From 249e7f7f83d8cc8a17f544ae3fb6c702a864cac7 Mon Sep 17 00:00:00 2001
From: Ignacio Vizzo <ignacio@dexory.com>
Date: Tue, 2 Apr 2024 18:26:01 +0200
Subject: [PATCH] Remove max_distance_2_

Leave it for other PR
---
 cpp/kiss_icp/core/VoxelHashMap.cpp | 3 ++-
 cpp/kiss_icp/core/VoxelHashMap.hpp | 4 ++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/cpp/kiss_icp/core/VoxelHashMap.cpp b/cpp/kiss_icp/core/VoxelHashMap.cpp
index 304c67a7..9b5cbcd5 100644
--- a/cpp/kiss_icp/core/VoxelHashMap.cpp
+++ b/cpp/kiss_icp/core/VoxelHashMap.cpp
@@ -88,7 +88,8 @@ void VoxelHashMap::RemovePointsFarFromLocation(const Eigen::Vector3d &origin) {
     for (auto it = map_.begin(); it != map_.end();) {
         const auto &[voxel, voxel_block] = *it;
         const auto &pt = voxel_block.points.front();
-        if ((pt - origin).squaredNorm() > (max_distance2_)) {
+        const auto max_distance2 = max_distance_ * max_distance_;
+        if ((pt - origin).squaredNorm() > (max_distance2)) {
             it = map_.erase(it);
         } else {
             ++it;
diff --git a/cpp/kiss_icp/core/VoxelHashMap.hpp b/cpp/kiss_icp/core/VoxelHashMap.hpp
index b88ca00e..7eff4347 100644
--- a/cpp/kiss_icp/core/VoxelHashMap.hpp
+++ b/cpp/kiss_icp/core/VoxelHashMap.hpp
@@ -52,7 +52,7 @@ struct VoxelHashMap {
 
     explicit VoxelHashMap(double voxel_size, double max_distance, int max_points_per_voxel)
         : voxel_size_(voxel_size),
-          max_distance2_(max_distance * max_distance),
+          max_distance_(max_distance),
           max_points_per_voxel_(max_points_per_voxel) {}
 
     inline void Clear() { map_.clear(); }
@@ -70,7 +70,7 @@ struct VoxelHashMap {
     std::vector<Eigen::Vector3d> GetPoints(const std::vector<Voxel> &query_voxels) const;
 
     double voxel_size_;
-    double max_distance2_;
+    double max_distance_;
     int max_points_per_voxel_;
     tsl::robin_map<Voxel, VoxelBlock, VoxelHash> map_;
 };