From f1380e5da9bfdfa9c6e809c93cf98479b4cd0666 Mon Sep 17 00:00:00 2001
From: Francois Keith <keith@lirmm.fr>
Date: Sun, 20 Apr 2014 12:39:29 +0200
Subject: [PATCH] Remove useless IndexInVRML vector.
---
.../ComAndFootRealizationByGeometry.cpp | 36 ++++---------------
.../ComAndFootRealizationByGeometry.hh | 9 -----
2 files changed, 6 insertions(+), 39 deletions(-)
diff --git a/src/MotionGeneration/ComAndFootRealizationByGeometry.cpp b/src/MotionGeneration/ComAndFootRealizationByGeometry.cpp
index 14664481..343e958b 100644
--- a/src/MotionGeneration/ComAndFootRealizationByGeometry.cpp
+++ b/src/MotionGeneration/ComAndFootRealizationByGeometry.cpp
@@ -108,13 +108,11 @@ RegisterMethods()
void ComAndFootRealizationByGeometry::
InitializationMaps(std::vector<CjrlJoint *> &FromRootToJoint,
std::vector<CjrlJoint *> &ActuatedJoints,
- std::vector<int> &IndexInVRML,
std::vector<int> &IndexinConfiguration )
{
if (FromRootToJoint.size()!=0)
{
ODEBUG("Enter 6.0 " << this);
- IndexInVRML.resize(FromRootToJoint.size());
IndexinConfiguration.resize(FromRootToJoint.size());
ODEBUG("Enter 6.1 " );
@@ -123,15 +121,6 @@ InitializationMaps(std::vector<CjrlJoint *> &FromRootToJoint,
// Here we assume that they are in a decending order.
for(unsigned int i=0;i<FromRootToJoint.size();i++)
{
- for(unsigned int j=0;j<ActuatedJoints.size();j++)
- {
- if (FromRootToJoint[i]==ActuatedJoints[j])
- {
- IndexInVRML[lindex] = j;
- break;
- }
- }
-
IndexinConfiguration[lindex] = FromRootToJoint[i]->rankInConfiguration();
lindex++;
}
@@ -141,7 +130,6 @@ InitializationMaps(std::vector<CjrlJoint *> &FromRootToJoint,
void ComAndFootRealizationByGeometry::
InitializeMapsForAHand(CjrlHand * aHand,
std::vector<CjrlJoint *> &ActuatedJoints,
- vector<int> & IndexesInVRML,
vector<int> & IndexesInConfiguration,
CjrlJoint * & associateShoulder)
{
@@ -181,7 +169,7 @@ InitializeMapsForAHand(CjrlHand * aHand,
}
associateShoulder = FromRootToJoint2[0];
InitializationMaps(FromRootToJoint2,ActuatedJoints,
- IndexesInVRML, IndexesInConfiguration);
+ IndexesInConfiguration);
}
void ComAndFootRealizationByGeometry::
@@ -212,7 +200,7 @@ InitializeMapForChest(std::vector<CjrlJoint *> &ActuatedJoints)
}
itJoint++;
}
- InitializationMaps(FromRootToJoint2,ActuatedJoints,m_ChestIndexInVRML,m_ChestIndexinConfiguration);
+ InitializationMaps(FromRootToJoint2,ActuatedJoints,m_ChestIndexinConfiguration);
}
void ComAndFootRealizationByGeometry::
@@ -286,23 +274,23 @@ Initialization()
// Remove the first element
FromRootToJoint.erase(FromRootToJoint.begin());
InitializationMaps(FromRootToJoint,ActuatedJoints,
- m_RightLegIndexInVRML,m_RightLegIndexinConfiguration);
+ m_RightLegIndexinConfiguration);
FromRootToJoint.clear();
FromRootToJoint = LeftFoot->associatedAnkle()->jointsFromRootToThis();
FromRootToJoint.erase(FromRootToJoint.begin());
InitializationMaps(FromRootToJoint,ActuatedJoints,
- m_LeftLegIndexInVRML,m_LeftLegIndexinConfiguration);
+ m_LeftLegIndexinConfiguration);
// Create maps for the left hand.
InitializeMapsForAHand(getHumanoidDynamicRobot()->leftHand(),
ActuatedJoints,
- m_LeftArmIndexInVRML, m_LeftArmIndexinConfiguration,
+ m_LeftArmIndexinConfiguration,
m_LeftShoulder);
// Create maps for the right hand.
InitializeMapsForAHand(getHumanoidDynamicRobot()->rightHand(),
ActuatedJoints,
- m_RightArmIndexInVRML, m_RightArmIndexinConfiguration,
+ m_RightArmIndexinConfiguration,
m_RightShoulder);
FromRootToJoint.clear();
@@ -311,12 +299,6 @@ Initialization()
ODEBUG("RightLegIndex: "
- << m_RightLegIndexInVRML[0] << " "
- << m_RightLegIndexInVRML[1] << " "
- << m_RightLegIndexInVRML[2] << " "
- << m_RightLegIndexInVRML[3] << " "
- << m_RightLegIndexInVRML[4] << " "
- << m_RightLegIndexInVRML[5] << " "
<< m_RightLegIndexinConfiguration[0] << " "
<< m_RightLegIndexinConfiguration[1] << " "
<< m_RightLegIndexinConfiguration[2] << " "
@@ -324,12 +306,6 @@ Initialization()
<< m_RightLegIndexinConfiguration[4] << " "
<< m_RightLegIndexinConfiguration[5] );
ODEBUG("LeftLegIndex: "
- << m_LeftLegIndexInVRML[0] << " "
- << m_LeftLegIndexInVRML[1] << " "
- << m_LeftLegIndexInVRML[2] << " "
- << m_LeftLegIndexInVRML[3] << " "
- << m_LeftLegIndexInVRML[4] << " "
- << m_LeftLegIndexInVRML[5] << " "
<< m_LeftLegIndexinConfiguration[0] << " "
<< m_LeftLegIndexinConfiguration[1] << " "
<< m_LeftLegIndexinConfiguration[2] << " "
diff --git a/src/MotionGeneration/ComAndFootRealizationByGeometry.hh b/src/MotionGeneration/ComAndFootRealizationByGeometry.hh
index fb6fe70b..485ad481 100644
--- a/src/MotionGeneration/ComAndFootRealizationByGeometry.hh
+++ b/src/MotionGeneration/ComAndFootRealizationByGeometry.hh
@@ -253,7 +253,6 @@ namespace PatternGeneratorJRL
/*! \brief Initialization of internal maps of indexes */
void InitializationMaps(std::vector<CjrlJoint *> &FromRootToFoot,
std::vector<CjrlJoint *> &ActuatedJoints,
- std::vector<int> &IndexInVRML,
std::vector<int> &IndexinConfiguration);
/*! Map shoulders and wrist
@@ -268,7 +267,6 @@ namespace PatternGeneratorJRL
*/
void InitializeMapsForAHand(CjrlHand * aHand,
std::vector<CjrlJoint *> &ActuatedJoints,
- vector<int> & IndexesInVRML,
vector<int> & IndexesInConfiguration,
CjrlJoint * & associateShoulder);
@@ -367,13 +365,6 @@ namespace PatternGeneratorJRL
/*! Conversion between the index of the plan and the robot DOFs. */
std::vector<int> m_ConversionForUpperBodyFromLocalIndexToRobotDOFs;
-
- /*! Keep the indexes for the legs of the robot in the VRML numbering system. */
- std::vector<int> m_LeftLegIndexInVRML;
- std::vector<int> m_RightLegIndexInVRML;
- std::vector<int> m_LeftArmIndexInVRML;
- std::vector<int> m_RightArmIndexInVRML;
- std::vector<int> m_ChestIndexInVRML;
/*! \name Keep the indexes into the Configuration numbering system.
@{
--
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