From fb7d91896fc48120fc06b43e1e31a41ac29e31b5 Mon Sep 17 00:00:00 2001 From: jvallve <jvallve@iri.upc.edu> Date: Mon, 10 Oct 2022 14:43:00 +0200 Subject: [PATCH] removing local_reference code (developed in MR) --- include/core/problem/problem.h | 32 -------------------------------- 1 file changed, 32 deletions(-) diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h index d2de44d0b..46500c6e2 100644 --- a/include/core/problem/problem.h +++ b/include/core/problem/problem.h @@ -62,12 +62,6 @@ struct PriorOptions }; WOLF_STRUCT_PTR_TYPEDEFS(PriorOptions); -struct Reference -{ - StateBlockPtr p_ptr; - StateBlockPtr o_ptr; -}; - /** \brief Wolf problem node element in the Wolf Tree */ class Problem : public std::enable_shared_from_this<Problem> @@ -96,8 +90,6 @@ class Problem : public std::enable_shared_from_this<Problem> VectorComposite transformation_; mutable std::mutex mut_transform_; - Reference local_reference_; - private: // CAUTION: THESE METHODS ARE PRIVATE, DO NOT MAKE THEM PUBLIC !! Problem(const std::string& _frame_structure, SizeEigen _dim, MapBasePtr _map); // USE create() below !! void setup(); @@ -113,10 +105,6 @@ class Problem : public std::enable_shared_from_this<Problem> public: SizeEigen getDim() const; const StateStructure& getFrameStructure() const; - StateBlockPtr getLocalReferenceP(); - StateBlockConstPtr getLocalReferenceP() const; - StateBlockPtr getLocalReferenceO(); - StateBlockConstPtr getLocalReferenceO() const; protected: void appendToStructure(const StateStructure& _structure); @@ -465,26 +453,6 @@ class Problem : public std::enable_shared_from_this<Problem> namespace wolf { -inline StateBlockPtr Problem::getLocalReferenceP() -{ - return local_reference_.p_ptr; -} - -inline StateBlockConstPtr Problem::getLocalReferenceP() const -{ - return local_reference_.p_ptr; -} - -inline StateBlockPtr Problem::getLocalReferenceO() -{ - return local_reference_.o_ptr; -} - -inline StateBlockConstPtr Problem::getLocalReferenceO() const -{ - return local_reference_.o_ptr; -} - inline TreeManagerBaseConstPtr Problem::getTreeManager() const { return tree_manager_; -- GitLab