Remove unused code. (#384)

cartographer/mapping_2d/local_trajectory_builder.h

@@ -28,7 +28,6 @@
 #include "cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher.h"
 #include "cartographer/mapping_2d/submaps.h"
 #include "cartographer/mapping_3d/motion_filter.h"
-#include "cartographer/sensor/configuration.h"
 #include "cartographer/sensor/voxel_filter.h"
 #include "cartographer/transform/rigid_transform.h"
 

cartographer/sensor/configuration.cc

@@ -1,73 +0,0 @@
-/*
- * 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.
- */
-
-#include "cartographer/sensor/configuration.h"
-
-#include "Eigen/Core"
-#include "Eigen/Geometry"
-#include "cartographer/sensor/proto/configuration.pb.h"
-#include "cartographer/transform/proto/transform.pb.h"
-#include "cartographer/transform/rigid_transform.h"
-#include "cartographer/transform/transform.h"
-#include "glog/logging.h"
-
-namespace cartographer {
-namespace sensor {
-
-proto::Configuration::Sensor CreateSensorConfiguration(
-    common::LuaParameterDictionary* const parameter_dictionary) {
-  proto::Configuration::Sensor sensor;
-  sensor.set_frame_id(parameter_dictionary->GetString("frame_id"));
-  *sensor.mutable_transform() = transform::ToProto(transform::FromDictionary(
-      parameter_dictionary->GetDictionary("transform").get()));
-  return sensor;
-}
-
-proto::Configuration CreateConfiguration(
-    common::LuaParameterDictionary* const parameter_dictionary) {
-  proto::Configuration configuration;
-  for (auto& sensor_parameter_dictionary :
-       parameter_dictionary->GetArrayValuesAsDictionaries()) {
-    *configuration.add_sensor() =
-        CreateSensorConfiguration(sensor_parameter_dictionary.get());
-  }
-  return configuration;
-}
-
-bool IsEnabled(const string& frame_id,
-               const sensor::proto::Configuration& sensor_configuration) {
-  for (const auto& sensor : sensor_configuration.sensor()) {
-    if (sensor.frame_id() == frame_id) {
-      return true;
-    }
-  }
-  return false;
-}
-
-transform::Rigid3d GetTransformToTracking(
-    const string& frame_id,
-    const sensor::proto::Configuration& sensor_configuration) {
-  for (const auto& sensor : sensor_configuration.sensor()) {
-    if (sensor.frame_id() == frame_id) {
-      return transform::ToRigid3(sensor.transform());
-    }
-  }
-  LOG(FATAL) << "No configuration found for sensor with frame ID '" << frame_id
-             << "'.";
-}
-
-}  // namespace sensor
-}  // namespace cartographer

cartographer/sensor/configuration.h

@@ -1,50 +0,0 @@
-/*
- * 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_SENSOR_CONFIGURATION_H_
-#define CARTOGRAPHER_SENSOR_CONFIGURATION_H_
-
-#include "Eigen/Geometry"
-#include "cartographer/common/lua_parameter_dictionary.h"
-#include "cartographer/sensor/proto/configuration.pb.h"
-#include "cartographer/transform/rigid_transform.h"
-
-namespace cartographer {
-namespace sensor {
-
-// Creates the configuration for a singular sensor from 'parameter_dictionary'.
-proto::Configuration::Sensor CreateSensorConfiguration(
-    common::LuaParameterDictionary* parameter_dictionary);
-
-// Creates the mapping from frame_id to Sensors defined in
-// 'parameter_dictionary'.
-proto::Configuration CreateConfiguration(
-    common::LuaParameterDictionary* parameter_dictionary);
-
-// Returns true if 'frame_id' is mentioned in 'sensor_configuration'.
-bool IsEnabled(const string& frame_id,
-               const sensor::proto::Configuration& sensor_configuration);
-
-// Returns the transform which takes data from the sensor frame to the
-// tracking frame.
-transform::Rigid3d GetTransformToTracking(
-    const string& frame_id,
-    const sensor::proto::Configuration& sensor_configuration);
-
-}  // namespace sensor
-}  // namespace cartographer
-
-#endif  // CARTOGRAPHER_SENSOR_CONFIGURATION_H_

cartographer/sensor/proto/configuration.proto

@@ -1,33 +0,0 @@
-// 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.
-
-syntax = "proto2";
-
-package cartographer.sensor.proto;
-
-import "cartographer/transform/proto/transform.proto";
-
-// NEXT_ID: 16
-message Configuration {
-  // NEXT_ID: 4
-  message Sensor {
-    // 'frame_id' of the sensor.
-    optional string frame_id = 2;
-
-    // Transformation from 'frame_id' to the tracking frame.
-    optional transform.proto.Rigid3d transform = 3;
-  }
-
-  repeated Sensor sensor = 15;
-}