Remove AxialHandle::createPreGraspComplement

include/hpp/manipulation/axial-handle.hh

@@ -71,18 +71,6 @@ namespace hpp {
       virtual NumericalConstraintPtr_t createPreGrasp
       (const GripperPtr_t& gripper, const value_type& shift, std::string name) const;
 
-      /// Create constraint that acts on the non-constrained axis of the
-      /// constraint generated by Handle::createPreGrasp.
-      /// \param gripper object containing the gripper information
-      /// \param shift the target value along the x-axis
-      /// \param width width of the interval of freedom of gripper along x-axis.
-      /// \return the constraint of relative position between the handle and
-      ///         the gripper.
-      /// \note The translation along x-axis and the rotation around z-axis are constrained.
-      virtual NumericalConstraintPtr_t createPreGraspComplement
-      (const GripperPtr_t& gripper, const value_type& shift,
-       const value_type& width, std::string name) const;
-
       virtual std::ostream& print (std::ostream& os) const;
     protected:
       /// Constructor

src/axial-handle.cc

@@ -84,27 +84,6 @@ namespace hpp {
 				       localPosition(), mask)));
     }
 
-    NumericalConstraintPtr_t AxialHandle::createPreGraspComplement
-    (const GripperPtr_t& gripper, const value_type& shift,
-     const value_type& width, std::string n) const
-    {
-      using boost::assign::list_of;
-      using core::DoubleInequality;
-      std::vector <bool> mask = list_of (true)(false)(false)(false)(false)
-        (false);
-      Transform3f transform = gripper->objectPositionInJoint ()
-        * Transform3f (I3, vector3_t (shift,0,0));
-      if (n.empty())
-        n = "Transformation_(1,0,0,0,0,0)_" + name() + "_" + gripper->name();
-      return NumericalConstraintPtr_t
-	(NumericalConstraint::create (RelativeTransformation::create
-				      (n,
-				       gripper->joint()->robot(),
-				       gripper->joint (), joint (),
-				       transform, localPosition(), mask),
-				      DoubleInequality::create (width)));
-    }
-
     HandlePtr_t AxialHandle::clone () const
     {
       AxialHandlePtr_t self = weakPtr_.lock ();