From cb97b671e5d8900359648d74ed108cc73c298b3a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 14 Aug 2019 10:21:35 +0200
Subject: [PATCH] remove unused sizes in MotionBuffer
---
include/core/processor/motion_buffer.h | 4 +---
src/capture/capture_motion.cpp | 4 ++--
src/processor/motion_buffer.cpp | 7 +------
test/gtest_motion_buffer.cpp | 18 +++++++++---------
4 files changed, 13 insertions(+), 20 deletions(-)
diff --git a/include/core/processor/motion_buffer.h b/include/core/processor/motion_buffer.h
index 6809c92ee..9d7ae613f 100644
--- a/include/core/processor/motion_buffer.h
+++ b/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;
diff --git a/src/capture/capture_motion.cpp b/src/capture/capture_motion.cpp
index 9f1e22166..90b282f2a 100644
--- a/src/capture/capture_motion.cpp
+++ b/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)
{
//
diff --git a/src/processor/motion_buffer.cpp b/src/processor/motion_buffer.cpp
index 635004edd..1a4aa63e0 100644
--- a/src/processor/motion_buffer.cpp
+++ b/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();
}
diff --git a/test/gtest_motion_buffer.cpp b/test/gtest_motion_buffer.cpp
index af262f117..e8d572d73 100644
--- a/test/gtest_motion_buffer.cpp
+++ b/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);
--
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