fix: remove comment-out codes

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

Author: technolojin

perception/multi_object_tracker/src/tracker/motion_model/motion_model_base.cpp

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