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Simplified deprecated methods

release/4.3a0
dellaert 2015-07-19 01:52:23 -07:00
parent 042d874f08
commit 7b02a01a44
4 changed files with 10 additions and 22 deletions
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14
gtsam/navigation/CombinedImuFactor.cpp
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@ -277,19 +277,13 @@ CombinedImuFactor::CombinedImuFactor(
void CombinedImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, void CombinedImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i,
Pose3& pose_j, Vector3& vel_j, Pose3& pose_j, Vector3& vel_j,
const imuBias::ConstantBias& bias_i, const imuBias::ConstantBias& bias_i,
const CombinedPreintegratedMeasurements& pim, CombinedPreintegratedMeasurements& pim,
const Vector3& gravity, const Vector3& gravity,
const Vector3& omegaCoriolis, const Vector3& omegaCoriolis,
const bool use2ndOrderCoriolis) { const bool use2ndOrderCoriolis) {
// NOTE(frank): hack below only for backward compatibility // use deprecated predict
boost::shared_ptr<CombinedPreintegratedMeasurements::Params> p = PoseVelocityBias pvb = pim.predict(pose_i, vel_i, bias_i, gravity,
boost::make_shared<CombinedPreintegratedMeasurements::Params>(pim.p()); omegaCoriolis, use2ndOrderCoriolis);
p->gravity = gravity;
p->omegaCoriolis = omegaCoriolis;
p->use2ndOrderCoriolis = use2ndOrderCoriolis;
CombinedPreintegratedMeasurements newPim = pim;
newPim.p_ = p;
PoseVelocityBias pvb = newPim.predict(pose_i, vel_i, bias_i);
pose_j = pvb.pose; pose_j = pvb.pose;
vel_j = pvb.velocity; vel_j = pvb.velocity;
} }

2
gtsam/navigation/CombinedImuFactor.h
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@ -245,7 +245,7 @@ public:
// @deprecated use PreintegrationBase::predict // @deprecated use PreintegrationBase::predict
static void Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, static void Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j,
Vector3& vel_j, const imuBias::ConstantBias& bias_i, Vector3& vel_j, const imuBias::ConstantBias& bias_i,
const CombinedPreintegratedMeasurements& pim, CombinedPreintegratedMeasurements& pim,
const Vector3& gravity, const Vector3& omegaCoriolis, const Vector3& gravity, const Vector3& omegaCoriolis,
const bool use2ndOrderCoriolis = false); const bool use2ndOrderCoriolis = false);

14
gtsam/navigation/ImuFactor.cpp
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@ -195,18 +195,12 @@ ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias,
void ImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i, void ImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i,
Pose3& pose_j, Vector3& vel_j, Pose3& pose_j, Vector3& vel_j,
const imuBias::ConstantBias& bias_i, const imuBias::ConstantBias& bias_i,
const PreintegratedMeasurements& pim, PreintegratedMeasurements& pim,
const Vector3& gravity, const Vector3& omegaCoriolis, const Vector3& gravity, const Vector3& omegaCoriolis,
const bool use2ndOrderCoriolis) { const bool use2ndOrderCoriolis) {
// NOTE(frank): hack below only for backward compatibility // use deprecated predict
boost::shared_ptr<PreintegratedMeasurements::Params> p = PoseVelocityBias pvb = pim.predict(pose_i, vel_i, bias_i, gravity,
boost::make_shared<PreintegratedMeasurements::Params>(pim.p()); omegaCoriolis, use2ndOrderCoriolis);
p->gravity = gravity;
p->omegaCoriolis = omegaCoriolis;
p->use2ndOrderCoriolis = use2ndOrderCoriolis;
PreintegratedMeasurements newPim = pim;
newPim.p_ = p;
PoseVelocityBias pvb = newPim.predict(pose_i, vel_i, bias_i);
pose_j = pvb.pose; pose_j = pvb.pose;
vel_j = pvb.velocity; vel_j = pvb.velocity;
} }

2
gtsam/navigation/ImuFactor.h
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@ -212,7 +212,7 @@ public:
/// @deprecated use PreintegrationBase::predict /// @deprecated use PreintegrationBase::predict
static void Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, static void Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j,
Vector3& vel_j, const imuBias::ConstantBias& bias_i, Vector3& vel_j, const imuBias::ConstantBias& bias_i,
const PreintegratedMeasurements& pim, const Vector3& gravity, PreintegratedMeasurements& pim, const Vector3& gravity,
const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false); const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false);
private: private: