diff --git a/CMakeLists.txt b/CMakeLists.txt
index 764cdc2fea7167834b9d0213237677f57fe999a6..5b57e8403703865ed6dbdd97694cd2137d1a66b1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -100,7 +100,6 @@ SET (${PROJECT_NAME}_HEADERS
include/hpp/manipulation/graph/helper.hh
include/hpp/manipulation/path-optimization/small-steps.hh
- include/hpp/manipulation/path-optimization/config-optimization.hh
include/hpp/manipulation/path-optimization/enforce-transition-semantic.hh
include/hpp/manipulation/path-optimization/keypoints.hh
include/hpp/manipulation/path-optimization/spline-gradient-based.hh
diff --git a/include/hpp/manipulation/path-optimization/config-optimization.hh b/include/hpp/manipulation/path-optimization/config-optimization.hh
deleted file mode 100644
index c63473744a74c14a92d5373f21bf52b4e4aa41cc..0000000000000000000000000000000000000000
--- a/include/hpp/manipulation/path-optimization/config-optimization.hh
+++ /dev/null
@@ -1,55 +0,0 @@
-//
-// Copyright (c) 2015 CNRS
-// Authors: Joseph Mirabel
-//
-// This file is part of hpp-manipulation
-// hpp-manipulation is free software: you can redistribute it
-// and/or modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation, either version
-// 3 of the License, or (at your option) any later version.
-//
-// hpp-manipulation is distributed in the hope that it will be
-// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
-// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-// General Lesser Public License for more details. You should have
-// received a copy of the GNU Lesser General Public License along with
-// hpp-manipulation If not, see
-// <http://www.gnu.org/licenses/>.
-
-#ifndef HPP_MANIPULATION_PATH_OPTIMIZATION_CONFIG_OPTIMIZATION_HH
-# define HPP_MANIPULATION_PATH_OPTIMIZATION_CONFIG_OPTIMIZATION_HH
-
-# include <hpp/core/path-optimization/config-optimization.hh>
-
-# include <hpp/manipulation/fwd.hh>
-
-namespace hpp {
- namespace manipulation {
- namespace pathOptimization {
- /// \addtogroup path_optimization
- /// \{
-
- /// Optimize the waypoints of the path and optionally add the
- /// constraint::ConfigurationConstraint to the ConfigProjector of the
- /// path.
- ///
- /// See Parameters for information on how to tune the algorithm.
- ///
- /// \note The optimizer assumes that the input path is a vector of optimal
- /// paths for the distance function.
- struct ConfigOptimizationTraits
- : core::pathOptimization::ConfigOptimizationTraits {
- typedef core::PathPtr_t PathPtr_t;
-
- static size_type numberOfPass () { return 10; }
-
- static size_type numberOfIterations () { return 1; }
-
- static ConfigProjectorPtr_t getConfigProjector
- (const PathPtr_t& before, const PathPtr_t& after, bool& reverse);
- };
- /// \}
- } // namespace pathOptimization
- } // namespace manipulation
-} // namespace hpp
-#endif // HPP_MANIPULATION_PATH_OPTIMIZATION_CONFIG_OPTIMIZATION_HH
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index d66da53e1e4908a79e50c881ec0c04cbef0f31bb..1036cb51f4e83c92f151eb35004417846c9f9ded 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -46,7 +46,6 @@ SET(SOURCES
graph/dot.cc
- path-optimization/config-optimization.cc
path-optimization/keypoints.cc
path-optimization/spline-gradient-based.cc
path-optimization/enforce-transition-semantic.cc
diff --git a/src/path-optimization/config-optimization.cc b/src/path-optimization/config-optimization.cc
deleted file mode 100644
index cb2dc1a42f3abce3440b97530f1a76fa4419aa35..0000000000000000000000000000000000000000
--- a/src/path-optimization/config-optimization.cc
+++ /dev/null
@@ -1,61 +0,0 @@
-// Copyright (c) 2015, Joseph Mirabel
-// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
-//
-// This file is part of hpp-manipulation.
-// hpp-manipulation is free software: you can redistribute it
-// and/or modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation, either version
-// 3 of the License, or (at your option) any later version.
-//
-// hpp-manipulation is distributed in the hope that it will be
-// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
-// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-// General Lesser Public License for more details. You should have
-// received a copy of the GNU Lesser General Public License along with
-// hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
-
-#include <hpp/manipulation/path-optimization/config-optimization.hh>
-
-#include <hpp/util/pointer.hh>
-
-#include <hpp/core/path.hh>
-#include <hpp/core/config-projector.hh>
-#include <hpp/manipulation/device.hh>
-#include <hpp/manipulation/graph/state.hh>
-#include <hpp/manipulation/graph/edge.hh>
-#include <hpp/manipulation/constraint-set.hh>
-
-namespace hpp {
- namespace manipulation {
- namespace pathOptimization {
- ConfigProjectorPtr_t ConfigOptimizationTraits::getConfigProjector
- (const PathPtr_t& before, const PathPtr_t& after, bool& reverse)
- {
- ConstraintSetPtr_t setB =
- HPP_STATIC_PTR_CAST (ConstraintSet, before->constraints ());
- ConstraintSetPtr_t setA =
- HPP_STATIC_PTR_CAST (ConstraintSet, after->constraints ());
- assert (setA->edge () && setB->edge());
- graph::GraphPtr_t graph = setA->edge()->parentGraph ();
- /// Find if path were computed from init or goal config
- /// There is a nasty case: when build a path fails partially, then you
- /// end up where the edge->to() do not correspond to the node of
- /// path->end(). In that case, path->end () should be in edge->node().
- /// (obviously, in this case, we have edge->isInNodeFrom_ = true)
- const bool reverseB = setB->edge ()->direction(before);
- //const bool reverseA = setA->edge ()->direction(after);
-
- reverse = reverseB;
-
- ConfigProjectorPtr_t p = ConfigProjector::create (graph->robot(),
- "intersect_" + setB->edge()->name() + "_" + setA->edge()->name(),
- graph->errorThreshold (), graph->maxIterations ());
-
- setB->edge()->intersectionConstraint (setA->edge (), p);
-
- p->rightHandSideFromConfig (before->end ());
- return p;
- }
- } // namespace pathOptimization
- } // namespace manipulation
-} // namespace hpp
diff --git a/src/problem-solver.cc b/src/problem-solver.cc
index 75564fbc81d146874dd29d72ca50949b2e1fafb8..3e28acffe14b4bc5feb83d14cc133f5b7d76d26c 100644
--- a/src/problem-solver.cc
+++ b/src/problem-solver.cc
@@ -52,7 +52,6 @@
#include "hpp/manipulation/graph-optimizer.hh"
#include "hpp/manipulation/graph-path-validation.hh"
#include "hpp/manipulation/graph-node-optimizer.hh"
-#include "hpp/manipulation/path-optimization/config-optimization.hh"
#include "hpp/manipulation/path-optimization/keypoints.hh"
#include "hpp/manipulation/path-optimization/spline-gradient-based.hh"
#include "hpp/manipulation/path-optimization/enforce-transition-semantic.hh"
@@ -75,15 +74,6 @@ namespace hpp {
static bool removeLockedJoints () { return false; }
};
- template <typename InnerConfigOptimizationTraits>
- struct GraphConfigOptimizationTraits {
- static core::PathOptimizerPtr_t create (const core::Problem& problem)
- {
- return core::pathOptimization::ConfigOptimization::
- createWithTraits <InnerConfigOptimizationTraits> (problem);
- }
- };
-
template <typename ParentSM_t, typename ChildSM_t>
core::SteeringMethodPtr_t createSMWithGuess
(const core::Problem& problem)
@@ -126,14 +116,6 @@ namespace hpp {
PartialShortcut::createWithTraits <PartialShortcutTraits>);
pathOptimizers.add ("Graph-PartialShortcut",
GraphOptimizer::create <core::pathOptimization::PartialShortcut>);
- pathOptimizers.add ("ConfigOptimization",
- core::pathOptimization::ConfigOptimization::createWithTraits
- <pathOptimization::ConfigOptimizationTraits>);
- pathOptimizers.add ("Graph-ConfigOptimization",
- GraphOptimizer::create <
- GraphConfigOptimizationTraits
- <pathOptimization::ConfigOptimizationTraits>
- >);
pathOptimizers.add ("EnforceTransitionSemantic",
pathOptimization::EnforceTransitionSemantic::create);