Merge pull request #236 from gavanderhoorn/jta_remove_unused_overload

driver: remove unused overload of withinGoalConstraints(..).
ros-industrial · Aug 13, 2018 · 8e46584 · 8e46584
2 parents 564ad80 + 959a858
commit 8e46584
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diff --git a/motoman_driver/include/motoman_driver/industrial_robot_client/joint_trajectory_action.h b/motoman_driver/include/motoman_driver/industrial_robot_client/joint_trajectory_action.h
@@ -283,9 +283,6 @@ class JointTrajectoryAction
 
   bool withinGoalConstraints(const control_msgs::FollowJointTrajectoryFeedbackConstPtr &msg,
                              const trajectory_msgs::JointTrajectory & traj, int robot_id);
-
-  bool withinGoalConstraints(const control_msgs::FollowJointTrajectoryFeedbackConstPtr &msg,
-                             const motoman_msgs::DynamicJointTrajectory & traj);
 };
 
 }  // namespace joint_trajectory_action

diff --git a/motoman_driver/src/industrial_robot_client/joint_trajectory_action.cpp b/motoman_driver/src/industrial_robot_client/joint_trajectory_action.cpp
@@ -629,38 +629,6 @@ bool JointTrajectoryAction::withinGoalConstraints(
   return rtn;
 }
 
-bool JointTrajectoryAction::withinGoalConstraints(const control_msgs::FollowJointTrajectoryFeedbackConstPtr &msg,
-    const motoman_msgs::DynamicJointTrajectory & traj)
-{
-  bool rtn = false;
-  if (traj.points.empty())
-  {
-    ROS_WARN("Empty joint trajectory passed to check goal constraints, return false");
-    rtn = false;
-  }
-  else
-  {
-    int last_point = traj.points.size() - 1;
-
-    const motoman_msgs::DynamicJointsGroup &pt = traj.points[last_point].groups[3];
-
-    int group_number = pt.group_number;
-
-    if (industrial_robot_client::utils::isWithinRange(
-          last_trajectory_state_map_[group_number]->joint_names,
-          last_trajectory_state_map_[group_number]->actual.positions, traj.joint_names,
-          traj.points[last_point].groups[3].positions, goal_threshold_))
-    {
-      rtn = true;
-    }
-    else
-    {
-      rtn = false;
-    }
-  }
-  return rtn;
-}
-
 bool JointTrajectoryAction::withinGoalConstraints(
   const control_msgs::FollowJointTrajectoryFeedbackConstPtr &msg,
   const trajectory_msgs::JointTrajectory & traj, int robot_id)