From 4d81b58a399f89871c265d14728fcdc8d545f07f Mon Sep 17 00:00:00 2001 From: Wolfgang Hess Date: Thu, 20 Oct 2016 13:54:12 +0200 Subject: [PATCH] Remove unused code. (#89) --- cartographer/mapping/CMakeLists.txt | 1 - cartographer/mapping/collated_trajectory_builder.cc | 4 ---- cartographer/mapping/collated_trajectory_builder.h | 2 -- cartographer/mapping/global_trajectory_builder_interface.h | 1 - cartographer/mapping/trajectory_builder.h | 1 - cartographer/mapping_2d/global_trajectory_builder.cc | 4 ---- cartographer/mapping_2d/global_trajectory_builder.h | 1 - cartographer/mapping_2d/local_trajectory_builder.cc | 4 ---- cartographer/mapping_2d/local_trajectory_builder.h | 1 - cartographer/mapping_3d/global_trajectory_builder.cc | 4 ---- cartographer/mapping_3d/global_trajectory_builder.h | 1 - cartographer/mapping_3d/kalman_local_trajectory_builder.cc | 4 ---- cartographer/mapping_3d/kalman_local_trajectory_builder.h | 1 - cartographer/mapping_3d/local_trajectory_builder_interface.h | 1 - cartographer/mapping_3d/optimizing_local_trajectory_builder.h | 2 -- 15 files changed, 32 deletions(-) diff --git a/cartographer/mapping/CMakeLists.txt b/cartographer/mapping/CMakeLists.txt index 141b503..ab8fa17 100644 --- a/cartographer/mapping/CMakeLists.txt +++ b/cartographer/mapping/CMakeLists.txt @@ -25,7 +25,6 @@ google_library(mapping_collated_trajectory_builder common_port common_rate_timer common_time - kalman_filter_pose_tracker mapping_global_trajectory_builder_interface mapping_submaps mapping_trajectory_builder diff --git a/cartographer/mapping/collated_trajectory_builder.cc b/cartographer/mapping/collated_trajectory_builder.cc index 46fca74..a55c491 100644 --- a/cartographer/mapping/collated_trajectory_builder.cc +++ b/cartographer/mapping/collated_trajectory_builder.cc @@ -50,10 +50,6 @@ const Submaps* CollatedTrajectoryBuilder::submaps() const { return wrapped_trajectory_builder_->submaps(); } -kalman_filter::PoseTracker* CollatedTrajectoryBuilder::pose_tracker() const { - return wrapped_trajectory_builder_->pose_tracker(); -} - const TrajectoryBuilder::PoseEstimate& CollatedTrajectoryBuilder::pose_estimate() const { return wrapped_trajectory_builder_->pose_estimate(); diff --git a/cartographer/mapping/collated_trajectory_builder.h b/cartographer/mapping/collated_trajectory_builder.h index 3d15ac7..1bac2c7 100644 --- a/cartographer/mapping/collated_trajectory_builder.h +++ b/cartographer/mapping/collated_trajectory_builder.h @@ -25,7 +25,6 @@ #include "cartographer/common/port.h" #include "cartographer/common/rate_timer.h" -#include "cartographer/kalman_filter/pose_tracker.h" #include "cartographer/mapping/global_trajectory_builder_interface.h" #include "cartographer/mapping/submaps.h" #include "cartographer/mapping/trajectory_builder.h" @@ -51,7 +50,6 @@ class CollatedTrajectoryBuilder : public TrajectoryBuilder { delete; const Submaps* submaps() const override; - kalman_filter::PoseTracker* pose_tracker() const override; const PoseEstimate& pose_estimate() const override; void AddSensorData(const string& sensor_id, diff --git a/cartographer/mapping/global_trajectory_builder_interface.h b/cartographer/mapping/global_trajectory_builder_interface.h index a268076..3e1c7c5 100644 --- a/cartographer/mapping/global_trajectory_builder_interface.h +++ b/cartographer/mapping/global_trajectory_builder_interface.h @@ -48,7 +48,6 @@ class GlobalTrajectoryBuilderInterface { const GlobalTrajectoryBuilderInterface&) = delete; virtual const Submaps* submaps() const = 0; - virtual kalman_filter::PoseTracker* pose_tracker() const = 0; virtual const PoseEstimate& pose_estimate() const = 0; virtual void AddLaserFan(common::Time time, diff --git a/cartographer/mapping/trajectory_builder.h b/cartographer/mapping/trajectory_builder.h index 66cb0f9..bdd2ab4 100644 --- a/cartographer/mapping/trajectory_builder.h +++ b/cartographer/mapping/trajectory_builder.h @@ -78,7 +78,6 @@ class TrajectoryBuilder { TrajectoryBuilder& operator=(const TrajectoryBuilder&) = delete; virtual const Submaps* submaps() const = 0; - virtual kalman_filter::PoseTracker* pose_tracker() const = 0; virtual const PoseEstimate& pose_estimate() const = 0; virtual void AddSensorData(const string& sensor_id, diff --git a/cartographer/mapping_2d/global_trajectory_builder.cc b/cartographer/mapping_2d/global_trajectory_builder.cc index a67ce0d..fa7e4b3 100644 --- a/cartographer/mapping_2d/global_trajectory_builder.cc +++ b/cartographer/mapping_2d/global_trajectory_builder.cc @@ -32,10 +32,6 @@ const Submaps* GlobalTrajectoryBuilder::submaps() const { return local_trajectory_builder_.submaps(); } -kalman_filter::PoseTracker* GlobalTrajectoryBuilder::pose_tracker() const { - return local_trajectory_builder_.pose_tracker(); -} - void GlobalTrajectoryBuilder::AddLaserFan(const common::Time time, const sensor::LaserFan& laser_fan) { std::unique_ptr insertion_result = diff --git a/cartographer/mapping_2d/global_trajectory_builder.h b/cartographer/mapping_2d/global_trajectory_builder.h index 6e5aab6..1c4c1a8 100644 --- a/cartographer/mapping_2d/global_trajectory_builder.h +++ b/cartographer/mapping_2d/global_trajectory_builder.h @@ -35,7 +35,6 @@ class GlobalTrajectoryBuilder GlobalTrajectoryBuilder& operator=(const GlobalTrajectoryBuilder&) = delete; const Submaps* submaps() const override; - kalman_filter::PoseTracker* pose_tracker() const override; const mapping::GlobalTrajectoryBuilderInterface::PoseEstimate& pose_estimate() const override; diff --git a/cartographer/mapping_2d/local_trajectory_builder.cc b/cartographer/mapping_2d/local_trajectory_builder.cc index 5f2553c..929467b 100644 --- a/cartographer/mapping_2d/local_trajectory_builder.cc +++ b/cartographer/mapping_2d/local_trajectory_builder.cc @@ -72,10 +72,6 @@ LocalTrajectoryBuilder::~LocalTrajectoryBuilder() {} const Submaps* LocalTrajectoryBuilder::submaps() const { return &submaps_; } -kalman_filter::PoseTracker* LocalTrajectoryBuilder::pose_tracker() const { - return pose_tracker_.get(); -} - sensor::LaserFan LocalTrajectoryBuilder::BuildCroppedLaserFan( const transform::Rigid3f& tracking_to_tracking_2d, const sensor::LaserFan& laser_fan) const { diff --git a/cartographer/mapping_2d/local_trajectory_builder.h b/cartographer/mapping_2d/local_trajectory_builder.h index 4f0893a..c24b87a 100644 --- a/cartographer/mapping_2d/local_trajectory_builder.h +++ b/cartographer/mapping_2d/local_trajectory_builder.h @@ -71,7 +71,6 @@ class LocalTrajectoryBuilder { const kalman_filter::PoseCovariance& covariance); const Submaps* submaps() const; - kalman_filter::PoseTracker* pose_tracker() const; private: // Transforms 'laser_scan', crops and voxel filters. diff --git a/cartographer/mapping_3d/global_trajectory_builder.cc b/cartographer/mapping_3d/global_trajectory_builder.cc index 50776c6..ea0bde0 100644 --- a/cartographer/mapping_3d/global_trajectory_builder.cc +++ b/cartographer/mapping_3d/global_trajectory_builder.cc @@ -33,10 +33,6 @@ const mapping_3d::Submaps* GlobalTrajectoryBuilder::submaps() const { return local_trajectory_builder_->submaps(); } -kalman_filter::PoseTracker* GlobalTrajectoryBuilder::pose_tracker() const { - return local_trajectory_builder_->pose_tracker(); -} - void GlobalTrajectoryBuilder::AddImuData( const common::Time time, const Eigen::Vector3d& linear_acceleration, const Eigen::Vector3d& angular_velocity) { diff --git a/cartographer/mapping_3d/global_trajectory_builder.h b/cartographer/mapping_3d/global_trajectory_builder.h index 2545fed..b7c6f55 100644 --- a/cartographer/mapping_3d/global_trajectory_builder.h +++ b/cartographer/mapping_3d/global_trajectory_builder.h @@ -38,7 +38,6 @@ class GlobalTrajectoryBuilder GlobalTrajectoryBuilder& operator=(const GlobalTrajectoryBuilder&) = delete; const mapping_3d::Submaps* submaps() const override; - kalman_filter::PoseTracker* pose_tracker() const override; void AddImuData(common::Time time, const Eigen::Vector3d& linear_acceleration, const Eigen::Vector3d& angular_velocity) override; void AddLaserFan(common::Time time, diff --git a/cartographer/mapping_3d/kalman_local_trajectory_builder.cc b/cartographer/mapping_3d/kalman_local_trajectory_builder.cc index 290c096..70520a4 100644 --- a/cartographer/mapping_3d/kalman_local_trajectory_builder.cc +++ b/cartographer/mapping_3d/kalman_local_trajectory_builder.cc @@ -50,10 +50,6 @@ const mapping_3d::Submaps* KalmanLocalTrajectoryBuilder::submaps() const { return submaps_.get(); } -kalman_filter::PoseTracker* KalmanLocalTrajectoryBuilder::pose_tracker() const { - return pose_tracker_.get(); -} - void KalmanLocalTrajectoryBuilder::AddImuData( const common::Time time, const Eigen::Vector3d& linear_acceleration, const Eigen::Vector3d& angular_velocity) { diff --git a/cartographer/mapping_3d/kalman_local_trajectory_builder.h b/cartographer/mapping_3d/kalman_local_trajectory_builder.h index 5a6f057..4ec3bf4 100644 --- a/cartographer/mapping_3d/kalman_local_trajectory_builder.h +++ b/cartographer/mapping_3d/kalman_local_trajectory_builder.h @@ -57,7 +57,6 @@ class KalmanLocalTrajectoryBuilder : public LocalTrajectoryBuilderInterface { void AddTrajectoryNodeIndex(int trajectory_node_index) override; const mapping_3d::Submaps* submaps() const override; const PoseEstimate& pose_estimate() const override; - kalman_filter::PoseTracker* pose_tracker() const override; private: std::unique_ptr AddAccumulatedLaserFan( diff --git a/cartographer/mapping_3d/local_trajectory_builder_interface.h b/cartographer/mapping_3d/local_trajectory_builder_interface.h index 4fbbc9e..8427b27 100644 --- a/cartographer/mapping_3d/local_trajectory_builder_interface.h +++ b/cartographer/mapping_3d/local_trajectory_builder_interface.h @@ -65,7 +65,6 @@ class LocalTrajectoryBuilderInterface { virtual void AddTrajectoryNodeIndex(int trajectory_node_index) = 0; virtual const mapping_3d::Submaps* submaps() const = 0; virtual const PoseEstimate& pose_estimate() const = 0; - virtual kalman_filter::PoseTracker* pose_tracker() const = 0; protected: LocalTrajectoryBuilderInterface() {} diff --git a/cartographer/mapping_3d/optimizing_local_trajectory_builder.h b/cartographer/mapping_3d/optimizing_local_trajectory_builder.h index c2b0e9c..9330dd1 100644 --- a/cartographer/mapping_3d/optimizing_local_trajectory_builder.h +++ b/cartographer/mapping_3d/optimizing_local_trajectory_builder.h @@ -60,8 +60,6 @@ class OptimizingLocalTrajectoryBuilder const common::Time time, const transform::Rigid3d& pose, const kalman_filter::PoseCovariance& covariance) override; - kalman_filter::PoseTracker* pose_tracker() const override { return nullptr; } - void AddTrajectoryNodeIndex(int trajectory_node_index) override; const mapping_3d::Submaps* submaps() const override; const PoseEstimate& pose_estimate() const override;