Remove unused code. (cartographer-project#89)

agilizer · Oct 20, 2016 · 4d81b58 · 4d81b58
1 parent 5b16f4b
commit 4d81b58
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Showing 15 changed files with 0 additions and 32 deletions.
diff --git 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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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<LocalTrajectoryBuilder::InsertionResult> insertion_result =

diff --git 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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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<InsertionResult> AddAccumulatedLaserFan(

diff --git 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
@@ -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;