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Re-enable method for manifold pre-integration

release/4.3a0
dellaert 2016-05-15 12:59:06 -07:00
parent cbf062ff32
commit 34513f92b4
2 changed files with 0 additions and 4 deletions
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2
gtsam/navigation/NavState.cpp
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@ -239,7 +239,6 @@ Matrix7 NavState::wedge(const Vector9& xi) {
#define D_v_v(H) (H)->block<3,3>(6,6) #define D_v_v(H) (H)->block<3,3>(6,6)
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
#if defined(GTSAM_ALLOW_DEPRECATED_SINCE_V4) || !defined(GTSAM_TANGENT_PREINTEGRATION)
NavState NavState::update(const Vector3& b_acceleration, const Vector3& b_omega, NavState NavState::update(const Vector3& b_acceleration, const Vector3& b_omega,
const double dt, OptionalJacobian<9, 9> F, OptionalJacobian<9, 3> G1, const double dt, OptionalJacobian<9, 9> F, OptionalJacobian<9, 3> G1,
OptionalJacobian<9, 3> G2) const { OptionalJacobian<9, 3> G2) const {
@ -282,7 +281,6 @@ NavState NavState::update(const Vector3& b_acceleration, const Vector3& b_omega,
} }
return newState; return newState;
} }
#endif
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
Vector9 NavState::coriolis(double dt, const Vector3& omega, bool secondOrder, Vector9 NavState::coriolis(double dt, const Vector3& omega, bool secondOrder,

2
gtsam/navigation/NavState.h
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@ -203,13 +203,11 @@ public:
/// @name Dynamics /// @name Dynamics
/// @{ /// @{
#if defined(GTSAM_ALLOW_DEPRECATED_SINCE_V4) || !defined(GTSAM_TANGENT_PREINTEGRATION)
/// Integrate forward in time given angular velocity and acceleration in body frame /// Integrate forward in time given angular velocity and acceleration in body frame
/// Uses second order integration for position, returns derivatives except dt. /// Uses second order integration for position, returns derivatives except dt.
NavState update(const Vector3& b_acceleration, const Vector3& b_omega, NavState update(const Vector3& b_acceleration, const Vector3& b_omega,
const double dt, OptionalJacobian<9, 9> F, OptionalJacobian<9, 3> G1, const double dt, OptionalJacobian<9, 9> F, OptionalJacobian<9, 3> G1,
OptionalJacobian<9, 3> G2) const; OptionalJacobian<9, 3> G2) const;
#endif
/// Compute tangent space contribution due to Coriolis forces /// Compute tangent space contribution due to Coriolis forces
Vector9 coriolis(double dt, const Vector3& omega, bool secondOrder = false, Vector9 coriolis(double dt, const Vector3& omega, bool secondOrder = false,