remove unused transform functions

tmcg0 · Dec 6, 2023 · a18fcdd · a18fcdd
1 parent 6e3bd6f
commit a18fcdd
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diff --git a/include/gtsamutils.h b/include/gtsamutils.h
@@ -22,16 +22,6 @@ namespace gtsamutils{
     Eigen::MatrixXd Vector3VectorToEigenMatrix(const std::vector<gtsam::Vector3>& v);
     std::vector<gtsam::Rot3> Pose3VectorToRot3Vector(const std::vector<gtsam::Pose3>& poses);
     std::vector<gtsam::Point3> Pose3VectorToPoint3Vector(const std::vector<gtsam::Pose3>& poses);
-    std::vector<double> vectorizePoint3x(std::vector<gtsam::Point3>);
-    std::vector<double> vectorizePoint3y(std::vector<gtsam::Point3>);
-    std::vector<double> vectorizePoint3z(std::vector<gtsam::Point3>);
-    std::vector<double> vectorizeVector3X(std::vector<gtsam::Vector3>);
-    std::vector<double> vectorizeVector3Y(std::vector<gtsam::Vector3>);
-    std::vector<double> vectorizeVector3Z(std::vector<gtsam::Vector3>);
-    std::vector<double> vectorizeQuaternionS(std::vector<Eigen::Vector4d,Eigen::aligned_allocator<Eigen::Vector4d>>);
-    std::vector<double> vectorizeQuaternionX(std::vector<Eigen::Vector4d,Eigen::aligned_allocator<Eigen::Vector4d>>);
-    std::vector<double> vectorizeQuaternionY(std::vector<Eigen::Vector4d,Eigen::aligned_allocator<Eigen::Vector4d>>);
-    std::vector<double> vectorizeQuaternionZ(std::vector<Eigen::Vector4d,Eigen::aligned_allocator<Eigen::Vector4d>>);
     std::vector<double> vectorSetMagnitudes(const std::vector<Eigen::Vector3d>& v);
     Eigen::MatrixXd vectorRot3ToYprMatrix(const std::vector<gtsam::Rot3>& R);
     std::vector<gtsam::Rot3> imuOrientation(const imu& myImu); // pull out stored quaternion as a vector<Rot3>

diff --git a/src/gtsamutils.cpp b/src/gtsamutils.cpp
@@ -189,76 +189,6 @@ namespace gtsamutils{
         return nearestIdx;
     }
 
-    std::vector<double> vectorizePoint3x(std::vector<gtsam::Point3> p){
-        std::vector<double> x(p.size());
-        for(uint i=0; i<p.size(); i++){
-            x[i]=p[i].x();
-        }
-        return x;
-    }
-    std::vector<double> vectorizePoint3y(std::vector<gtsam::Point3> p){
-        std::vector<double> y(p.size());
-        for(uint i=0; i<p.size(); i++){
-            y[i]=p[i].y();
-        }
-        return y;
-    }
-    std::vector<double> vectorizePoint3z(std::vector<gtsam::Point3> p){
-        std::vector<double> z(p.size());
-        for(uint i=0; i<p.size(); i++){
-            z[i]=p[i].z();
-        }
-        return z;
-    }
-    std::vector<double> vectorizeVector3X(std::vector<gtsam::Vector3> v){
-        std::vector<double> a(v.size());
-        for(uint i=0; i<v.size(); i++){
-            a[i]=v[i](0);
-        }
-        return a;
-    }
-    std::vector<double> vectorizeVector3Y(std::vector<gtsam::Vector3> v){
-        std::vector<double> a(v.size());
-        for(uint i=0; i<v.size(); i++){
-            a[i]=v[i](1);
-        }
-        return a;
-    }
-    std::vector<double> vectorizeVector3Z(std::vector<gtsam::Vector3> v){
-        std::vector<double> a(v.size());
-        for(uint i=0; i<v.size(); i++){
-            a[i]=v[i](2);
-        }
-        return a;
-    }
-    std::vector<double> vectorizeQuaternionS(std::vector<Eigen::Vector4d,Eigen::aligned_allocator<Eigen::Vector4d>> q){
-        std::vector<double> a(q.size());
-        for(uint i=0; i<q.size(); i++){
-            a[i]=q[i](0);
-        }
-        return a;
-    }
-    std::vector<double> vectorizeQuaternionX(std::vector<Eigen::Vector4d,Eigen::aligned_allocator<Eigen::Vector4d>> q){
-        std::vector<double> a(q.size());
-        for(uint i=0; i<q.size(); i++){
-            a[i]=q[i](1);
-        }
-        return a;
-    }
-    std::vector<double> vectorizeQuaternionY(std::vector<Eigen::Vector4d,Eigen::aligned_allocator<Eigen::Vector4d>> q){
-        std::vector<double> a(q.size());
-        for(uint i=0; i<q.size(); i++){
-            a[i]=q[i](2);
-        }
-        return a;
-    }
-    std::vector<double> vectorizeQuaternionZ(std::vector<Eigen::Vector4d,Eigen::aligned_allocator<Eigen::Vector4d>> q){
-        std::vector<double> a(q.size());
-        for(uint i=0; i<q.size(); i++){
-            a[i]=q[i](3);
-        }
-        return a;
-    }
     void saveMatrixToFile(const gtsam::Matrix& A, const std::string &s, const std::string& filename) {
         std::fstream stream(filename.c_str(), std::fstream::out | std::fstream::app);
         print(A, s + "=", stream);