Add normal computation

ethz-asl · Nov 29, 2024 · 50878c8 · 50878c8
1 parent 02189d6
commit 50878c8
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Showing 2 changed files with 0 additions and 8 deletions.
diff --git a/include/grid_map_geo/grid_map_geo.hpp b/include/grid_map_geo/grid_map_geo.hpp
@@ -177,8 +177,6 @@ class GridMapGeo {
    */
   void AddLayerNormals(std::string reference_layer);
 
-  geometry_msgs::msg::TransformStamped static_transformStamped_;
-
  protected:
   grid_map::GridMap grid_map_;
   Location maporigin_;

diff --git a/src/grid_map_geo.cpp b/src/grid_map_geo.cpp
@@ -321,12 +321,6 @@ bool GridMapGeo::AddLayerOffset(const double offset_distance, const std::string
   return true;
 }
 
-void GridMapGeo::setGlobalOrigin(ESPG src_coord, const Eigen::Vector3d origin) {
-  // Transform global origin into CH1903 / LV03 coordinates
-  maporigin_.espg = src_coord;
-  maporigin_.position = origin;
-}
-
 void GridMapGeo::AddLayerNormals(const std::string reference_layer) {
   grid_map_.add(reference_layer + "_normal_x");
   grid_map_.add(reference_layer + "_normal_y");