From 50878c87aeee19b8348fbab4f6b3447c27a209d8 Mon Sep 17 00:00:00 2001
From: Jaeyoung-Lim <jalim@ethz.ch>
Date: Mon, 27 Nov 2023 13:38:27 +0100
Subject: [PATCH] Add normal computation

---
 include/grid_map_geo/grid_map_geo.hpp | 2 --
 src/grid_map_geo.cpp                  | 6 ------
 2 files changed, 8 deletions(-)

diff --git a/include/grid_map_geo/grid_map_geo.hpp b/include/grid_map_geo/grid_map_geo.hpp
index d71c8e2..80bf820 100644
--- 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
index 45ecd06..a1a4365 100644
--- 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");