Commit 50f7a5a9 authored by Ryan Pavlik's avatar Ryan Pavlik

aux/tracking: Fix interface of t_imu

parent 33419659
......@@ -70,8 +70,6 @@ int
imu_fusion_incorporate_accelerometer(struct imu_fusion *fusion,
float dt,
struct xrt_vec3 const *accel,
float scale,
struct xrt_vec3 const *reference,
struct xrt_vec3 const *variance)
{
try {
......@@ -160,8 +158,6 @@ imu_fusion_incorporate_gyros_and_accelerometer(
struct xrt_vec3 const *ang_vel,
struct xrt_vec3 const *ang_vel_variance,
struct xrt_vec3 const *accel,
float accel_scale,
struct xrt_vec3 const *accel_reference,
struct xrt_vec3 const *accel_variance)
{
try {
......@@ -169,7 +165,6 @@ imu_fusion_incorporate_gyros_and_accelerometer(
assert(ang_vel);
assert(ang_vel_variance);
assert(accel);
assert(accel_reference);
assert(accel_variance);
Eigen::Vector3d accelVec = map_vec3(*accel).cast<double>();
......
......@@ -75,8 +75,6 @@ int
imu_fusion_incorporate_accelerometer(struct imu_fusion *fusion,
float dt,
struct xrt_vec3 const *accel,
float scale,
struct xrt_vec3 const *reference,
struct xrt_vec3 const *variance);
/*!
......@@ -97,8 +95,6 @@ imu_fusion_incorporate_gyros_and_accelerometer(
struct xrt_vec3 const *ang_vel,
struct xrt_vec3 const *ang_vel_variance,
struct xrt_vec3 const *accel,
float accel_scale,
struct xrt_vec3 const *accel_reference,
struct xrt_vec3 const *accel_variance);
/*!
......
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