dead code xxx

Author: cobot

src/navigation/linear_evaluator.cc

@@ -121,12 +121,4 @@ shared_ptr<PathRolloutBase> LinearEvaluator::FindBest(const vector<shared_ptr<Pa
     return best;
 }
 
-void LinearEvaluator::SetClearanceWeight(const float &weight) { FLAGS_cw = weight; }
-
-void LinearEvaluator::SetDistanceWeight(const float &weight) { FLAGS_dw = weight; }
-
-void LinearEvaluator::SetFreePathWeight(const float &weight) { FLAGS_fw = weight; }
-
-void LinearEvaluator::SetSubOpt(const float &threshold) { FLAGS_subopt = threshold; }
-
 }  // namespace motion_primitives

src/navigation/linear_evaluator.h

@@ -31,10 +31,6 @@ namespace motion_primitives {
 struct LinearEvaluator : PathEvaluatorBase {
     // Return the best path rollout from the provided set of paths.
     std::shared_ptr<PathRolloutBase> FindBest(const std::vector<std::shared_ptr<PathRolloutBase>>& paths) override;
-    void SetClearanceWeight(const float& weight);
-    void SetDistanceWeight(const float& weight);
-    void SetFreePathWeight(const float& weight);
-    void SetSubOpt(const float& threshold);
 };
 
 }  // namespace motion_primitives

src/navigation/motion_primitives.cc

@@ -51,12 +51,6 @@ float Run1DTimeOptimalControl(const MotionLimits& limits, const float x_now, con
                               const float v_final, const float dt) {
     // Non-zero final vel not yet implemented.
     CHECK_EQ(v_final, 0.0f) << "Non-zero final vel not yet implemented!";
-    static FILE* fid = nullptr;
-    const bool kTest = false;
-    const string kTestLogFile = "1DTOC.txt";
-    if (kTest && fid == nullptr) {
-        fid = fopen(kTestLogFile.c_str(), "w");
-    }
     const float dist_left = x_final - x_now;
     float velocity_cmd = 0;
     const float speed = fabs(v_now);
@@ -87,15 +81,6 @@ float Run1DTimeOptimalControl(const MotionLimits& limits, const float x_now, con
         phase = 'X';
         velocity_cmd = max<float>(0, speed - dv_d);
     }
-    if (kTest) {
-        printf("%c x:%f dist_left:%f a_dist:%f c_dist:%f v:%f cmd:%f\n", phase, x_now, dist_left, accel_stopping_dist,
-               cruise_stopping_dist, v_now, velocity_cmd);
-        if (fid != nullptr) {
-            fprintf(fid, "%f %f %f %f %f %f\n", x_now, dist_left, accel_stopping_dist, cruise_stopping_dist, v_now,
-                    velocity_cmd);
-            fflush(fid);
-        }
-    }
     return velocity_cmd;
 }
 

src/navigation/omnidirectional_motion_primitives.h

@@ -51,7 +51,6 @@ struct OmnidirectionalMovePath : PathRolloutBase {
     float length;                 // Distance to travel
     float fpl;                    // Free path length
     float clearance;              // Minimum clearance to obstacles
-    Eigen::Vector2f obstruction;  // Location of closest obstacle
 };
 
 // Omnidirectional path rollout sampler