mrpt_graphslam: Take out redundant updateStates inherited methods

MRPT · Aug 29, 2018 · 9bf3999 · 9bf3999
1 parent 3c50548
commit 9bf3999
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Showing 2 changed files with 1 addition and 27 deletions.
diff --git a/libs/graphslam/include/mrpt/graphslam/interfaces/CEdgeRegistrationDecider.h b/libs/graphslam/include/mrpt/graphslam/interfaces/CEdgeRegistrationDecider.h
@@ -49,17 +49,6 @@ class CEdgeRegistrationDecider
 
 	CEdgeRegistrationDecider()=default;;
 	virtual ~CEdgeRegistrationDecider()=default;
-	/**\brief Generic method for fetching the incremental action/observation
-	 * readings from the calling function.
-	 *
-	 * Implementations of this interface should use (part of) the specified
-	 * parameters and call the checkRegistrationCondition to check for
-	 * potential Edge registration
-	 */
-	virtual bool updateState(
-		mrpt::obs::CActionCollection::Ptr action,
-		mrpt::obs::CSensoryFrame::Ptr observations,
-		mrpt::obs::CObservation::Ptr observation) = 0;
 	/**\brief Fill the given map with the type of registered edges as well as
 	 * the corresponding number of registration of each edge.
 	 */
@@ -77,8 +66,7 @@ class CEdgeRegistrationDecider
 		 * graph.
 		 *
 		 * If condition(s) for edge registration is satisfied, method should
-	  *call
-		 * the registerNewEdge method.
+	   * call the registerNewEdge method.
 		 */
 	/**\{*/
 	virtual void checkRegistrationCondition(

diff --git a/libs/graphslam/include/mrpt/graphslam/interfaces/CNodeRegistrationDecider.h b/libs/graphslam/include/mrpt/graphslam/interfaces/CNodeRegistrationDecider.h
@@ -57,20 +57,6 @@ class CNodeRegistrationDecider
 	 * position
 	 */
 	virtual global_pose_t getCurrentRobotPosEstimation() const;
-	/**\brief Generic method for fetching the incremental action-observations
-	 * (or observation-only) depending on the rawlog format readings from the
-	 * calling function.
-	 *
-	 * Implementations of this interface should use (part of) the specified
-	 * parameters and call the checkRegistrationCondition to check for
-	 * potential node registration
-	 *
-	 * \return True upon successful node registration in the graph
-	 */
-	virtual bool updateState(
-		mrpt::obs::CActionCollection::Ptr action,
-		mrpt::obs::CSensoryFrame::Ptr observations,
-		mrpt::obs::CObservation::Ptr observation) = 0;
 	virtual void getDescriptiveReport(std::string* report_str) const;
 
 protected: