Delete ICartesianSolver::setLimits per #145

roboticslab-uc3m · Feb 23, 2018 · 7ea0609 · 7ea0609
1 parent 10240fa
commit 7ea0609
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diff --git a/libraries/YarpPlugins/AsibotSolver/AsibotSolver.hpp b/libraries/YarpPlugins/AsibotSolver/AsibotSolver.hpp
@@ -81,9 +81,6 @@ class AsibotSolver : public yarp::dev::DeviceDriver, public ICartesianSolver
     // Perform inverse dynamics.
     virtual bool invDyn(const std::vector<double> &q,const std::vector<double> &qdot,const std::vector<double> &qdotdot, const std::vector< std::vector<double> > &fexts, std::vector<double> &t);
 
-    // Set joint limits.
-    virtual bool setLimits(const std::vector<double> &qMin, const std::vector<double> &qMax);
-
 // -------- DeviceDriver declarations. Implementation in IDeviceImpl.cpp --------
 
     /**

diff --git a/libraries/YarpPlugins/AsibotSolver/ICartesianSolverImpl.cpp b/libraries/YarpPlugins/AsibotSolver/ICartesianSolverImpl.cpp
@@ -497,26 +497,3 @@ bool roboticslab::AsibotSolver::invDyn(const std::vector<double> &q,const std::v
 }
 
 // -----------------------------------------------------------------------------
-
-bool roboticslab::AsibotSolver::setLimits(const std::vector<double> &qMin, const std::vector<double> &qMax)
-{
-    for (int motor = 0; motor < NUM_MOTORS; motor++)
-    {
-        if (qMin[motor] > qMax[motor])
-        {
-            CD_ERROR("qMin > qMax at joint q%d (%f vs %f).\n", motor + 1, qMin[motor], qMax[motor]);
-            return false;
-        }
-        else if (qMin[motor] == qMax[motor])
-        {
-            CD_WARNING("qMin = qMax at joint q%d.\n", motor + 1);
-        }
-
-        this->qMax[motor] = qMax[motor];
-        this->qMin[motor] = qMin[motor];
-    }
-
-    return true;
-}
-
-// -----------------------------------------------------------------------------
diff --git a/libraries/YarpPlugins/ICartesianSolver.h b/libraries/YarpPlugins/ICartesianSolver.h
@@ -173,16 +173,6 @@ class ICartesianSolver
          */
         virtual bool invDyn(const std::vector<double> &q,const std::vector<double> &qdot, const std::vector<double> &qdotdot, const std::vector< std::vector<double> > &fexts, std::vector<double> &t) = 0;
 
-        /**
-         * @brief Set joint limits
-         *
-         * @param qMin Vector of minimum joint values expressed in meters or degrees.
-         * @param qMax Vector of maximum joint values expressed in meters or degrees.
-         *
-         * @return true on success, false otherwise
-         */
-        virtual bool setLimits(const std::vector<double> &qMin, const std::vector<double> &qMax) = 0;
-
 };
 
 }  // namespace roboticslab

diff --git a/libraries/YarpPlugins/KdlSolver/ICartesianSolverImpl.cpp b/libraries/YarpPlugins/KdlSolver/ICartesianSolverImpl.cpp
@@ -331,15 +331,3 @@ bool roboticslab::KdlSolver::invDyn(const std::vector<double> &q,const std::vect
 }
 
 // -----------------------------------------------------------------------------
-
-bool roboticslab::KdlSolver::setLimits(const std::vector<double> &qMin, const std::vector<double> &qMax)
-{
-    for (int motor = 0; motor < getChain().getNrOfJoints(); motor++)
-    {
-        this->qMax(motor) = KinRepresentation::degToRad(qMax[motor]);
-        this->qMin(motor) = KinRepresentation::degToRad(qMin[motor]);
-    }
-    return true;
-}
-
-// -----------------------------------------------------------------------------
diff --git a/libraries/YarpPlugins/KdlSolver/KdlSolver.hpp b/libraries/YarpPlugins/KdlSolver/KdlSolver.hpp
@@ -85,9 +85,6 @@ class KdlSolver : public yarp::dev::DeviceDriver, public ICartesianSolver
         // Perform inverse dynamics.
         virtual bool invDyn(const std::vector<double> &q,const std::vector<double> &qdot,const std::vector<double> &qdotdot, const std::vector< std::vector<double> > &fexts, std::vector<double> &t);
 
-        // Set joint limits.
-        virtual bool setLimits(const std::vector<double> &qMin, const std::vector<double> &qMax);
-
         // -------- DeviceDriver declarations. Implementation in IDeviceImpl.cpp --------
 
         /**