From 123364ee6109e7882713e5cadf72a7f1bf2f9c4f Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 25 Aug 2016 17:43:10 +0200
Subject: [PATCH] Remove ProblemSolver::resetConstraints and
addFunctionToConfigProjector
---
include/hpp/manipulation/problem-solver.hh | 14 --------
src/problem-solver.cc | 42 ----------------------
2 files changed, 56 deletions(-)
diff --git a/include/hpp/manipulation/problem-solver.hh b/include/hpp/manipulation/problem-solver.hh
index 2256157d..4603dc67 100644
--- a/include/hpp/manipulation/problem-solver.hh
+++ b/include/hpp/manipulation/problem-solver.hh
@@ -118,20 +118,6 @@ namespace hpp {
const value_type& width,
const value_type& margin = 1e-4);
- /// Reset constraint set and put back the disable collisions
- /// between gripper and handle
- virtual void resetConstraints ();
-
- /// Add differential function to the config projector
- /// \param constraintName Name given to config projector if created by
- /// this method.
- /// \param functionName name of the function as stored in internal map.
- /// Build the config projector if not yet constructed.
- /// If constraint is a graps, deactivate collision between gripper and
- /// object.
- virtual void addFunctionToConfigProjector
- (const std::string& constraintName, const std::string& functionName);
-
virtual void pathValidationType (const std::string& type,
const value_type& tolerance);
diff --git a/src/problem-solver.cc b/src/problem-solver.cc
index 80521aab..c6e9d9cc 100644
--- a/src/problem-solver.cc
+++ b/src/problem-solver.cc
@@ -257,48 +257,6 @@ namespace hpp {
addNumericalConstraint (name, NumericalConstraint::create (cvxShape));
}
- void ProblemSolver::resetConstraints ()
- {
- if (robot_)
- constraints_ = ConstraintSet::create (robot_,
- "Default constraint set");
- GraspsMap_t graspsMap = grasps();
- for (GraspsMap_t::const_iterator itGrasp = graspsMap.begin();
- itGrasp != graspsMap.end(); ++itGrasp) {
- GraspPtr_t grasp = itGrasp->second;
- GripperPtr_t gripper = grasp->first;
- HandlePtr_t handle = grasp->second;
- JointPtr_t joint = handle->joint();
- model::JointVector_t joints = gripper->getDisabledCollisions();
- for (model::JointVector_t::iterator itJoint = joints.begin() ;
- itJoint != joints.end(); ++itJoint) {
- robot()->addCollisionPairs(joint, *itJoint, hpp::model::COLLISION);
- robot()->addCollisionPairs(joint, *itJoint, hpp::model::DISTANCE);
- }
- }
- }
-
- void ProblemSolver::addFunctionToConfigProjector
- (const std::string& constraintName, const std::string& functionName)
- {
- core::ProblemSolver::addFunctionToConfigProjector (constraintName,
- functionName);
- NumericalConstraintPtr_t constraint (numericalConstraint (functionName));
- if (GraspPtr_t g = grasp (constraint)) {
- GripperPtr_t gripper = g->first;
- HandlePtr_t handle = g->second;
- JointPtr_t joint1 = handle->joint();
- model::JointVector_t joints = gripper->getDisabledCollisions();
- for (model::JointVector_t::iterator itJoint = joints.begin() ;
- itJoint != joints.end(); ++itJoint++) {
- robot()->removeCollisionPairs(joint1, *itJoint,
- hpp::model::COLLISION);
- robot()->removeCollisionPairs(joint1, *itJoint,
- hpp::model::DISTANCE);
- }
- }
- }
-
void ProblemSolver::pathValidationType (const std::string& type,
const value_type& tolerance)
{
--
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