[C++][Minor] Removed the appendGeometryModel methods that was partially updating geomData.

src/algorithm/geometry.hpp

@@ -146,22 +146,16 @@ namespace se3
   /// \li add GeometryObject of geomModel2 to geomModel1,
   /// \li add the collision pairs of geomModel2 into geomModel1 (indexes are updated)
   /// \li add all the collision pairs between geometry objects of geomModel1 and geomModel2.
-  /// \li update the inner objects of geomModel1 with the inner objects of geomModel2
-  /// \li update the outer objects (see TODO)
   /// It is possible to ommit both data (an additional function signature is available which makes
   /// them optionnal), then inner/outer objects are not updated.
   ///
   /// \param[out] geomModel1   geometry model where the data is added
-  /// \param[out] geomData1    corresponding geometry data, where in/outer objects are updated
   /// \param[in]  geomModel2   geometry model from which new geometries are taken
-  /// \param[out] geomData2    geometry data corresponding to geomModel2.
-  /// \warning Radius should be recomputed.
-  /// \todo The geometry objects of geomModel2 should be added as outerObjects
-  ///       of the joints originating from model1 but I do not know how to do it.
+  /// \note Of course, the geomData corresponding to geomModel1 will not be valid anymore, 
+  /// and should be updated (or more simply, re-created from the new setting of geomModel1).
+  /// \todo This function is not asserted in unittest.
   inline void appendGeometryModel(GeometryModel & geomModel1,
-                                  GeometryData & geomData1,
-                                  const GeometryModel & geomModel2,
-                                  const GeometryData & geomData2);
+                                  GeometryData & geomData1);
 
 } // namespace se3 
 

src/algorithm/geometry.hxx

@@ -273,41 +273,6 @@ namespace se3
     }
   }
 
-  inline void appendGeometryModel(GeometryModel & geomModel1,
-                                  GeometryData & geomData1,
-                                  const GeometryModel & geomModel2,
-                                  const GeometryData & geomData2)
-  {
-    /// 1&2. Call previous function.
-    appendGeometryModel(geomModel1,geomModel2);
-
-    /// 3. Update the inner/outer objects
-    Index nGeom1 = geomModel1.geometryObjects.size();
-    typedef GeometryData::GeomIndexList GeomIndexList;
-    typedef std::map < JointIndex, GeomIndexList > Map_t;
-    BOOST_FOREACH(const Map_t::value_type& innerObject, geomData2.innerObjects)
-    {
-      GeomIndexList& innerGeoms = geomData1.innerObjects[innerObject.first];
-      innerGeoms.reserve(innerGeoms.size() + innerObject.second.size());
-      BOOST_FOREACH(const GeomIndex& gid, innerObject.second)
-      {
-        innerGeoms.push_back(nGeom1 + gid);
-      }
-    }
-    BOOST_FOREACH(const Map_t::value_type& outerObject, geomData2.outerObjects)
-    {
-      GeomIndexList& outerGeoms = geomData1.outerObjects[outerObject.first];
-      outerGeoms.reserve(outerGeoms.size() + outerObject.second.size());
-      BOOST_FOREACH(const GeomIndex& gid, outerObject.second)
-      {
-        outerGeoms.push_back(nGeom1 + gid);
-      }
-    }
-
-    // FIXME: I copy here the previous algo. Maybe it would be safer to simply use the
-    // fillInnerOuterObjectMaps() method (however marginally less efficient: is it important?).
-
-  }
 } // namespace se3
 
 #endif // ifnded __se3_algo_geometry_hxx__