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Remove CHECK preventing the use of the IMU-based extrapolator. (#1804) 

Fixes #1803.

Signed-off-by: Wolfgang Hess <whess@lyft.com>
master
Wolfgang Hess 2021-01-26 18:26:46 +01:00 committed by GitHub
parent 018dded2f9
commit a48f12dfa3
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cartographer/mapping/pose_extrapolator_interface.cc
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@ -84,8 +84,6 @@ PoseExtrapolatorInterface::CreateWithImuData(
const std::vector<sensor::ImuData>& imu_data, const std::vector<sensor::ImuData>& imu_data,
const std::vector<transform::TimestampedTransform>& initial_poses) { const std::vector<transform::TimestampedTransform>& initial_poses) {
CHECK(!imu_data.empty()); CHECK(!imu_data.empty());
// TODO(schwoere): Implement/integrate imu based extrapolator.
CHECK(!options.use_imu_based()) << "Not implemented!";
if (options.use_imu_based()) { if (options.use_imu_based()) {
return ImuBasedPoseExtrapolator::InitializeWithImu(options.imu_based(), return ImuBasedPoseExtrapolator::InitializeWithImu(options.imu_based(),
imu_data, initial_poses); imu_data, initial_poses);