From 1f9889ec801537af59a637e0ae2834be98ae93fa Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Wed, 7 Sep 2016 09:29:55 +0200
Subject: [PATCH] [C++] Geom: remove computeAllDistance and
computeAllCollisions from GeomData. Issue 281.8.
---
src/multibody/geometry.hpp | 20 +++-----------------
src/multibody/geometry.hxx | 20 --------------------
2 files changed, 3 insertions(+), 37 deletions(-)
diff --git a/src/multibody/geometry.hpp b/src/multibody/geometry.hpp
index 49dacec98..42c29d599 100644
--- a/src/multibody/geometry.hpp
+++ b/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
diff --git a/src/multibody/geometry.hxx b/src/multibody/geometry.hxx
index a73801296..f0e96ea12 100644
--- a/src/multibody/geometry.hxx
+++ b/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() );
--
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