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Removed code that was already commented out

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dario 2024-10-10 12:30:16 +02:00
parent d9c2f66a01
commit d68d395ef6
1 changed files with 0 additions and 12 deletions
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12
src/algorithms/kalmanFilter.cpp
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@ -41,18 +41,6 @@ KalmanState KalmanFilter::predict(KalmanState state)
{
state.x = F_ * state.x;
/*
state.x.set(0, 0, state.x[0] + F_.get_idx(0, 3) * state.x[3] + F_.get_idx(0, 6) * state.x[6]);
state.x.set(1, 0, state.x[1] + F_.get_idx(1, 4) * state.x[4] + F_.get_idx(1, 7) * state.x[7]);
state.x.set(2, 0, state.x[2] + F_.get_idx(2, 5) * state.x[5] + F_.get_idx(2, 8) * state.x[6]);
state.x.set(3, 0, state.x[3] + F_.get_idx(3, 6) * state.x[6]);
state.x.set(4, 0, state.x[4] + F_.get_idx(4, 7) * state.x[7]);
state.x.set(5, 0, state.x[5] + F_.get_idx(5, 8) * state.x[8]);
state.x.set(6, 0, state.x[6]);
state.x.set(7, 0, state.x[7]);
state.x.set(8, 0, state.x[8]);
*/
state.error = F_ * (state.error * F_.T()) + Q_;
return state;