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fix(radar_object_tracker): fix duplicateBranch warning (autowarefound…
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…ation#7697)

* fix(radar_object_tracker): fix duplicateBranch warning

Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp>

* delete comments

Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp>

---------

Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp>
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veqcc authored Jun 26, 2024
1 parent 9cdd150 commit 641796b
Showing 1 changed file with 2 additions and 16 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -137,22 +137,8 @@ LinearMotionTracker::LinearMotionTracker(
} else {
P_v_xy = R * P_v_xy_local * R.transpose();
}
// acceleration covariance often written in object frame
const bool has_acceleration_covariance =
false; // currently message does not have acceleration covariance
if (has_acceleration_covariance) {
// const auto ax_cov =
// object.kinematics.acceleration_with_covariance.covariance[utils::MSG_COV_IDX::X_X]; // This
// is future update
// const auto ay_cov =
// object.kinematics.acceleration_with_covariance.covariance[utils::MSG_COV_IDX::Y_Y]; // This
// is future update
// Eigen::Matrix2d P_a_xy_local;
// P_a_xy_local << ax_cov, 0.0, 0.0, ay_cov;
P_a_xy = R * P_a_xy_local * R.transpose();
} else {
P_a_xy = R * P_a_xy_local * R.transpose();
}

P_a_xy = R * P_a_xy_local * R.transpose();

// put value in P matrix
// use block description. This assume x,y,vx,vy,ax,ay in this order
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