cleanup

source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h

@@ -198,9 +198,7 @@ namespace armarx
     public slots:
 
         // KinematicUnit
-        // void kinematicUnitZeroPosition();
         void kinematicUnitZeroVelocity();
-        // void kinematicUnitZeroTorque();
 
         void setControlModePosition();
         void setControlModeVelocity();
@@ -263,16 +261,6 @@ namespace armarx
         SoSeparator* debugLayerVisu;
         armarx::DebugDrawerComponentPtr debugDrawer;
 
-        // interface implementation
-        // void reportControlModeChanged(const NameControlModeMap& jointModes, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c) override;
-        // void reportJointAngles(const NameValueMap& jointAngles, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c) override;
-        // void reportJointVelocities(const NameValueMap& jointVelocities, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c) override;
-        // void reportJointTorques(const NameValueMap& jointTorques, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c) override;
-        // void reportJointAccelerations(const NameValueMap& jointAccelerations, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c) override;
-        // void reportJointCurrents(const NameValueMap& jointCurrents, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c) override;
-        // void reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c) override;
-        // void reportJointStatuses(const NameStatusMap& jointStatuses, Ice::Long timestamp, bool aValueChanged, const Ice::Current&) override;
-
         void updateModel(const NameValueMap& jointAngles);
 
         void highlightCriticalValues(const NameStatusMap& reportedJointStatuses);
@@ -304,15 +292,7 @@ namespace armarx
         armarx::DateTime lastJointAngleUpdateTimestamp;
         float currentValueMax;
 
-        // NameValueMap reportedJointAngles;
-        // NameValueMap reportedJointVelocities;
-        // NameControlModeMap reportedJointControlModes;
-        // NameValueMap reportedJointTorques;
-        // NameValueMap reportedJointTemperatures;
-        std::deque<std::pair<Ice::Long, NameValueMap>> jointCurrentHistory;
-        // NameStatusMap reportedJointStatuses;
-
-        std::vector<float> dirty_squaresum_old;
+        // std::deque<std::pair<Ice::Long, NameValueMap>> jointCurrentHistory;
 
         QPointer<QWidget> __widget;
         QPointer<KinematicUnitConfigDialog> dialog;
@@ -335,13 +315,7 @@ namespace armarx
 
         QPointer<QToolBar> customToolbar;
 
-        // QObject interface
     protected:
-        // void timerEvent(QTimerEvent*) override;
-        // int updateTimerId = 0;
-        // IceReportSkipper skipper = {20.0f};
-        // std::unique_ptr<QTimer> timer;
-
         void runUpdate();
 
         armarx::RunningTask<KinematicUnitWidgetController>::pointer_type updateTask;
@@ -349,7 +323,6 @@ namespace armarx
         ControlMode getSelectedControlMode() const;
         void setControlModeRadioButtonGroup(const ControlMode& controlMode);
         
-
     };
     using FloatVector = ::std::vector< ::Ice::Float>;
     using KinematicUnitGuiPluginPtr = std::shared_ptr<KinematicUnitWidgetController>;