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fix: remove comment-out codes
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
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perception/multi_object_tracker/src/tracker/motion_model/motion_model_base.cpp

+1-31
Original file line numberDiff line numberDiff line change
@@ -50,25 +50,9 @@ bool MotionModel::predictState(const rclcpp::Time & time)
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return true;
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}
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// // if dt is too large, shorten dt and repeat prediction
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// {
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// const uint32_t repeat = std::floor(dt / dt_max_) + 1;
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// const double dt_ = dt / repeat;
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// for (uint32_t i = 0; i < repeat; ++i) {
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// if (!predictStateStep(dt_, ekf_)) {
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// return false;
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// }
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// // add interval to last_update_time_
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// last_update_time_ += rclcpp::Duration::from_seconds(dt_);
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// }
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// std::cout << "MotionModel::predictState predict dt: " << dt << ", dt_: " << dt_ << ",
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// repeat:
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// "<< repeat<< std::endl;
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// }
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if (!predictStateStep(dt, ekf_)) return false;
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// update last_update_time_ to the estimation time
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// update last_update_time_
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last_update_time_ = time;
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return true;
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}
@@ -88,20 +72,6 @@ bool MotionModel::getPredictedState(
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dt = 0.0;
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}
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// // predict only when dt is small enough
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// if (1e-6 /*1usec*/ < dt) {
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// // if dt is too large, shorten dt and repeat prediction
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// const uint32_t repeat = std::floor(dt / dt_max_) + 1;
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// const double dt_ = dt / repeat;
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// for (uint32_t i = 0; i < repeat; ++i) {
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// if (!predictStateStep(dt_, tmp_ekf_for_no_update)) {
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// return false;
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// }
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// }
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// std::cout << "MotionModel::getPredictedStateMatrix predict dt: " << dt << ", dt_: " << dt_ <<
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// ", repeat: "<< repeat<< std::endl;
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// }
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if (!predictStateStep(dt, tmp_ekf_for_no_update)) return false;
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tmp_ekf_for_no_update.getX(X);

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