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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
9cf5af82
Commit
9cf5af82
authored
3 years ago
by
Joan Solà Ortega
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Merge remote-tracking branch 'origin/devel' into devel
parents
e46096c7
0ef812a5
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1 merge request
!436
Release to start wolf public
Pipeline
#8433
failed
3 years ago
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include/core/problem/problem.h
+0
-8
0 additions, 8 deletions
include/core/problem/problem.h
src/problem/problem.cpp
+0
-36
0 additions, 36 deletions
src/problem/problem.cpp
with
0 additions
and
44 deletions
include/core/problem/problem.h
+
0
−
8
View file @
9cf5af82
...
...
@@ -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_
;
...
...
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src/problem/problem.cpp
+
0
−
36
View file @
9cf5af82
...
...
@@ -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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