From e953c45cb0b8a5a931fc2a16bca774a2be8bf527 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 30 Nov 2017 16:44:27 +0100
Subject: [PATCH] Remove AxialHandle::createPreGraspComplement
---
include/hpp/manipulation/axial-handle.hh | 12 ------------
src/axial-handle.cc | 21 ---------------------
2 files changed, 33 deletions(-)
diff --git a/include/hpp/manipulation/axial-handle.hh b/include/hpp/manipulation/axial-handle.hh
index 5cd03689..a60191c8 100644
--- a/include/hpp/manipulation/axial-handle.hh
+++ b/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
diff --git a/src/axial-handle.cc b/src/axial-handle.cc
index 0cf828f3..6b195488 100644
--- a/src/axial-handle.cc
+++ b/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 ();
--
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