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Remove unused code. (#89)

master
Wolfgang Hess 2016-10-20 13:54:12 +02:00 committed by GitHub
parent 5b16f4bcb6
commit 4d81b58a39
15 changed files with 0 additions and 32 deletions
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1
cartographer/mapping/CMakeLists.txt
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@ -25,7 +25,6 @@ google_library(mapping_collated_trajectory_builder
common_port common_port
common_rate_timer common_rate_timer
common_time common_time
kalman_filter_pose_tracker
mapping_global_trajectory_builder_interface mapping_global_trajectory_builder_interface
mapping_submaps mapping_submaps
mapping_trajectory_builder mapping_trajectory_builder

4
cartographer/mapping/collated_trajectory_builder.cc
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@ -50,10 +50,6 @@ const Submaps* CollatedTrajectoryBuilder::submaps() const {
return wrapped_trajectory_builder_->submaps(); return wrapped_trajectory_builder_->submaps();
} }
kalman_filter::PoseTracker* CollatedTrajectoryBuilder::pose_tracker() const {
return wrapped_trajectory_builder_->pose_tracker();
}
const TrajectoryBuilder::PoseEstimate& const TrajectoryBuilder::PoseEstimate&
CollatedTrajectoryBuilder::pose_estimate() const { CollatedTrajectoryBuilder::pose_estimate() const {
return wrapped_trajectory_builder_->pose_estimate(); return wrapped_trajectory_builder_->pose_estimate();

2
cartographer/mapping/collated_trajectory_builder.h
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@ -25,7 +25,6 @@
#include "cartographer/common/port.h" #include "cartographer/common/port.h"
#include "cartographer/common/rate_timer.h" #include "cartographer/common/rate_timer.h"
#include "cartographer/kalman_filter/pose_tracker.h"
#include "cartographer/mapping/global_trajectory_builder_interface.h" #include "cartographer/mapping/global_trajectory_builder_interface.h"
#include "cartographer/mapping/submaps.h" #include "cartographer/mapping/submaps.h"
#include "cartographer/mapping/trajectory_builder.h" #include "cartographer/mapping/trajectory_builder.h"
@ -51,7 +50,6 @@ class CollatedTrajectoryBuilder : public TrajectoryBuilder {
delete; delete;
const Submaps* submaps() const override; const Submaps* submaps() const override;
kalman_filter::PoseTracker* pose_tracker() const override;
const PoseEstimate& pose_estimate() const override; const PoseEstimate& pose_estimate() const override;
void AddSensorData(const string& sensor_id, void AddSensorData(const string& sensor_id,

1
cartographer/mapping/global_trajectory_builder_interface.h
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@ -48,7 +48,6 @@ class GlobalTrajectoryBuilderInterface {
const GlobalTrajectoryBuilderInterface&) = delete; const GlobalTrajectoryBuilderInterface&) = delete;
virtual const Submaps* submaps() const = 0; virtual const Submaps* submaps() const = 0;
virtual kalman_filter::PoseTracker* pose_tracker() const = 0;
virtual const PoseEstimate& pose_estimate() const = 0; virtual const PoseEstimate& pose_estimate() const = 0;
virtual void AddLaserFan(common::Time time, virtual void AddLaserFan(common::Time time,

1
cartographer/mapping/trajectory_builder.h
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@ -78,7 +78,6 @@ class TrajectoryBuilder {
TrajectoryBuilder& operator=(const TrajectoryBuilder&) = delete; TrajectoryBuilder& operator=(const TrajectoryBuilder&) = delete;
virtual const Submaps* submaps() const = 0; virtual const Submaps* submaps() const = 0;
virtual kalman_filter::PoseTracker* pose_tracker() const = 0;
virtual const PoseEstimate& pose_estimate() const = 0; virtual const PoseEstimate& pose_estimate() const = 0;
virtual void AddSensorData(const string& sensor_id, virtual void AddSensorData(const string& sensor_id,

4
cartographer/mapping_2d/global_trajectory_builder.cc
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@ -32,10 +32,6 @@ const Submaps* GlobalTrajectoryBuilder::submaps() const {
return local_trajectory_builder_.submaps(); return local_trajectory_builder_.submaps();
} }
kalman_filter::PoseTracker* GlobalTrajectoryBuilder::pose_tracker() const {
return local_trajectory_builder_.pose_tracker();
}
void GlobalTrajectoryBuilder::AddLaserFan(const common::Time time, void GlobalTrajectoryBuilder::AddLaserFan(const common::Time time,
const sensor::LaserFan& laser_fan) { const sensor::LaserFan& laser_fan) {
std::unique_ptr<LocalTrajectoryBuilder::InsertionResult> insertion_result = std::unique_ptr<LocalTrajectoryBuilder::InsertionResult> insertion_result =

1
cartographer/mapping_2d/global_trajectory_builder.h
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@ -35,7 +35,6 @@ class GlobalTrajectoryBuilder
GlobalTrajectoryBuilder& operator=(const GlobalTrajectoryBuilder&) = delete; GlobalTrajectoryBuilder& operator=(const GlobalTrajectoryBuilder&) = delete;
const Submaps* submaps() const override; const Submaps* submaps() const override;
kalman_filter::PoseTracker* pose_tracker() const override;
const mapping::GlobalTrajectoryBuilderInterface::PoseEstimate& pose_estimate() const mapping::GlobalTrajectoryBuilderInterface::PoseEstimate& pose_estimate()
const override; const override;

4
cartographer/mapping_2d/local_trajectory_builder.cc
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@ -72,10 +72,6 @@ LocalTrajectoryBuilder::~LocalTrajectoryBuilder() {}
const Submaps* LocalTrajectoryBuilder::submaps() const { return &submaps_; } const Submaps* LocalTrajectoryBuilder::submaps() const { return &submaps_; }
kalman_filter::PoseTracker* LocalTrajectoryBuilder::pose_tracker() const {
return pose_tracker_.get();
}
sensor::LaserFan LocalTrajectoryBuilder::BuildCroppedLaserFan( sensor::LaserFan LocalTrajectoryBuilder::BuildCroppedLaserFan(
const transform::Rigid3f& tracking_to_tracking_2d, const transform::Rigid3f& tracking_to_tracking_2d,
const sensor::LaserFan& laser_fan) const { const sensor::LaserFan& laser_fan) const {

1
cartographer/mapping_2d/local_trajectory_builder.h
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@ -71,7 +71,6 @@ class LocalTrajectoryBuilder {
const kalman_filter::PoseCovariance& covariance); const kalman_filter::PoseCovariance& covariance);
const Submaps* submaps() const; const Submaps* submaps() const;
kalman_filter::PoseTracker* pose_tracker() const;
private: private:
// Transforms 'laser_scan', crops and voxel filters. // Transforms 'laser_scan', crops and voxel filters.

4
cartographer/mapping_3d/global_trajectory_builder.cc
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@ -33,10 +33,6 @@ const mapping_3d::Submaps* GlobalTrajectoryBuilder::submaps() const {
return local_trajectory_builder_->submaps(); return local_trajectory_builder_->submaps();
} }
kalman_filter::PoseTracker* GlobalTrajectoryBuilder::pose_tracker() const {
return local_trajectory_builder_->pose_tracker();
}
void GlobalTrajectoryBuilder::AddImuData( void GlobalTrajectoryBuilder::AddImuData(
const common::Time time, const Eigen::Vector3d& linear_acceleration, const common::Time time, const Eigen::Vector3d& linear_acceleration,
const Eigen::Vector3d& angular_velocity) { const Eigen::Vector3d& angular_velocity) {

1
cartographer/mapping_3d/global_trajectory_builder.h
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@ -38,7 +38,6 @@ class GlobalTrajectoryBuilder
GlobalTrajectoryBuilder& operator=(const GlobalTrajectoryBuilder&) = delete; GlobalTrajectoryBuilder& operator=(const GlobalTrajectoryBuilder&) = delete;
const mapping_3d::Submaps* submaps() const override; const mapping_3d::Submaps* submaps() const override;
kalman_filter::PoseTracker* pose_tracker() const override;
void AddImuData(common::Time time, const Eigen::Vector3d& linear_acceleration, void AddImuData(common::Time time, const Eigen::Vector3d& linear_acceleration,
const Eigen::Vector3d& angular_velocity) override; const Eigen::Vector3d& angular_velocity) override;
void AddLaserFan(common::Time time, void AddLaserFan(common::Time time,

4
cartographer/mapping_3d/kalman_local_trajectory_builder.cc
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@ -50,10 +50,6 @@ const mapping_3d::Submaps* KalmanLocalTrajectoryBuilder::submaps() const {
return submaps_.get(); return submaps_.get();
} }
kalman_filter::PoseTracker* KalmanLocalTrajectoryBuilder::pose_tracker() const {
return pose_tracker_.get();
}
void KalmanLocalTrajectoryBuilder::AddImuData( void KalmanLocalTrajectoryBuilder::AddImuData(
const common::Time time, const Eigen::Vector3d& linear_acceleration, const common::Time time, const Eigen::Vector3d& linear_acceleration,
const Eigen::Vector3d& angular_velocity) { const Eigen::Vector3d& angular_velocity) {

1
cartographer/mapping_3d/kalman_local_trajectory_builder.h
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@ -57,7 +57,6 @@ class KalmanLocalTrajectoryBuilder : public LocalTrajectoryBuilderInterface {
void AddTrajectoryNodeIndex(int trajectory_node_index) override; void AddTrajectoryNodeIndex(int trajectory_node_index) override;
const mapping_3d::Submaps* submaps() const override; const mapping_3d::Submaps* submaps() const override;
const PoseEstimate& pose_estimate() const override; const PoseEstimate& pose_estimate() const override;
kalman_filter::PoseTracker* pose_tracker() const override;
private: private:
std::unique_ptr<InsertionResult> AddAccumulatedLaserFan( std::unique_ptr<InsertionResult> AddAccumulatedLaserFan(

1
cartographer/mapping_3d/local_trajectory_builder_interface.h
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@ -65,7 +65,6 @@ class LocalTrajectoryBuilderInterface {
virtual void AddTrajectoryNodeIndex(int trajectory_node_index) = 0; virtual void AddTrajectoryNodeIndex(int trajectory_node_index) = 0;
virtual const mapping_3d::Submaps* submaps() const = 0; virtual const mapping_3d::Submaps* submaps() const = 0;
virtual const PoseEstimate& pose_estimate() const = 0; virtual const PoseEstimate& pose_estimate() const = 0;
virtual kalman_filter::PoseTracker* pose_tracker() const = 0;
protected: protected:
LocalTrajectoryBuilderInterface() {} LocalTrajectoryBuilderInterface() {}

2
cartographer/mapping_3d/optimizing_local_trajectory_builder.h
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@ -60,8 +60,6 @@ class OptimizingLocalTrajectoryBuilder
const common::Time time, const transform::Rigid3d& pose, const common::Time time, const transform::Rigid3d& pose,
const kalman_filter::PoseCovariance& covariance) override; const kalman_filter::PoseCovariance& covariance) override;
kalman_filter::PoseTracker* pose_tracker() const override { return nullptr; }
void AddTrajectoryNodeIndex(int trajectory_node_index) override; void AddTrajectoryNodeIndex(int trajectory_node_index) override;
const mapping_3d::Submaps* submaps() const override; const mapping_3d::Submaps* submaps() const override;
const PoseEstimate& pose_estimate() const override; const PoseEstimate& pose_estimate() const override;