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Remove unused body_P_sensor param #744

Merged
merged 2 commits into from
Apr 18, 2021
Merged

Remove unused body_P_sensor param #744

merged 2 commits into from
Apr 18, 2021

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asa
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@asa asa commented Apr 17, 2021

Parm is mentioned but no longer used in CombinedImuFactor.

@dellaert
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dellaert commented Apr 17, 2021 •
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Why not? Was there a PR removing its use? Should the right PR be to add that functionality?

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asa commented Apr 17, 2021

I am not sure of the history on this? Just noticed we had a param mentioned, but not interface for it and thought we might want to remove it till it's implemented or notate it as a todo.

@varunagrawal
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I thought body_P_sensor was defined on the PreintegrationParams and not on the factor itself. As such removing that comment should be the right thing to do.

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@asa can you also update the docstring for dt. It is right above your edit and is labelled as deltaT.

@dellaert I can confirm this is the case. There was a refactor 6 years ago to define PreintegrationParams and it seems the docstrings were not updated.

varunagrawal
varunagrawal approved these changes Apr 18, 2021
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LGTM with a minor request.

gtsam/navigation/CombinedImuFactor.h Outdated
@@ -212,8 +212,6 @@ class GTSAM_EXPORT PreintegratedCombinedMeasurements : public PreintegrationType
* sensor)
* @param measuredOmega Measured angular velocity (as given by the sensor)
* @param deltaT Time interval between two consecutive IMU measurements
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Please update the documentation for this parameter as well?

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done

@varunagrawal varunagrawal added the docs Update to docs or README without code changes label Apr 18, 2021
@varunagrawal varunagrawal merged commit 329e70e into borglab:develop Apr 18, 2021
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@varunagrawal varunagrawal varunagrawal approved these changes

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@asa @dellaert @varunagrawal