Remove data_ as member of ProcessorMotion

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

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),

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_;}