remove unnecessary commentouts

Signed-off-by: kminoda <koji.m.minoda@gmail.com>
autowarefoundation · Sep 29, 2022 · aa6b5bb · aa6b5bb
1 parent e77c408
commit aa6b5bb
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diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/util_func.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/util_func.hpp
@@ -67,11 +67,6 @@ void pop_old_pose(
     pose_cov_msg_ptr_array,
   const rclcpp::Time & time_stamp);
 
-// Eigen::Affine3d pose_to_affine3d(const geometry_msgs::msg::Pose & ros_pose);
-// Eigen::Matrix4f pose_to_matrix4f(const geometry_msgs::msg::Pose & ros_pose);
-// geometry_msgs::msg::Pose matrix4f_to_pose(const Eigen::Matrix4f & eigen_pose_matrix);
-// Eigen::Vector3d point_to_vector3d(const geometry_msgs::msg::Point & ros_pos);
-
 std::vector<geometry_msgs::msg::Pose> create_random_pose_array(
   const geometry_msgs::msg::PoseWithCovarianceStamped & base_pose_with_cov, const int particle_num);
 

diff --git a/localization/ndt_scan_matcher/src/util_func.cpp b/localization/ndt_scan_matcher/src/util_func.cpp
@@ -205,37 +205,6 @@ void pop_old_pose(
   }
 }
 
-// Eigen::Affine3d pose_to_affine3d(const geometry_msgs::msg::Pose & ros_pose)
-// {
-//   Eigen::Affine3d eigen_pose;
-//   tf2::fromMsg(ros_pose, eigen_pose);
-//   return eigen_pose;
-// }
-
-// Eigen::Matrix4f pose_to_matrix4f(const geometry_msgs::msg::Pose & ros_pose)
-// {
-//   Eigen::Affine3d eigen_pose_affine = pose_to_affine3d(ros_pose);
-//   Eigen::Matrix4f eigen_pose_matrix = eigen_pose_affine.matrix().cast<float>();
-//   return eigen_pose_matrix;
-// }
-
-// Eigen::Vector3d point_to_vector3d(const geometry_msgs::msg::Point & ros_pos)
-// {
-//   Eigen::Vector3d eigen_pos;
-//   eigen_pos.x() = ros_pos.x;
-//   eigen_pos.y() = ros_pos.y;
-//   eigen_pos.z() = ros_pos.z;
-//   return eigen_pos;
-// }
-
-// geometry_msgs::msg::Pose matrix4f_to_pose(const Eigen::Matrix4f & eigen_pose_matrix)
-// {
-//   Eigen::Affine3d eigen_pose_affine;
-//   eigen_pose_affine.matrix() = eigen_pose_matrix.cast<double>();
-//   geometry_msgs::msg::Pose ros_pose = tf2::toMsg(eigen_pose_affine);
-//   return ros_pose;
-// }
-
 std::vector<geometry_msgs::msg::Pose> create_random_pose_array(
   const geometry_msgs::msg::PoseWithCovarianceStamped & base_pose_with_cov, const int particle_num)
 {