From c5b68c0e1952ae506d2647e85e8dc4dc9d01cda9 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Mon, 14 Dec 2015 10:44:11 +0100
Subject: [PATCH] Cosmetic changes
* Remove useless lines
* Fix documentation
---
include/hpp/manipulation/manipulation-planner.hh | 6 +++---
src/manipulation-planner.cc | 2 --
2 files changed, 3 insertions(+), 5 deletions(-)
diff --git a/include/hpp/manipulation/manipulation-planner.hh b/include/hpp/manipulation/manipulation-planner.hh
index d3acc28..fc284de 100644
--- a/include/hpp/manipulation/manipulation-planner.hh
+++ b/include/hpp/manipulation/manipulation-planner.hh
@@ -46,12 +46,12 @@ namespace hpp {
/// One step of extension.
///
- /// A set of constraints is choosen using the graph of constraints.
- /// A constraint extension is done using a choosen set.
+ /// A set of constraints is chosen using the graph of constraints.
+ /// A constraint extension is done using a chosen set.
///
virtual void oneStep ();
- /// Extend a the configuration q_near toward q_rand.
+ /// Extend configuration q_near toward q_rand.
/// \param q_near the configuration to be extended.
/// \param q_rand the configuration toward extension is performed.
/// \retval validPath the longest valid path (possibly of length 0),
diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index 82daeb5..e3f3575 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -32,7 +32,6 @@
#include "hpp/manipulation/problem.hh"
#include "hpp/manipulation/roadmap.hh"
#include "hpp/manipulation/roadmap-node.hh"
-#include "hpp/manipulation/graph-steering-method.hh"
#include "hpp/manipulation/graph/edge.hh"
#include "hpp/manipulation/graph/node-selector.hh"
@@ -186,7 +185,6 @@ namespace hpp {
return false;
}
HPP_STOP_TIMECOUNTER (applyConstraints);
- GraphSteeringMethodPtr_t sm = problem_.steeringMethod();
core::PathPtr_t path;
HPP_START_TIMECOUNTER (buildPath);
if (!edge->build (path, *q_near, qProj_)) {
--
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