From deea0321b6a29a55a4ce31aea32869c3dc61bef6 Mon Sep 17 00:00:00 2001
From: Adam Morrissett <22103567+adamlm@users.noreply.github.com>
Date: Thu, 11 Jan 2024 08:54:53 -0500
Subject: [PATCH] Remove dead code (#2273)

---
 .../src/multiple_object_tracker_component.cpp                   | 2 --
 1 file changed, 2 deletions(-)

diff --git a/carma_cooperative_perception/src/multiple_object_tracker_component.cpp b/carma_cooperative_perception/src/multiple_object_tracker_component.cpp
index 41613ac25c..ecc75aed8f 100644
--- a/carma_cooperative_perception/src/multiple_object_tracker_component.cpp
+++ b/carma_cooperative_perception/src/multiple_object_tracker_component.cpp
@@ -613,8 +613,6 @@ auto MultipleObjectTrackerNode::execute_pipeline() -> void
     if (has_association(track)) {
       const auto detection_uuids{associations.at(get_uuid(track))};
       const auto first_detection{detection_map[detection_uuids.at(0)]};
-      auto predicted_track{track};
-      mot::propagate_to_time(predicted_track, current_time, mot::UnscentedTransform{1.0, 2.0, 0.0});
       const auto fused_track{
         std::visit(mot::covariance_intersection_visitor, track, first_detection)};
       track_manager_.update_track(mot::get_uuid(track), fused_track);