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Remove unused code. (#304)

master
Wolfgang Hess 2017-05-23 14:17:20 +02:00 committed by GitHub
parent 515db3b4a9
commit 3d0d1e46b5
3 changed files with 0 additions and 33 deletions
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13
cartographer/kalman_filter/pose_tracker.cc
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@ -343,19 +343,6 @@ PoseCovariance Embed3D(const Pose2DCovariance& embedded_covariance,
return covariance;
}
PoseCovariance PoseCovarianceFromProtoMatrix(
const sensor::proto::Matrix& proto_matrix) {
PoseCovariance covariance;
CHECK_EQ(proto_matrix.rows(), 6);
CHECK_EQ(proto_matrix.cols(), 6);
for (int i = 0; i < 6; ++i) {
for (int j = 0; j < 6; ++j) {
covariance(i, j) = proto_matrix.data(i * 6 + j);
}
}
return covariance;
}
PoseCovariance BuildPoseCovariance(const double translational_variance,
const double rotational_variance) {
const Eigen::Matrix3d translational =

4
cartographer/kalman_filter/pose_tracker.h
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@ -57,10 +57,6 @@ PoseCovariance Embed3D(const Pose2DCovariance& embedded_covariance,
PoseCovariance BuildPoseCovariance(double translational_variance,
double rotational_variance);
// Deserializes the 'proto_matrix' into a PoseCovariance.
PoseCovariance PoseCovarianceFromProtoMatrix(
const sensor::proto::Matrix& proto_matrix);
proto::PoseTrackerOptions CreatePoseTrackerOptions(
common::LuaParameterDictionary* parameter_dictionary);

16
cartographer/sensor/proto/sensor.proto
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@ -34,22 +34,6 @@ message CompressedPointCloud {
repeated int32 point_data = 3 [packed = true];
}
// Linearized matrix representation in row major format.
// E.g. the 2x3 matrix:
// | 1, 2, 3 |
// | 4, 5, 6 |
// would be represented as
// {
// rows: 2;
// cols: 2;
// data: [1, 2, 3, 4, 5, 6]
// }
message Matrix {
optional int32 rows = 1;
optional int32 cols = 2;
repeated double data = 3;
}
// Proto representation of ::cartographer::sensor::RangeData
message RangeData {
optional transform.proto.Vector3f origin = 1;