From 2d5c0739c3fc204e9cf8fd374c03c8788e8cdf40 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 23 Jun 2022 13:38:03 +0200
Subject: [PATCH] server/introspection: removing onTrajectoryControllerResult
and onSafetyControllerResult as it is no longer available
---
.../introspection/ArvizIntrospector.cpp | 32 +++++++++----------
.../server/introspection/ArvizIntrospector.h | 5 +--
.../introspection/IntrospectorInterface.h | 3 --
.../introspection/MemoryIntrospector.cpp | 12 -------
.../server/introspection/MemoryIntrospector.h | 3 --
5 files changed, 17 insertions(+), 38 deletions(-)
diff --git a/source/armarx/navigation/server/introspection/ArvizIntrospector.cpp b/source/armarx/navigation/server/introspection/ArvizIntrospector.cpp
index b6c88e55..4d1dbc1b 100644
--- a/source/armarx/navigation/server/introspection/ArvizIntrospector.cpp
+++ b/source/armarx/navigation/server/introspection/ArvizIntrospector.cpp
@@ -59,22 +59,22 @@ namespace armarx::navigation::server
drawLocalTrajectory(result.trajectory);
}
- void
- ArvizIntrospector::onTrajectoryControllerResult(
- const traj_ctrl::TrajectoryControllerResult& result)
- {
- std::lock_guard g{mtx};
-
- drawRawVelocity(result.twist);
- }
-
- void
- ArvizIntrospector::onSafetyControllerResult(const safe_ctrl::SafetyControllerResult& result)
- {
- std::lock_guard g{mtx};
-
- drawSafeVelocity(result.twist);
- }
+ // void
+ // ArvizIntrospector::onTrajectoryControllerResult(
+ // const traj_ctrl::TrajectoryControllerResult& result)
+ // {
+ // std::lock_guard g{mtx};
+
+ // drawRawVelocity(result.twist);
+ // }
+
+ // void
+ // ArvizIntrospector::onSafetyControllerResult(const safe_ctrl::SafetyControllerResult& result)
+ // {
+ // std::lock_guard g{mtx};
+
+ // drawSafeVelocity(result.twist);
+ // }
void
ArvizIntrospector::onGoal(const core::Pose& goal)
diff --git a/source/armarx/navigation/server/introspection/ArvizIntrospector.h b/source/armarx/navigation/server/introspection/ArvizIntrospector.h
index e91d4b60..a3daddc4 100644
--- a/source/armarx/navigation/server/introspection/ArvizIntrospector.h
+++ b/source/armarx/navigation/server/introspection/ArvizIntrospector.h
@@ -54,10 +54,7 @@ namespace armarx::navigation::server
void onGlobalPlannerResult(const global_planning::GlobalPlannerResult& result) override;
void onLocalPlannerResult(const loc_plan::LocalPlannerResult& result) override;
- void
- onTrajectoryControllerResult(const traj_ctrl::TrajectoryControllerResult& result) override;
- void onSafetyControllerResult(const safe_ctrl::SafetyControllerResult& result) override;
-
+
void onGoal(const core::Pose& goal) override;
void success();
diff --git a/source/armarx/navigation/server/introspection/IntrospectorInterface.h b/source/armarx/navigation/server/introspection/IntrospectorInterface.h
index 92176601..18eaa36b 100644
--- a/source/armarx/navigation/server/introspection/IntrospectorInterface.h
+++ b/source/armarx/navigation/server/introspection/IntrospectorInterface.h
@@ -44,9 +44,6 @@ namespace armarx::navigation::server
virtual void onGlobalPlannerResult(const global_planning::GlobalPlannerResult& result) = 0;
virtual void onLocalPlannerResult(const loc_plan::LocalPlannerResult& result) = 0;
- virtual void
- onTrajectoryControllerResult(const traj_ctrl::TrajectoryControllerResult& result) = 0;
- virtual void onSafetyControllerResult(const safe_ctrl::SafetyControllerResult& result) = 0;
virtual void onGlobalShortestPath(const std::vector<core::Pose>& path) = 0;
diff --git a/source/armarx/navigation/server/introspection/MemoryIntrospector.cpp b/source/armarx/navigation/server/introspection/MemoryIntrospector.cpp
index 226a0c80..aaf84a09 100644
--- a/source/armarx/navigation/server/introspection/MemoryIntrospector.cpp
+++ b/source/armarx/navigation/server/introspection/MemoryIntrospector.cpp
@@ -22,18 +22,6 @@ namespace armarx::navigation::server
// TODO(fabian.reister): implement
}
- void
- MemoryIntrospector::onTrajectoryControllerResult(
- const traj_ctrl::TrajectoryControllerResult& result)
- {
- // TODO(fabian.reister): implement
- }
-
- void
- MemoryIntrospector::onSafetyControllerResult(const safe_ctrl::SafetyControllerResult& result)
- {
- // TODO(fabian.reister): implement
- }
void
MemoryIntrospector::onGoal(const core::Pose& goal)
diff --git a/source/armarx/navigation/server/introspection/MemoryIntrospector.h b/source/armarx/navigation/server/introspection/MemoryIntrospector.h
index a141d4ba..9d473a74 100644
--- a/source/armarx/navigation/server/introspection/MemoryIntrospector.h
+++ b/source/armarx/navigation/server/introspection/MemoryIntrospector.h
@@ -40,9 +40,6 @@ namespace armarx::navigation::server
void onGlobalPlannerResult(const global_planning::GlobalPlannerResult& result) override;
void onLocalPlannerResult(const loc_plan::LocalPlannerResult& result) override;
- void
- onTrajectoryControllerResult(const traj_ctrl::TrajectoryControllerResult& result) override;
- void onSafetyControllerResult(const safe_ctrl::SafetyControllerResult& result) override;
void onGoal(const core::Pose& goal) override;
--
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