigen::VectorXs& getMeasurement() const override
diff --git a/src/constraint_pose_2D.h b/src/constraint_pose_2D.h
index c971f72f9bd3f06ecda26113cad9f5456c50b564..7ddc7478c6d5b40d51a239c467063bd14d9fb3d1 100644
--- a/src/constraint_pose_2D.h
+++ b/src/constraint_pose_2D.h
@@ -30,16 +30,6 @@ class ConstraintPose2D: public ConstraintAutodiff<ConstraintPose2D,3,2,1>
template<typename T>
bool operator ()(const T* const _p, const T* const _o, T* _residuals) const;
- /** \brief Returns the jacobians computation method
- *
- * Returns the jacobians computation method
- *
- **/
- virtual JacobianMethod getJacobianMethod() const override
- {
- return JAC_AUTO;
- }
-
};
template<typename T>
diff --git a/src/constraint_pose_3D.h b/src/constraint_pose_3D.h
index d0132756a8b2c6617e4114799d35126df758501d..31221af3e35a047a73808c35a724a0ce526dc2a1 100644
--- a/src/constraint_pose_3D.h
+++ b/src/constraint_pose_3D.h
@@ -28,11 +28,6 @@ class ConstraintPose3D: public ConstraintAutodiff<ConstraintPose3D,6,3,4>
template<typename T>
bool operator ()(const T* const _p, const T* const _o, T* _residuals) const;
- virtual JacobianMethod getJacobianMethod() const override
- {
- return JAC_AUTO;
- }
-
};
template<typename T>
diff --git a/src/constraint_quaternion_absolute.h b/src/constraint_quaternion_absolute.h
index 8fba0ebbb95169af6a7a3faf0cfbda2b06471ffb..8848154618d1b5d24ecfccbee63713743994d901 100644
--- a/src/constraint_quaternion_absolute.h
+++ b/src/constraint_quaternion_absolute.h
@@ -35,11 +35,6 @@ class ConstraintQuaternionAbsolute: public ConstraintAutodiff<ConstraintQuaterni
template<typename T>
bool operator ()(const T* const _o, T* _residuals) const;
- virtual JacobianMethod getJacobianMethod() const override
- {
- return JAC_AUTO;
- }
-
};
template<typename T>
diff --git a/src/constraint_relative_2D_analytic.h b/src/constraint_relative_2D_analytic.h
index d52cb5876166a58ae212b6e1b8532286f35664b8..5d2aadb7e3b22a13056588c0540ad9d89d97ea8d 100644
--- a/src/constraint_relative_2D_analytic.h
+++ b/src/constraint_relative_2D_analytic.h
@@ -91,12 +91,6 @@ class ConstraintRelative2DAnalytic : public ConstraintAnalytic
**/
virtual void evaluatePureJacobians(std::vector<Eigen::MatrixXs>& jacobians) const override;
- /** \brief Returns the jacobians computation method
- **/
- virtual JacobianMethod getJacobianMethod() const override
- {
- return JAC_AUTO;
- }
};