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refactor(ekf_localizer): removed proc_cov_*_d_ from EKFLocalizer #8640

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Aug 27, 2024
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refactor(ekf_localizer): removed proc_cov_*_d_ from EKFLocalizer #8640

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5 changes: 0 additions & 5 deletions localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -160,11 +160,6 @@ class EKFLocalizer : public rclcpp::Node

double ekf_dt_;

/* process noise variance for discrete model */
double proc_cov_yaw_d_; //!< @brief discrete yaw process noise
double proc_cov_vx_d_; //!< @brief discrete process noise in d_vx=0
double proc_cov_wz_d_; //!< @brief discrete process noise in d_wz=0

bool is_activated_;

EKFDiagnosticInfo pose_diag_info_;
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10 changes: 0 additions & 10 deletions localization/ekf_localizer/src/ekf_localizer.cpp
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Expand Up @@ -52,11 +52,6 @@ EKFLocalizer::EKFLocalizer(const rclcpp::NodeOptions & node_options)
twist_queue_(params_.twist_smoothing_steps),
last_angular_velocity_(0.0, 0.0, 0.0)
{
/* convert to continuous to discrete */
proc_cov_vx_d_ = std::pow(params_.proc_stddev_vx_c * ekf_dt_, 2.0);
proc_cov_wz_d_ = std::pow(params_.proc_stddev_wz_c * ekf_dt_, 2.0);
proc_cov_yaw_d_ = std::pow(params_.proc_stddev_yaw_c * ekf_dt_, 2.0);

is_activated_ = false;

/* initialize ros system */
Expand Down Expand Up @@ -132,11 +127,6 @@ void EKFLocalizer::update_predict_frequency(const rclcpp::Time & current_time)

/* Register dt and accumulate time delay */
ekf_module_->accumulate_delay_time(ekf_dt_);

/* Update discrete proc_cov*/
proc_cov_vx_d_ = std::pow(params_.proc_stddev_vx_c * ekf_dt_, 2.0);
proc_cov_wz_d_ = std::pow(params_.proc_stddev_wz_c * ekf_dt_, 2.0);
proc_cov_yaw_d_ = std::pow(params_.proc_stddev_yaw_c * ekf_dt_, 2.0);
}
}
last_predict_time_ = std::make_shared<const rclcpp::Time>(current_time);
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