Removed some unused code that was causing warnings
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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) ) ); | ||||
| } | ||||
| 
 | ||||
| } | ||||
| 
 | ||||
| /* ************************************************************************* */ | ||||
|  |  | |||
|  | @ -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); | ||||
|  |  | |||
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