Commit da16a6d6 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Remove SteeringMethod-Straight, None (PathOptimizer) and WeighedDistance

from ProblemSolver keys
parent 39bda32e
......@@ -114,15 +114,6 @@ namespace hpp {
const Model obsModel = initObstacleModel();
}
// Struct that constructs an empty shared pointer to PathOptimizer.
struct NoneOptimizer
{
static PathOptimizerPtr_t create (const Problem&)
{
return PathOptimizerPtr_t ();
}
}; // struct NoneOptimizer
// Struct that constructs an empty shared pointer to PathProjector.
struct NonePathProjector
{
......@@ -182,16 +173,10 @@ namespace hpp {
configurationShooters.add ("BasicConfigurationShooter", BasicConfigurationShooter::create);
// TODO "WeighedDistance" is kept for backward compatibility
distances.add ("WeighedDistance", WeighedDistance::createFromProblem);
distances.add ("Weighed", WeighedDistance::createFromProblem);
distances.add ("ReedsShepp", bind (distance::ReedsShepp::create, _1));
// TODO "SteeringMethodStraight" is kept for backward compatibility
steeringMethods.add ("SteeringMethodStraight",
Factory<steeringMethod::Straight>::create);
steeringMethods.add ("Straight",
Factory<steeringMethod::Straight>::create);
steeringMethods.add ("Straight", Factory<steeringMethod::Straight>::create);
steeringMethods.add ("ReedsShepp", steeringMethod::ReedsShepp::createWithGuess);
steeringMethods.add ("Dubins", steeringMethod::Dubins::createWithGuess);
steeringMethods.add ("Snibud", steeringMethod::Snibud::createWithGuess);
......@@ -203,7 +188,6 @@ namespace hpp {
pathOptimizers.add ("PartialShortcut", pathOptimization::PartialShortcut::create);
pathOptimizers.add ("ConfigOptimization", pathOptimization::ConfigOptimization::create);
pathOptimizers.add ("SimpleTimeParameterization", pathOptimization::SimpleTimeParameterization::create);
pathOptimizers.add ("None", NoneOptimizer::create); // TODO: Delete me
// pathOptimizers.add ("SplineGradientBased_cannonical1",pathOptimization::SplineGradientBased<path::CanonicalPolynomeBasis, 1>::create);
// pathOptimizers.add ("SplineGradientBased_cannonical2",pathOptimization::SplineGradientBased<path::CanonicalPolynomeBasis, 2>::create);
......
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