From 9a6a608b7a5dbcd255d032b6c6a90ba70161d883 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Tue, 26 May 2020 16:57:48 +0200
Subject: [PATCH] Do not correct delta in CaptureMotion
---
include/core/capture/capture_motion.h | 2 --
src/capture/capture_motion.cpp | 20 --------------------
2 files changed, 22 deletions(-)
diff --git a/include/core/capture/capture_motion.h b/include/core/capture/capture_motion.h
index 86331e515..1a815041b 100644
--- a/include/core/capture/capture_motion.h
+++ b/include/core/capture/capture_motion.h
@@ -88,8 +88,6 @@ class CaptureMotion : public CaptureBase
MatrixXd getJacobianCalib(const TimeStamp& _ts) const;
// Get delta preintegrated, and corrected for changes on calibration params
- VectorXd getDeltaCorrected(const VectorXd& _calib_current) const;
- VectorXd getDeltaCorrected(const VectorXd& _calib_current, const TimeStamp& _ts) const;
VectorXd getDeltaPreint() const;
VectorXd getDeltaPreint(const TimeStamp& _ts) const;
MatrixXd getDeltaPreintCov() const;
diff --git a/src/capture/capture_motion.cpp b/src/capture/capture_motion.cpp
index d3bae9855..022d7a818 100644
--- a/src/capture/capture_motion.cpp
+++ b/src/capture/capture_motion.cpp
@@ -51,26 +51,6 @@ CaptureMotion::~CaptureMotion()
//
}
-Eigen::VectorXd CaptureMotion::getDeltaCorrected(const VectorXd& _calib_current) const
-{
- VectorXd calib_preint = getCalibrationPreint();
- VectorXd delta_preint = getBuffer().back().delta_integr_;
- MatrixXd jac_calib = getBuffer().back().jacobian_calib_;
- VectorXd delta_error = jac_calib * (_calib_current - calib_preint);
- VectorXd delta_corrected = correctDelta(delta_preint, delta_error);
- return delta_corrected;
-}
-
-Eigen::VectorXd CaptureMotion::getDeltaCorrected(const VectorXd& _calib_current, const TimeStamp& _ts) const
-{
- Motion motion = getBuffer().getMotion(_ts);
- VectorXd delta_preint = motion.delta_integr_;
- MatrixXd jac_calib = motion.jacobian_calib_;
- VectorXd delta_error = jac_calib * (_calib_current - calib_preint_);
- VectorXd delta_corrected = correctDelta(delta_preint, delta_error);
- return delta_corrected;
-}
-
bool CaptureMotion::containsTimeStamp (const TimeStamp& _ts, double _time_tolerance)
{
// the same capture is within tolerance
--
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