1 files changed, 0 insertions, 18 deletions

diff --git a/SD-VBS/benchmarks/localization/src/matlab/mclWhole.m b/SD-VBS/benchmarks/localization/src/matlab/mclWhole.m
deleted file mode 100644
index 4e78b8f..0000000
--- a/SD-VBS/benchmarks/localization/src/matlab/mclWhole.m
+++ /dev/null
@@ -1,18 +0,0 @@
-function retW=mclWhole(quat, Ovel, STDDEV_GPSVel, accl, STDDEV_ACCL)
-n=size(quat,1);
-OvelNorm=norm(Ovel);
-if (OvelNorm>0.5)
-    Ovel=Ovel/norm(Ovel);
-    %trick
-    %quat=addEulNoise(quat, STDDEV_GPSVel); 
-    orgWorld=quatRot([1 0 0],quatConj(quat));
-    p1=get3DGaussianProb(orgWorld, Ovel, eye(3)./STDDEV_GPSVel);
-else
-    p1=zeros(n,1);
-end
-
-gravity=quatRot(ones(n,1)*[0 0 -9.8], quat);
-p2=get3DGaussianProb(gravity, accl, eye(3)./(STDDEV_ACCL));
-retW=p1+p2;
-retW=retW/sum(retW);
-            
\ No newline at end of file