From 3b8a5d6c5a77d3c00af02f09465a1a19edd58481 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Wed, 26 Jun 2024 14:58:01 +0900 Subject: [PATCH] fix(radar_object_tracker): fix duplicateBranch warning (#7697) * fix(radar_object_tracker): fix duplicateBranch warning Signed-off-by: Ryuta Kambe * delete comments Signed-off-by: Ryuta Kambe --------- Signed-off-by: Ryuta Kambe --- .../tracker/model/linear_motion_tracker.cpp | 18 ++---------------- 1 file changed, 2 insertions(+), 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 index 1bc548fa7a951..c6bd93b7a9371 100644 --- 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