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remove temporal compatibility #59

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merged 1 commit into from
Aug 8, 2024
Merged

remove temporal compatibility #59

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5 changes: 0 additions & 5 deletions include/estimate_covariance/estimate_covariance.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,11 +23,6 @@ struct ResultOfMultiNdtCovarianceEstimation
/** \brief Estimate functions */
Eigen::Matrix2d estimate_xy_covariance_by_laplace_approximation(
const Eigen::Matrix<double, 6, 6> & hessian);
// temporal compatibility until
// https://github.com/autowarefoundation/autoware.universe/pull/8124
// get merged
Eigen::Matrix2d estimate_xy_covariance_by_Laplace_approximation(
const Eigen::Matrix<double, 6, 6> & hessian);
ResultOfMultiNdtCovarianceEstimation estimate_xy_covariance_by_multi_ndt(
const NdtResult & ndt_result,
const std::shared_ptr<
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12 changes: 0 additions & 12 deletions src/estimate_covariance/estimate_covariance.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,18 +14,6 @@ Eigen::Matrix2d estimate_xy_covariance_by_laplace_approximation(
return covariance_xy;
}

// temporal compatibility until
// https://github.com/autowarefoundation/autoware.universe/pull/8124
// get merged
Eigen::Matrix2d estimate_xy_covariance_by_Laplace_approximation(
const Eigen::Matrix<double, 6, 6> & hessian)
{
const Eigen::Matrix2d hessian_xy = hessian.block<2, 2>(0, 0);
Eigen::Matrix2d covariance_xy = -hessian_xy.inverse();
return covariance_xy;
}


ResultOfMultiNdtCovarianceEstimation estimate_xy_covariance_by_multi_ndt(
const NdtResult & ndt_result,
const std::shared_ptr<
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