From cb0d1a6d5a67c8736d48e608c3defbe9f74f186a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Juraj=20Or=C5=A1uli=C4=87?= Date: Thu, 30 Mar 2017 16:39:53 +0200 Subject: [PATCH] Remove inclination warning (#231) Resolves #194. --- cartographer/mapping_2d/local_trajectory_builder.cc | 10 ---------- 1 file changed, 10 deletions(-) diff --git a/cartographer/mapping_2d/local_trajectory_builder.cc b/cartographer/mapping_2d/local_trajectory_builder.cc index ede972d..9100086 100644 --- a/cartographer/mapping_2d/local_trajectory_builder.cc +++ b/cartographer/mapping_2d/local_trajectory_builder.cc @@ -258,16 +258,6 @@ void LocalTrajectoryBuilder::AddImuData( Predict(time); imu_tracker_->AddImuLinearAccelerationObservation(linear_acceleration); imu_tracker_->AddImuAngularVelocityObservation(angular_velocity); - - // Log a warning if the backpack inclination exceeds 20 degrees. In these - // cases, it's very likely that 2D SLAM will fail. - const Eigen::Vector3d gravity_direction = - imu_tracker_->orientation() * Eigen::Vector3d::UnitZ(); - const double inclination = std::acos(gravity_direction.z()); - constexpr double kMaxInclination = common::DegToRad(20.); - LOG_IF_EVERY_N(WARNING, inclination > kMaxInclination, 1000) - << "Max inclination exceeded: " << common::RadToDeg(inclination) << " > " - << common::RadToDeg(kMaxInclination); } void LocalTrajectoryBuilder::AddOdometerData(