remove unused sizes in MotionBuffer

include/core/processor/motion_buffer.h

@@ -74,9 +74,7 @@ struct Motion
  */
 class MotionBuffer{
     public:
-        SizeEigen data_size_, delta_size_, cov_size_;
-        MotionBuffer() = delete;
-        MotionBuffer(SizeEigen _data_size, SizeEigen _delta_size, SizeEigen _cov_size);
+        MotionBuffer() ;
         std::list<Motion>& get();
         const std::list<Motion>& get() const;
         const Motion& getMotion(const TimeStamp& _ts) const;

src/capture/capture_motion.cpp

@@ -20,7 +20,7 @@ CaptureMotion::CaptureMotion(const std::string & _type,
         CaptureBase(_type, _ts, _sensor_ptr),
         data_(_data),
         data_cov_(_sensor_ptr ? _sensor_ptr->getNoiseCov() : Eigen::MatrixXs::Zero(_data.rows(), _data.rows())), // Someone should test this zero and do something smart accordingly
-        buffer_(_data.size(), _delta_size, _delta_cov_size),
+        buffer_(),
         origin_frame_ptr_(_origin_frame_ptr)
 {
     //
@@ -40,7 +40,7 @@ CaptureMotion::CaptureMotion(const std::string & _type,
                 CaptureBase(_type, _ts, _sensor_ptr, _p_ptr, _o_ptr, _intr_ptr),
                 data_(_data),
                 data_cov_(_data_cov),
-                buffer_(_data.size(), _delta_size, _delta_cov_size),
+                buffer_(),
                 origin_frame_ptr_(_origin_frame_ptr)
 {
     //

src/processor/motion_buffer.cpp

@@ -62,12 +62,7 @@ void Motion::resize(SizeEigen _data_s, SizeEigen _delta_s, SizeEigen _delta_cov_
 
 ////////////////////////////////////////////////////////////////////////////////////////
 
-MotionBuffer::MotionBuffer(SizeEigen _data_size,
-                           SizeEigen _delta_size,
-                           SizeEigen _cov_size) :
-        data_size_(_data_size),
-        delta_size_(_delta_size),
-        cov_size_(_cov_size)
+MotionBuffer::MotionBuffer()
 {
     container_.clear();
 }

test/gtest_motion_buffer.cpp

@@ -40,7 +40,7 @@ Motion m4 = newMotion(t4, 4, 10, 1, .1, 1);
 
 TEST(MotionBuffer, QueryTimeStamps)
 {
-    MotionBuffer MB(1,1,1);
+    MotionBuffer MB;
 
     MB.get().push_back(m0);
     MB.get().push_back(m1);
@@ -64,7 +64,7 @@ TEST(MotionBuffer, QueryTimeStamps)
 
 TEST(MotionBuffer, getMotion)
 {
-    MotionBuffer MB(1,1,1);
+    MotionBuffer MB;
 
     MB.get().push_back(m0);
     ASSERT_EQ(MB.getMotion(t0).delta_, m0.delta_);
@@ -78,7 +78,7 @@ TEST(MotionBuffer, getMotion)
 
 TEST(MotionBuffer, getDelta)
 {
-    MotionBuffer MB(1,1,1);
+    MotionBuffer MB;
 
     MB.get().push_back(m0);
 
@@ -92,7 +92,7 @@ TEST(MotionBuffer, getDelta)
 
 TEST(MotionBuffer, Split)
 {
-    MotionBuffer MB(1,1,1);
+    MotionBuffer MB;
 
     MB.get().push_back(m0);
     MB.get().push_back(m1);
@@ -100,7 +100,7 @@ TEST(MotionBuffer, Split)
     MB.get().push_back(m3);
     MB.get().push_back(m4); // put 5 motions
 
-    MotionBuffer MB_old(1,1,1);
+    MotionBuffer MB_old;
 
     TimeStamp t = 1.5; // between m1 and m2
     MB.split(t, MB_old);
@@ -116,7 +116,7 @@ TEST(MotionBuffer, Split)
 
 // TEST(MotionBuffer, integrateCovariance)
 // {
-//     MotionBuffer MB(1,1,1,0);
+//     MotionBuffer MB;
 // 
 //     MB.get().push_back(m0);
 //     MB.get().push_back(m1);
@@ -131,7 +131,7 @@ TEST(MotionBuffer, Split)
 // 
 // TEST(MotionBuffer, integrateCovariance_ts)
 // {
-//     MotionBuffer MB(1,1,1,0);
+//     MotionBuffer MB;
 // 
 //     MB.get().push_back(m0);
 //     MB.get().push_back(m1);
@@ -145,7 +145,7 @@ TEST(MotionBuffer, Split)
 // 
 // TEST(MotionBuffer, integrateCovariance_ti_tf)
 // {
-//     MotionBuffer MB(1,1,1,0);
+//     MotionBuffer MB;
 // 
 //     MB.get().push_back(m0);
 //     MB.get().push_back(m1);
@@ -162,7 +162,7 @@ TEST(MotionBuffer, Split)
 
 TEST(MotionBuffer, print)
 {
-    MotionBuffer MB(1,1,1);
+    MotionBuffer MB;
 
     MB.get().push_back(m0);
     MB.get().push_back(m1);