chore: cleanup unused members

Signed-off-by: Taekjin LEE <[email protected]>
technolojin · Mar 13, 2024 · 08f3741 · 08f3741
1 parent 72adba3
commit 08f3741
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Showing 10 changed files with 8 additions and 20 deletions.
diff --git a/...ption/multi_object_tracker/include/multi_object_tracker/tracker/model/bicycle_tracker.hpp b/...ption/multi_object_tracker/include/multi_object_tracker/tracker/model/bicycle_tracker.hpp
@@ -31,17 +31,15 @@ class BicycleTracker : public Tracker
   rclcpp::Logger logger_;
 
 private:
-  // rclcpp::Time last_update_time_;
-
   struct EkfParams
   {
     double r_cov_x;
     double r_cov_y;
     double r_cov_yaw;
   } ekf_params_;
+
   double z_;
 
-private:
   struct BoundingBox
   {
     double length;
@@ -61,7 +59,6 @@ class BicycleTracker : public Tracker
     const geometry_msgs::msg::Transform & self_transform);
 
   bool predict(const rclcpp::Time & time) override;
-  bool predict(const double dt, KalmanFilter & ekf) const;
   bool measure(
     const autoware_auto_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time,
     const geometry_msgs::msg::Transform & self_transform) override;

diff --git a/...n/multi_object_tracker/include/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp b/...n/multi_object_tracker/include/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp
@@ -31,18 +31,17 @@ class BigVehicleTracker : public Tracker
   rclcpp::Logger logger_;
 
 private:
-  // rclcpp::Time last_update_time_;
   struct EkfParams
   {
     double r_cov_x;
     double r_cov_y;
     double r_cov_yaw;
     double r_cov_vel;
   } ekf_params_;
-  double z_;
   double velocity_deviation_threshold_;
 
-private:
+  double z_;
+
   struct BoundingBox
   {
     double length;

diff --git a/...ulti_object_tracker/include/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp b/...ulti_object_tracker/include/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp
@@ -31,19 +31,17 @@ class NormalVehicleTracker : public Tracker
   rclcpp::Logger logger_;
 
 private:
-  // rclcpp::Time last_update_time_;
-
   struct EkfParams
   {
     double r_cov_x;
     double r_cov_y;
     double r_cov_yaw;
     double r_cov_vel;
   } ekf_params_;
-  double z_;
   double velocity_deviation_threshold_;
 
-private:
+  double z_;
+
   struct BoundingBox
   {
     double length;

diff --git a/...on/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_tracker.hpp b/...on/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_tracker.hpp
@@ -31,16 +31,15 @@ class PedestrianTracker : public Tracker
   rclcpp::Logger logger_;
 
 private:
-  // rclcpp::Time last_update_time_;
   struct EkfParams
   {
     double r_cov_x;
     double r_cov_y;
     double r_cov_yaw;
   } ekf_params_;
+
   double z_;
 
-private:
   struct BoundingBox
   {
     double length;

diff --git a/...ption/multi_object_tracker/include/multi_object_tracker/tracker/model/unknown_tracker.hpp b/...ption/multi_object_tracker/include/multi_object_tracker/tracker/model/unknown_tracker.hpp
@@ -13,7 +13,7 @@
 // limitations under the License.
 //
 //
-// v1.0 Yukihiro Saito
+// Author: v1.0 Yukihiro Saito
 //
 
 #ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__UNKNOWN_TRACKER_HPP_
@@ -31,14 +31,14 @@ class UnknownTracker : public Tracker
   rclcpp::Logger logger_;
 
 private:
-  // rclcpp::Time last_update_time_;
   struct EkfParams
   {
     double r_cov_x;
     double r_cov_y;
     double r_cov_vx;
     double r_cov_vy;
   } ekf_params_;
+
   double z_;
 
 private:

diff --git a/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp
@@ -47,7 +47,6 @@ BicycleTracker::BicycleTracker(
   const geometry_msgs::msg::Transform & /*self_transform*/)
 : Tracker(time, object.classification),
   logger_(rclcpp::get_logger("BicycleTracker")),
-  // last_update_time_(time),
   z_(object.kinematics.pose_with_covariance.pose.position.z)
 {
   object_ = object;

diff --git a/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp
@@ -47,7 +47,6 @@ BigVehicleTracker::BigVehicleTracker(
   const geometry_msgs::msg::Transform & self_transform)
 : Tracker(time, object.classification),
   logger_(rclcpp::get_logger("BigVehicleTracker")),
-  // last_update_time_(time),
   z_(object.kinematics.pose_with_covariance.pose.position.z),
   tracking_offset_(Eigen::Vector2d::Zero())
 {

diff --git a/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp
@@ -47,7 +47,6 @@ NormalVehicleTracker::NormalVehicleTracker(
   const geometry_msgs::msg::Transform & self_transform)
 : Tracker(time, object.classification),
   logger_(rclcpp::get_logger("NormalVehicleTracker")),
-  // last_update_time_(time),
   z_(object.kinematics.pose_with_covariance.pose.position.z),
   tracking_offset_(Eigen::Vector2d::Zero())
 {

diff --git a/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp
@@ -47,7 +47,6 @@ PedestrianTracker::PedestrianTracker(
   const geometry_msgs::msg::Transform & /*self_transform*/)
 : Tracker(time, object.classification),
   logger_(rclcpp::get_logger("PedestrianTracker")),
-  // last_update_time_(time),
   z_(object.kinematics.pose_with_covariance.pose.position.z)
 {
   object_ = object;

diff --git a/perception/multi_object_tracker/src/tracker/model/unknown_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/unknown_tracker.cpp
@@ -41,7 +41,6 @@ UnknownTracker::UnknownTracker(
   const geometry_msgs::msg::Transform & /*self_transform*/)
 : Tracker(time, object.classification),
   logger_(rclcpp::get_logger("UnknownTracker")),
-  // last_update_time_(time),
   z_(object.kinematics.pose_with_covariance.pose.position.z)
 {
   object_ = object;