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Removed some unused code that was causing warnings

release/4.3a0
Richard Roberts 2014-02-23 18:51:48 -05:00
parent 485b3b475a
commit 4c5cb4d8ec
2 changed files with 0 additions and 28 deletions
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25
gtsam/navigation/tests/testCombinedImuFactor.cpp
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@ -40,20 +40,6 @@ using symbol_shorthand::B;
/* ************************************************************************* */
namespace {
Vector callEvaluateError(const ImuFactor& factor,
const Pose3& pose_i, const LieVector& vel_i, const Pose3& pose_j, const LieVector& vel_j,
const imuBias::ConstantBias& bias)
{
return factor.evaluateError(pose_i, vel_i, pose_j, vel_j, bias);
}
Rot3 evaluateRotationError(const ImuFactor& factor,
const Pose3& pose_i, const LieVector& vel_i, const Pose3& pose_j, const LieVector& vel_j,
const imuBias::ConstantBias& bias)
{
return Rot3::Expmap(factor.evaluateError(pose_i, vel_i, pose_j, vel_j, bias).tail(3) ) ;
}
ImuFactor::PreintegratedMeasurements evaluatePreintegratedMeasurements(
const imuBias::ConstantBias& bias,
const list<Vector3>& measuredAccs,
@ -108,17 +94,6 @@ Rot3 evaluatePreintegratedMeasurementsRotation(
measuredAccs, measuredOmegas, deltaTs).deltaRij;
}
Rot3 evaluateRotation(const Vector3 measuredOmega, const Vector3 biasOmega, const double deltaT)
{
return Rot3::Expmap((measuredOmega - biasOmega) * deltaT);
}
Vector3 evaluateLogRotation(const Vector3 thetahat, const Vector3 deltatheta)
{
return Rot3::Logmap( Rot3::Expmap(thetahat).compose( Rot3::Expmap(deltatheta) ) );
}
}
/* ************************************************************************* */

3
gtsam_unstable/slam/tests/testTransformBtwRobotsUnaryFactor.cpp
View File

@ -125,9 +125,6 @@ TEST( TransformBtwRobotsUnaryFactor, unwhitenedError2)
SharedGaussian model(noiseModel::Diagonal::Sigmas((Vector(3) << 0.5, 0.5, 0.05)));
double prior_outlier = 0.01;
double prior_inlier = 0.99;
gtsam::Values valA, valB;
valA.insert(keyA, orgA_T_currA);
valB.insert(keyB, orgB_T_currB);