From 71df5a8b964969a38e4b4c36a1614b17e274bc2e Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 25 Oct 2017 17:42:58 +0200
Subject: [PATCH] Remove WaypointEdge::direction.
---
include/hpp/manipulation/graph/edge.hh | 2 --
src/graph/edge.cc | 22 ----------------------
2 files changed, 24 deletions(-)
diff --git a/include/hpp/manipulation/graph/edge.hh b/include/hpp/manipulation/graph/edge.hh
index b8e06466..43172d27 100644
--- a/include/hpp/manipulation/graph/edge.hh
+++ b/include/hpp/manipulation/graph/edge.hh
@@ -232,8 +232,6 @@ namespace hpp {
const GraphWkPtr_t& graph, const StateWkPtr_t& from,
const StateWkPtr_t& to);
- virtual bool direction (const core::PathPtr_t& path) const;
-
virtual bool canConnect (ConfigurationIn_t q1, ConfigurationIn_t q2) const;
virtual bool build (core::PathPtr_t& path, ConfigurationIn_t q1, ConfigurationIn_t q2) const;
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index bacf320c..ebad3265 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -85,28 +85,6 @@ namespace hpp {
return !(src_contains_q0 && (!src_contains_q1 || dst_contains_q1));
}
- bool WaypointEdge::direction (const core::PathPtr_t& path) const
- {
- Configuration_t q0 = path->initial (),
- q1 = path->end ();
- const bool src_contains_q0 = waypoints_.back().second->contains (q0);
- const bool dst_contains_q0 = to ()->contains (q0);
- const bool src_contains_q1 = waypoints_.back().second->contains (q1);
- const bool dst_contains_q1 = to ()->contains (q1);
-
- /// See Edge::direction for Karnaugh table
- /// true if reverse
- if ( (!src_contains_q0 && !src_contains_q1)
- || (!dst_contains_q0 && !dst_contains_q1)
- || (!src_contains_q0 && !dst_contains_q0))
- HPP_THROW (std::runtime_error,
- "Edge " << name() << " does not seem to have generated path from"
- << pinocchio::displayConfig(q0) << " to "
- << pinocchio::displayConfig(q1)
- );
- return !(src_contains_q0 && (!src_contains_q1 || dst_contains_q1));
- }
-
bool Edge::intersectionConstraint (const EdgePtr_t& other,
ConfigProjectorPtr_t proj) const
{
--
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