From edd4a13ff9a575b7f50a0439481c1bf16c81c5c5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 14 Aug 2019 11:37:47 +0200
Subject: [PATCH] Remove data_ as member of ProcessorMotion
---
include/core/processor/processor_motion.h | 1 -
src/processor/processor_motion.cpp | 1 -
test/gtest_processor_odom_3D.cpp | 4 ----
3 files changed, 6 deletions(-)
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 2eb19c69c..1cd51d36e 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -466,7 +466,6 @@ class ProcessorMotion : public ProcessorBase
// helpers to avoid allocation
Scalar dt_; ///< Time step
Eigen::VectorXs x_; ///< current state
- Eigen::VectorXs data_; ///< current data
Eigen::VectorXs delta_; ///< current delta
Eigen::MatrixXs delta_cov_; ///< current delta covariance
Eigen::VectorXs delta_integrated_; ///< integrated delta
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index db24a7c40..a262b48f1 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -21,7 +21,6 @@ ProcessorMotion::ProcessorMotion(const std::string& _type,
last_ptr_(),
incoming_ptr_(),
dt_(0.0), x_(_state_size),
- data_(_data_size),
delta_(_delta_size),
delta_cov_(_delta_cov_size, _delta_cov_size),
delta_integrated_(_delta_size),
diff --git a/test/gtest_processor_odom_3D.cpp b/test/gtest_processor_odom_3D.cpp
index 421efc97a..f60300e84 100644
--- a/test/gtest_processor_odom_3D.cpp
+++ b/test/gtest_processor_odom_3D.cpp
@@ -46,10 +46,6 @@ class ProcessorOdom3DTest : public ProcessorOdom3D
ProcessorOdom3DTest();
// getters :-D !!
- VectorXs& delta() {return delta_;}
- VectorXs& deltaInt() {return delta_integrated_;}
- MatrixXs& deltaCov() {return delta_cov_;}
- MatrixXs& deltaIntCov() {return delta_integrated_cov_;}
Scalar& kdd() {return k_disp_to_disp_;}
Scalar& kdr() {return k_disp_to_rot_;}
Scalar& krr() {return k_rot_to_rot_;}
--
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