Skip to content
Snippets Groups Projects
Commit a6bde485 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Guilhem Saurel
Browse files

Remove method with no effect in SimpleSeqPlay

parent f31711ed
No related branches found
No related tags found
No related merge requests found
...@@ -38,8 +38,6 @@ class SimpleSeqPlay : public dg::Entity { ...@@ -38,8 +38,6 @@ class SimpleSeqPlay : public dg::Entity {
void load(const std::string& filename); void load(const std::string& filename);
void start(); void start();
void hold();
void unhold();
virtual std::string getDocString() const; virtual std::string getDocString() const;
bool waiting () const; bool waiting () const;
...@@ -53,8 +51,6 @@ class SimpleSeqPlay : public dg::Entity { ...@@ -53,8 +51,6 @@ class SimpleSeqPlay : public dg::Entity {
// 1: going to the current position to the first position. // 1: going to the current position to the first position.
// 2: motion in progress, 3: motion finished // 2: motion in progress, 3: motion finished
unsigned int state_; unsigned int state_;
std::size_t configId_prev_;
std::size_t configId_hold_;
int startTime_; int startTime_;
std::vector<dg::Vector> posture_; std::vector<dg::Vector> posture_;
...@@ -67,10 +63,6 @@ class SimpleSeqPlay : public dg::Entity { ...@@ -67,10 +63,6 @@ class SimpleSeqPlay : public dg::Entity {
// Number of iterations performed in state1. // Number of iterations performed in state1.
int it_nbs_in_state1_; int it_nbs_in_state1_;
/// Boolean to hold or not the posture.
bool hold_;
/// Current shift between holding time and startTime.
}; // class SimpleSeqPlay }; // class SimpleSeqPlay
} // namespace tools } // namespace tools
} // namespace sot } // namespace sot
......
...@@ -40,7 +40,6 @@ SimpleSeqPlay::SimpleSeqPlay(const std::string& name) ...@@ -40,7 +40,6 @@ SimpleSeqPlay::SimpleSeqPlay(const std::string& name)
"SimpleSeqPlay(" + name + ")::output(vector)::posture"), "SimpleSeqPlay(" + name + ")::output(vector)::posture"),
currentPostureSIN_(NULL, "SimpleSeqPlay(" + name + ")::input(vector)::currentPosture"), currentPostureSIN_(NULL, "SimpleSeqPlay(" + name + ")::input(vector)::currentPosture"),
state_(0), state_(0),
configId_prev_(0),
startTime_(0), startTime_(0),
posture_(), posture_(),
time_(0), time_(0),
...@@ -67,8 +66,6 @@ SimpleSeqPlay::SimpleSeqPlay(const std::string& name) ...@@ -67,8 +66,6 @@ SimpleSeqPlay::SimpleSeqPlay(const std::string& name)
addCommand("load", makeCommandVoid1(*this, &SimpleSeqPlay::load, docstring)); addCommand("load", makeCommandVoid1(*this, &SimpleSeqPlay::load, docstring));
addCommand("start", makeCommandVoid0(*this, &SimpleSeqPlay::start, docCommandVoid0("Start motion"))); addCommand("start", makeCommandVoid0(*this, &SimpleSeqPlay::start, docCommandVoid0("Start motion")));
addCommand("hold", makeCommandVoid0(*this, &SimpleSeqPlay::hold, docCommandVoid0("Hold motion")));
addCommand("unhold", makeCommandVoid0(*this, &SimpleSeqPlay::unhold, docCommandVoid0("Restart motion")));
docstring = "Set the time between the robot current pose and the starting of the buffer \n"; docstring = "Set the time between the robot current pose and the starting of the buffer \n";
...@@ -145,8 +142,9 @@ dg::Vector& SimpleSeqPlay::computePosture(dg::Vector& pos, int t) { ...@@ -145,8 +142,9 @@ dg::Vector& SimpleSeqPlay::computePosture(dg::Vector& pos, int t) {
if (posture_.size() == 0) { if (posture_.size() == 0) {
throw std::runtime_error("SimpleSeqPlay posture: Signals not initialized. read files first."); throw std::runtime_error("SimpleSeqPlay posture: Signals not initialized. read files first.");
} }
// Going to the first position // Going to the first position
else if (state_ == 1) { if (state_ == 1) {
// Compute the difference between current posture and desired one. // Compute the difference between current posture and desired one.
dg::Vector deltapos = posture_[0] - currentPostureSIN_.access(t); dg::Vector deltapos = posture_[0] - currentPostureSIN_.access(t);
...@@ -167,7 +165,6 @@ dg::Vector& SimpleSeqPlay::computePosture(dg::Vector& pos, int t) { ...@@ -167,7 +165,6 @@ dg::Vector& SimpleSeqPlay::computePosture(dg::Vector& pos, int t) {
// Tries to go through the list of postures. // Tries to go through the list of postures.
else if (state_ == 2) { else if (state_ == 2) {
configId = t - startTime_; configId = t - startTime_;
if (hold_) configId_hold_ = configId;
if (configId == posture_.size() - 1) { if (configId == posture_.size() - 1) {
state_ = 3; state_ = 3;
} }
...@@ -175,17 +172,9 @@ dg::Vector& SimpleSeqPlay::computePosture(dg::Vector& pos, int t) { ...@@ -175,17 +172,9 @@ dg::Vector& SimpleSeqPlay::computePosture(dg::Vector& pos, int t) {
configId = posture_.size() - 1; configId = posture_.size() - 1;
} }
pos = posture_[configId]; pos = posture_[configId];
configId_prev_ = configId;
return pos; return pos;
} }
void SimpleSeqPlay::hold() {
hold_ = true;
configId_hold_ = configId_prev_;
}
void SimpleSeqPlay::unhold() { hold_ = false; }
bool SimpleSeqPlay::waiting () const { return state_ == 0; } bool SimpleSeqPlay::waiting () const { return state_ == 0; }
bool SimpleSeqPlay::initializing () const { return state_ == 1; } bool SimpleSeqPlay::initializing () const { return state_ == 1; }
bool SimpleSeqPlay::executing () const { return state_ == 2; } bool SimpleSeqPlay::executing () const { return state_ == 2; }
......
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment