diff --git a/src/motion_buffer.h b/src/motion_buffer.h index 5bd1d3d5e729cbb89a28e88f1935be16c71b0b65..452e8ffb087e3cf25d3d1b3201a604cb70cc8a0b 100644 --- a/src/motion_buffer.h +++ b/src/motion_buffer.h @@ -46,6 +46,7 @@ struct Motion const MatrixXs& _jac_delta_int, const MatrixXs& _jacobian_calib);// = MatrixXs::Zero(0,0)); ~Motion(); + private: void resize(Size _data_s, Size _delta_s, Size _delta_cov_s, Size _calib_s); }; ///< One instance of the buffered data, corresponding to a particular time stamp. diff --git a/src/test/gtest_odom_3D.cpp b/src/test/gtest_odom_3D.cpp index 544c4b47ad80af6e25c32b4f3e963b0562444f17..46b5984b1f123d6883cd04e0676fa91c48177006 100644 --- a/src/test/gtest_odom_3D.cpp +++ b/src/test/gtest_odom_3D.cpp @@ -316,10 +316,6 @@ TEST(ProcessorOdom3D, Interpolate1) // delta algebra test Dq_of = q_o.conjugate() * q_f; - R.resize(6,7,6,0); - F.resize(6,7,6,0); - I.resize(6,7,6,0); - // set ref R.ts_ = t_r; R.delta_ = dx_or; // origin to ref @@ -419,11 +415,6 @@ TEST(ProcessorOdom3D, Interpolate2) // timestamp out of bounds test prc.deltaPlusDelta(Dx_or, dx_rf, t_f - t_r, Dx_of); Dx_os = Dx_of; - R.resize(6,7,6,0); - I.resize(6,7,6,0); - S.resize(6,7,6,0); - F.resize(6,7,6,0); - // set ref R.ts_ = t_r; R.delta_ = dx_or; // origin to ref