Remove even more vestigial code

huskyroboticsteam · Dec 9, 2023 · b7670a0 · b7670a0
1 parent b45f4b5
commit b7670a0
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Showing 15 changed files with 4 additions and 1,032 deletions.
diff --git a/src/CAN/CANTest.cpp b/src/CAN/CANTest.cpp
diff --git a/src/CAN/CMakeLists.txt b/src/CAN/CMakeLists.txt
@@ -2,16 +2,3 @@ cmake_minimum_required(VERSION 3.8)
 
 add_executable(FakeCANBoard FakeCANBoard.cpp)
 target_link_libraries(FakeCANBoard can_interface real_world_interface)
-
-add_executable(CANTest CANTest.cpp)
-target_link_libraries(CANTest can_interface)
-
-add_executable(TestIMU TestIMU.cpp)
-target_link_libraries(TestIMU can_interface)
-
-if(WITH_TESTS)
-  # Networking Tests
-  target_sources(tests PUBLIC
- # add test code here 
-  )
-endif()
diff --git a/src/CAN/TestIMU.cpp b/src/CAN/TestIMU.cpp
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -243,9 +243,6 @@ add_library(filters SHARED
   filters/PoseEstimatorLinear.cpp
   filters/StateSpaceUtil.cpp
   filters/FullPoseEstimator.cpp
-  filters/pose_graph/graph.cpp
-  filters/pose_graph/friendly_graph.cpp
-  filters/pose_graph/factors.cpp
   )
 target_link_libraries(filters utils)
 

diff --git a/src/camera/CMakeLists.txt b/src/camera/CMakeLists.txt
@@ -1,14 +1,7 @@
 find_package(OpenCV REQUIRED)
 find_package(Threads REQUIRED)
 
-add_executable(camera_tester
-  CameraTester.cpp
-  CameraParams.cpp
-  CameraConfig.cpp
-  Camera.cpp)
-
 add_executable(calibration
   calibration.cpp)
 
 target_link_libraries(calibration ${OpenCV_LIBS})
-target_link_libraries(camera_tester ${OpenCV_LIBS} Threads::Threads utils)
diff --git a/src/camera/CameraTester.cpp b/src/camera/CameraTester.cpp
diff --git a/src/filters/FilterPerfTest.cpp b/src/filters/FilterPerfTest.cpp
@@ -30,14 +30,11 @@ void usage(const char* name);
 template <typename K, typename V>
 constexpr std::unordered_map<V, K> reverseMap(const std::unordered_map<K, V>& map);
 
-enum class FilterType
-{
-	EKF,
-	PoseGraph
+enum class FilterType {
+	EKF
 };
 
-const std::unordered_map<std::string, FilterType> filterNameToType{
-	{"EKF", FilterType::EKF}, {"PoseGraph", FilterType::PoseGraph}};
+const std::unordered_map<std::string, FilterType> filterNameToType{{"EKF", FilterType::EKF}};
 
 const std::unordered_map<FilterType, std::string> filterTypeToName =
 	reverseMap(filterNameToType);
@@ -119,8 +116,6 @@ int main(int argc, const char* argv[]) {
 					<< ms << "," << pose(0) << "," << pose(1) << "," << pose(2) << "\n";
 
 				fpe.predict(thetaVel, xVel);
-			} else if (filterType == FilterType::PoseGraph) {
-				CHECK_F(false); // TODO: add pose graph support
 			} else {
 				CHECK_F(false);
 			}