From d00e8c71d5fd527798d27848bec15e93c286aafb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 6 Feb 2019 11:33:25 +0100
Subject: [PATCH] Cosmetics
---
src/processor_motion.cpp | 33 ++-------------------------------
1 file changed, 2 insertions(+), 31 deletions(-)
diff --git a/src/processor_motion.cpp b/src/processor_motion.cpp
index 7f18bcd06..a76286083 100644
--- a/src/processor_motion.cpp
+++ b/src/processor_motion.cpp
@@ -248,7 +248,7 @@ void ProcessorMotion::process(CaptureBasePtr _incoming_ptr)
getProblem()->keyFrameCallback(key_frame_ptr, shared_from_this(), params_motion_->time_tolerance);
}
- resetDerived(); // TODO see where to put this
+ resetDerived();
// clear incoming just in case
incoming_ptr_ = nullptr; // This line is not really needed, but it makes things clearer.
@@ -274,7 +274,7 @@ bool ProcessorMotion::getState(const TimeStamp& _ts, Eigen::VectorXs& _x)
CaptureBasePtr cap_orig = capture_motion->getOriginFramePtr()->getCaptureOf(getSensorPtr());
VectorXs calib = cap_orig->getCalibration();
- // Get delta and correct it with new bias
+ // Get delta and correct it with new calibration params
VectorXs calib_preint = capture_motion->getBuffer().getCalibrationPreint();
Motion motion = capture_motion->getBuffer().getMotion(_ts);
@@ -296,35 +296,6 @@ bool ProcessorMotion::getState(const TimeStamp& _ts, Eigen::VectorXs& _x)
return true;
}
-//CaptureMotionPtr ProcessorMotion::findCaptureContainingTimeStamp(const TimeStamp& _ts) const
-//{
-// //std::cout << "ProcessorMotion::findCaptureContainingTimeStamp: ts = " << _ts.getSeconds() << "." << _ts.getNanoSeconds() << std::endl;
-// CaptureMotionPtr capture_ptr = last_ptr_;
-// while (capture_ptr != nullptr)
-// {
-// // capture containing motion previous than the ts found:
-// if (capture_ptr->getBuffer().get().front().ts_ < _ts)
-// return capture_ptr;
-// else
-// {
-// // go to the previous motion capture
-// if (capture_ptr == last_ptr_)
-// capture_ptr = origin_ptr_;
-// else if (capture_ptr->getOriginFramePtr() == nullptr)
-// return nullptr;
-// else
-// {
-// CaptureBasePtr capture_base_ptr = capture_ptr->getOriginFramePtr()->getCaptureOf(getSensorPtr());
-// if (capture_base_ptr == nullptr)
-// return nullptr;
-// else
-// capture_ptr = std::static_pointer_cast<CaptureMotion>(capture_base_ptr);
-// }
-// }
-// }
-// return capture_ptr;
-//}
-
FrameBasePtr ProcessorMotion::setOrigin(const Eigen::VectorXs& _x_origin, const TimeStamp& _ts_origin)
{
FrameBasePtr key_frame_ptr = getProblem()->emplaceFrame(KEY_FRAME, _x_origin, _ts_origin);
--
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