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Commit 9cf5af82 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Merge remote-tracking branch 'origin/devel' into devel

parents e46096c7 0ef812a5
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......@@ -197,7 +197,6 @@ class Problem : public std::enable_shared_from_this<Problem>
void removeMotionProvider(MotionProviderPtr proc);
public:
// MotionProviderPtr getMotionProvider();
std::map<int,MotionProviderPtr>& getMotionProviderMap();
const std::map<int,MotionProviderPtr>& getMotionProviderMap() const;
......@@ -443,13 +442,6 @@ inline bool Problem::isPriorSet() const
return prior_options_ == nullptr;
}
//inline MotionProviderPtr Problem::getMotionProvider()
//{
// if (not motion_provider_map_.empty())
// return motion_provider_map_.begin()->second;
// return nullptr;
//}
inline std::map<int,MotionProviderPtr>& Problem::getMotionProviderMap()
{
return motion_provider_map_;
......
......@@ -969,42 +969,6 @@ bool Problem::getLandmarkCovariance(LandmarkBaseConstPtr _landmark_ptr, Eigen::M
}
return success;
// bool success(true);
// int i = 0, j = 0;
//
// const auto& state_bloc_vec = _landmark_ptr->getStateBlockVec();
//
// // computing size
// SizeEigen sz = 0;
// for (const auto& sb : state_bloc_vec)
// if (sb)
// sz += sb->getLocalSize();
//
// // resizing
// _covariance = Eigen::MatrixXs(sz, sz);
//
// // filling covariance
//
// for (const auto& sb_i : state_bloc_vec)
// {
// if (sb_i)
// {
// j = 0;
// for (const auto& sb_j : state_bloc_vec)
// {
// if (sb_j)
// {
// success = success && getCovarianceBlock(sb_i, sb_j, _covariance, i, j);
// j += sb_j->getLocalSize();
// }
// }
// i += sb_i->getLocalSize();
// }
// }
// return success;
}
MapBasePtr Problem::getMap() const
......
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