[C++] Geom: remove computeAllDistance and computeAllCollisions from GeomData.

Issue 281.8.

src/multibody/geometry.hpp

@@ -289,13 +289,6 @@ namespace se3
     ///
     bool computeCollision(const Index & pairId);
     
-    ///
-    /// \brief Compute the collision result of all the collision pairs according to
-    ///        the current placements of the geometires stored in GeometryData::oMg.
-    ///        The results are stored in the vector GeometryData::collision_results.
-    ///
-    void computeAllCollisions();
-    
     ///
     /// \brief Check if at least one of the collision pairs has its two collision objects in collision.
     ///        The results are stored in the vector GeometryData::collision_results.
@@ -314,16 +307,9 @@ namespace se3
     ///
     fcl::DistanceResult & computeDistance(const Index & pairId);
     
-    ///
-    /// \brief Compute the distance result for all collision pairs according to
-    ///        the current placements of the geometries stored in GeometryData::oMg.
-    ///
-    /// The method indeed calls computeDistance for each collision
-    /// pair. Consequently the results are stored in the vector
-    /// GeometryData::distance_results.
-    ///
-    void computeAllDistances() PINOCCHIO_DEPRECATED;
-    
+    /// Reset the vector distance_results.
+    /// TODO: should this be called automatically before calling computeDistance?
+    /// TODO: should we implement the same for collisions?
     void resetDistances();
 
     /// Fill both innerObjects and outerObjects maps, from vectors collisionObjects and 

src/multibody/geometry.hxx

@@ -245,17 +245,6 @@ namespace se3
     return collisionResult.isCollision();
   }
   
-  inline void GeometryData::computeAllCollisions()
-  {
-    assert( activeCollisionPairs.size() == model_geom.collisionPairs.size() );
-    assert( collision_results   .size() == model_geom.collisionPairs.size() );
-    for(size_t i = 0; i<model_geom.collisionPairs.size(); ++i)
-    {
-      if(activeCollisionPairs[i])
-        computeCollision(i);
-    }
-  }
-  
   inline bool GeometryData::isColliding()
   {
     Index& i = collisionPairIndex;
@@ -282,15 +271,6 @@ namespace se3
     return distance_results[pairId];
   }
   
-  inline void GeometryData::computeAllDistances ()
-  {
-    assert( activeCollisionPairs.size() == model_geom.collisionPairs.size() );
-    for(size_t i = 0; i<activeCollisionPairs.size(); ++i)
-    {
-      if (activeCollisionPairs[i]) computeDistance(i);
-    }
-  }
-
   inline void GeometryData::resetDistances()
   {
     std::fill(distance_results.begin(), distance_results.end(), fcl::DistanceResult() );