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Remove not used code

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This commit is contained in:
Kamil Ritz
2020-08-15 09:15:04 +02:00
committed by Paul Riseborough
parent 0fafd4d68b
commit 4872f2a545
1 changed files with 0 additions and 4 deletions
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EKF/ekf_helper.cpp
-4
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@@ -99,10 +99,6 @@ void Ekf::resetHorizontalVelocityToOpticalFlow() {
void Ekf::resetVelocityToVision() { void Ekf::resetVelocityToVision() {
ECL_INFO_TIMESTAMPED("reset to vision velocity"); ECL_INFO_TIMESTAMPED("reset to vision velocity");
Vector3f _ev_vel = _ev_sample_delayed.vel;
if(_params.fusion_mode & MASK_ROTATE_EV){
_ev_vel = _R_ev_to_ekf *_ev_sample_delayed.vel;
}
resetVelocityTo(getVisionVelocityInEkfFrame()); resetVelocityTo(getVisionVelocityInEkfFrame());
P.uncorrelateCovarianceSetVariance<3>(4, getVisionVelocityVarianceInEkfFrame()); P.uncorrelateCovarianceSetVariance<3>(4, getVisionVelocityVarianceInEkfFrame());
} }