fix(radar_object_tracker): fix duplicateBranch warning (#7697)

* fix(radar_object_tracker): fix duplicateBranch warning Signed-off-by: Ryuta Kambe <[email protected]> * delete comments Signed-off-by: Ryuta Kambe <[email protected]> --------- Signed-off-by: Ryuta Kambe <[email protected]>
autowarefoundation · Jul 22, 2024 · 3b8a5d6 · 3b8a5d6
1 parent 21824e6
commit 3b8a5d6
Showing 1 changed file with 2 additions and 16 deletions.
diff --git a/perception/radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp b/perception/radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp
@@ -137,22 +137,8 @@ LinearMotionTracker::LinearMotionTracker(
   } else {
     P_v_xy = R * P_v_xy_local * R.transpose();
   }
-  // acceleration covariance often written in object frame
-  const bool has_acceleration_covariance =
-    false;  // currently message does not have acceleration covariance
-  if (has_acceleration_covariance) {
-    // const auto ax_cov =
-    //   object.kinematics.acceleration_with_covariance.covariance[utils::MSG_COV_IDX::X_X]; // This
-    //   is future update
-    // const auto ay_cov =
-    //   object.kinematics.acceleration_with_covariance.covariance[utils::MSG_COV_IDX::Y_Y]; // This
-    //   is future update
-    //  Eigen::Matrix2d P_a_xy_local;
-    //  P_a_xy_local << ax_cov, 0.0, 0.0, ay_cov;
-    P_a_xy = R * P_a_xy_local * R.transpose();
-  } else {
-    P_a_xy = R * P_a_xy_local * R.transpose();
-  }
+
+  P_a_xy = R * P_a_xy_local * R.transpose();
 
   // put value in P matrix
   // use block description. This assume x,y,vx,vy,ax,ay in this order