refactor(ekf_localizer): remove 'dim_x_ex_' as it is no longer used (a…

…utowarefoundation#2640)
badai-nguyen · Apr 4, 2023 · 17f47cf · 17f47cf
1 parent d261aea
commit 17f47cf
Show file tree

Hide file tree

Showing 2 changed files with 1 addition and 4 deletions.
diff --git a/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp b/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp
@@ -170,8 +170,7 @@ class EKFLocalizer : public rclcpp::Node
 
   /* parameters */
 
-  int dim_x_;     //!< @brief  dimension of EKF state
-  int dim_x_ex_;  //!< @brief  dimension of extended EKF state (dim_x_ * extended_state_step)
+  int dim_x_;  //!< @brief  dimension of EKF state
 
   /* process noise variance for discrete model */
   double proc_cov_yaw_d_;       //!< @brief  discrete yaw process noise

diff --git a/localization/ekf_localizer/src/ekf_localizer.cpp b/localization/ekf_localizer/src/ekf_localizer.cpp
@@ -94,8 +94,6 @@ EKFLocalizer::EKFLocalizer(const std::string & node_name, const rclcpp::NodeOpti
       &EKFLocalizer::serviceTriggerNode, this, std::placeholders::_1, std::placeholders::_2),
     rclcpp::ServicesQoS().get_rmw_qos_profile());
 
-  dim_x_ex_ = dim_x_ * params_.extend_state_step;
-
   tf_br_ = std::make_shared<tf2_ros::TransformBroadcaster>(
     std::shared_ptr<rclcpp::Node>(this, [](auto) {}));