Meas from review and move FluzModels to attic

JuliaRobotics · Feb 15, 2021 · 489d78c · 489d78c
1 parent f41342d
commit 489d78c
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Showing 3 changed files with 2 additions and 4 deletions.
diff --git a/src/factors/flux/FluxModelsPose2Pose2.jl → attic/FluxModelsPose2Pose2.jl b/src/factors/flux/FluxModelsPose2Pose2.jl → attic/FluxModelsPose2Pose2.jl
diff --git a/src/RoME.jl b/src/RoME.jl
@@ -297,7 +297,6 @@ function __init__()
     @info "RoME is adding Flux related functionality."
     include("factors/flux/models/Pose2OdoNN_01.jl") # until a better way is found to deserialize
     include("factors/flux/MixtureFluxPose2Pose2.jl")
-    # include("factors/flux/FluxModelsPose2Pose2.jl")
   end
 end
 

diff --git a/src/factors/flux/MixtureFluxPose2Pose2.jl b/src/factors/flux/MixtureFluxPose2Pose2.jl
@@ -134,10 +134,9 @@ function (cfo::CalcFactor{<:MixtureFluxPose2Pose2})(meas1, meas2, Xi, Xj)
   userdata = cfo.metadata
   nfb = cfo.factor
   fmd = cfo.metadata  
-  meas = (meas1, meas2)
 
   # if, use prediction sample
-  if meas[2] == 2
+  if meas2 == 2
     # get live velocity estimate for each sample (nfb.joyVelData[:,3:4])
     calcVelocityInterPose2!(nfb, Xi, Xj)
     # predict odom for this sample from a specific prediction model
@@ -149,7 +148,7 @@ function (cfo::CalcFactor{<:MixtureFluxPose2Pose2})(meas1, meas2, Xi, Xj)
   #TODO 
   cfZij = CalcFactor( cfo.factor.Zij.mechanics, cfo.metadata, 0, length(cfo._legacyMeas), cfo._legacyMeas, cfo._legacyParams)
 
-  return  cfZij(meas[1], Xi, Xj)
+  return  cfZij(meas1, Xi, Xj)
 
 end