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Commit 08f3741

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chore: cleanup unused members
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
1 parent 72adba3 commit 08f3741

10 files changed

+8
-20
lines changed

perception/multi_object_tracker/include/multi_object_tracker/tracker/model/bicycle_tracker.hpp

+1-4
Original file line numberDiff line numberDiff line change
@@ -31,17 +31,15 @@ class BicycleTracker : public Tracker
3131
rclcpp::Logger logger_;
3232

3333
private:
34-
// rclcpp::Time last_update_time_;
35-
3634
struct EkfParams
3735
{
3836
double r_cov_x;
3937
double r_cov_y;
4038
double r_cov_yaw;
4139
} ekf_params_;
40+
4241
double z_;
4342

44-
private:
4543
struct BoundingBox
4644
{
4745
double length;
@@ -61,7 +59,6 @@ class BicycleTracker : public Tracker
6159
const geometry_msgs::msg::Transform & self_transform);
6260

6361
bool predict(const rclcpp::Time & time) override;
64-
bool predict(const double dt, KalmanFilter & ekf) const;
6562
bool measure(
6663
const autoware_auto_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time,
6764
const geometry_msgs::msg::Transform & self_transform) override;

perception/multi_object_tracker/include/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp

+2-3
Original file line numberDiff line numberDiff line change
@@ -31,18 +31,17 @@ class BigVehicleTracker : public Tracker
3131
rclcpp::Logger logger_;
3232

3333
private:
34-
// rclcpp::Time last_update_time_;
3534
struct EkfParams
3635
{
3736
double r_cov_x;
3837
double r_cov_y;
3938
double r_cov_yaw;
4039
double r_cov_vel;
4140
} ekf_params_;
42-
double z_;
4341
double velocity_deviation_threshold_;
4442

45-
private:
43+
double z_;
44+
4645
struct BoundingBox
4746
{
4847
double length;

perception/multi_object_tracker/include/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp

+2-4
Original file line numberDiff line numberDiff line change
@@ -31,19 +31,17 @@ class NormalVehicleTracker : public Tracker
3131
rclcpp::Logger logger_;
3232

3333
private:
34-
// rclcpp::Time last_update_time_;
35-
3634
struct EkfParams
3735
{
3836
double r_cov_x;
3937
double r_cov_y;
4038
double r_cov_yaw;
4139
double r_cov_vel;
4240
} ekf_params_;
43-
double z_;
4441
double velocity_deviation_threshold_;
4542

46-
private:
43+
double z_;
44+
4745
struct BoundingBox
4846
{
4947
double length;

perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_tracker.hpp

+1-2
Original file line numberDiff line numberDiff line change
@@ -31,16 +31,15 @@ class PedestrianTracker : public Tracker
3131
rclcpp::Logger logger_;
3232

3333
private:
34-
// rclcpp::Time last_update_time_;
3534
struct EkfParams
3635
{
3736
double r_cov_x;
3837
double r_cov_y;
3938
double r_cov_yaw;
4039
} ekf_params_;
40+
4141
double z_;
4242

43-
private:
4443
struct BoundingBox
4544
{
4645
double length;

perception/multi_object_tracker/include/multi_object_tracker/tracker/model/unknown_tracker.hpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -13,7 +13,7 @@
1313
// limitations under the License.
1414
//
1515
//
16-
// v1.0 Yukihiro Saito
16+
// Author: v1.0 Yukihiro Saito
1717
//
1818

1919
#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__UNKNOWN_TRACKER_HPP_
@@ -31,14 +31,14 @@ class UnknownTracker : public Tracker
3131
rclcpp::Logger logger_;
3232

3333
private:
34-
// rclcpp::Time last_update_time_;
3534
struct EkfParams
3635
{
3736
double r_cov_x;
3837
double r_cov_y;
3938
double r_cov_vx;
4039
double r_cov_vy;
4140
} ekf_params_;
41+
4242
double z_;
4343

4444
private:

perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp

-1
Original file line numberDiff line numberDiff line change
@@ -47,7 +47,6 @@ BicycleTracker::BicycleTracker(
4747
const geometry_msgs::msg::Transform & /*self_transform*/)
4848
: Tracker(time, object.classification),
4949
logger_(rclcpp::get_logger("BicycleTracker")),
50-
// last_update_time_(time),
5150
z_(object.kinematics.pose_with_covariance.pose.position.z)
5251
{
5352
object_ = object;

perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp

-1
Original file line numberDiff line numberDiff line change
@@ -47,7 +47,6 @@ BigVehicleTracker::BigVehicleTracker(
4747
const geometry_msgs::msg::Transform & self_transform)
4848
: Tracker(time, object.classification),
4949
logger_(rclcpp::get_logger("BigVehicleTracker")),
50-
// last_update_time_(time),
5150
z_(object.kinematics.pose_with_covariance.pose.position.z),
5251
tracking_offset_(Eigen::Vector2d::Zero())
5352
{

perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp

-1
Original file line numberDiff line numberDiff line change
@@ -47,7 +47,6 @@ NormalVehicleTracker::NormalVehicleTracker(
4747
const geometry_msgs::msg::Transform & self_transform)
4848
: Tracker(time, object.classification),
4949
logger_(rclcpp::get_logger("NormalVehicleTracker")),
50-
// last_update_time_(time),
5150
z_(object.kinematics.pose_with_covariance.pose.position.z),
5251
tracking_offset_(Eigen::Vector2d::Zero())
5352
{

perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp

-1
Original file line numberDiff line numberDiff line change
@@ -47,7 +47,6 @@ PedestrianTracker::PedestrianTracker(
4747
const geometry_msgs::msg::Transform & /*self_transform*/)
4848
: Tracker(time, object.classification),
4949
logger_(rclcpp::get_logger("PedestrianTracker")),
50-
// last_update_time_(time),
5150
z_(object.kinematics.pose_with_covariance.pose.position.z)
5251
{
5352
object_ = object;

perception/multi_object_tracker/src/tracker/model/unknown_tracker.cpp

-1
Original file line numberDiff line numberDiff line change
@@ -41,7 +41,6 @@ UnknownTracker::UnknownTracker(
4141
const geometry_msgs::msg::Transform & /*self_transform*/)
4242
: Tracker(time, object.classification),
4343
logger_(rclcpp::get_logger("UnknownTracker")),
44-
// last_update_time_(time),
4544
z_(object.kinematics.pose_with_covariance.pose.position.z)
4645
{
4746
object_ = object;

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