From 810acf29c923824d751d976c80521720e9518ac3 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Mon, 26 Feb 2018 13:16:44 +0100
Subject: [PATCH] Remove getJacobianMethod() overrriden from the base class
---
src/constraint_AHP.h | 10 ----------
src/constraint_block_absolute.h | 5 -----
src/constraint_container.h | 10 ----------
src/constraint_corner_2D.h | 10 ----------
src/constraint_epipolar.h | 1 +
src/constraint_fix_bias.h | 10 ----------
src/constraint_gps_2D.h | 10 ----------
src/constraint_gps_pseudorange_2D.h | 10 ----------
src/constraint_gps_pseudorange_3D.h | 11 -----------
src/constraint_imu.h | 9 ---------
src/constraint_odom_2D.h | 7 -------
src/constraint_odom_2D_analytic.h | 10 ----------
src/constraint_odom_3D.h | 2 --
src/constraint_point_2D.h | 10 ----------
src/constraint_point_to_line_2D.h | 10 ----------
src/constraint_pose_2D.h | 10 ----------
src/constraint_pose_3D.h | 5 -----
src/constraint_quaternion_absolute.h | 5 -----
src/constraint_relative_2D_analytic.h | 6 ------
19 files changed, 1 insertion(+), 150 deletions(-)
diff --git a/src/constraint_AHP.h b/src/constraint_AHP.h
index 8062eb19e..d70ddd065 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 737de58a8..a02fcc237 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 6c7ca7df1..e4c9e66c0 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 0096e438d..922d17d5a 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 fe184fed3..948a162be 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 acaac249a..407d368bb 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 5efd4007f..d8b5efda4 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 087335589..d8fc23256 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 47e4d95ff..58f471aa3 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 dd83a1b09..72deeb9a7 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 3e6659633..decbf0e1f 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 5ae0f4f48..dd35bfec7 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 f733ff5ed..4973dc489 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 7370ca7fc..c001fb553 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 eeaa84188..be69caa7e 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 c971f72f9..7ddc7478c 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 d0132756a..31221af3e 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 8fba0ebbb..884815461 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 d52cb5876..5d2aadb7e 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;
- }
};
--
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