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Remove unused code. (#699)

master
Wolfgang Hess 2017-11-23 16:39:55 +01:00 committed by Wally B. Feed
parent 9bfc52d878
commit 70a0f41364
1 changed files with 0 additions and 62 deletions
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cartographer/mapping_3d/translation_cost_function.h
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/*
* Copyright 2016 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_3D_TRANSLATION_COST_FUNCTION_H_
#define CARTOGRAPHER_MAPPING_3D_TRANSLATION_COST_FUNCTION_H_
#include "Eigen/Core"
#include "Eigen/Geometry"
namespace cartographer {
namespace mapping_3d {
// Penalizes differences between velocity and change in position.
class TranslationCostFunction {
public:
TranslationCostFunction(const double scaling_factor,
const double delta_time_seconds)
: scaling_factor_(scaling_factor),
delta_time_seconds_(delta_time_seconds) {}
TranslationCostFunction(const TranslationCostFunction&) = delete;
TranslationCostFunction& operator=(const TranslationCostFunction&) = delete;
template <typename T>
bool operator()(const T* const start_translation,
const T* const end_translation, const T* const velocity,
T* residual) const {
const T delta_x = end_translation[0] - start_translation[0];
const T delta_y = end_translation[1] - start_translation[1];
const T delta_z = end_translation[2] - start_translation[2];
residual[0] =
scaling_factor_ * (delta_x - velocity[0] * delta_time_seconds_);
residual[1] =
scaling_factor_ * (delta_y - velocity[1] * delta_time_seconds_);
residual[2] =
scaling_factor_ * (delta_z - velocity[2] * delta_time_seconds_);
return true;
}
private:
const double scaling_factor_;
const double delta_time_seconds_;
};
} // namespace mapping_3d
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_TRANSLATION_COST_FUNCTION_H_