From 46aa32cc4425762dc5e9227b12d12fd3aa2cbfe3 Mon Sep 17 00:00:00 2001
From: Arnaud TANGUY <arn.tanguy@gmail.com>
Date: Thu, 1 Feb 2024 18:20:13 +0100
Subject: [PATCH] [visual] Remove Geometry.scale

---
 src/parsers/RBDyn/parsers/common.h | 3 +--
 src/parsers/urdf.cpp               | 4 +---
 tests/ParsersTestUtils.h           | 4 +---
 3 files changed, 3 insertions(+), 8 deletions(-)

diff --git a/src/parsers/RBDyn/parsers/common.h b/src/parsers/RBDyn/parsers/common.h
index efdda313..d5387123 100644
--- a/src/parsers/RBDyn/parsers/common.h
+++ b/src/parsers/RBDyn/parsers/common.h
@@ -43,10 +43,9 @@ struct RBDYN_PARSERS_DLLAPI Geometry
 public:
   struct Mesh
   {
-    Mesh() : scaleV(Eigen::Vector3d::Ones()), scale(1) {}
+    Mesh() : scaleV(Eigen::Vector3d::Ones()) {}
     std::string filename;
     Eigen::Vector3d scaleV;
-    double scale;
   };
   struct Box
   {
diff --git a/src/parsers/urdf.cpp b/src/parsers/urdf.cpp
index 61733e11..7212a5d6 100644
--- a/src/parsers/urdf.cpp
+++ b/src/parsers/urdf.cpp
@@ -238,13 +238,11 @@ Geometry::Data geometryFromMesh(const tinyxml2::XMLElement & meshDom)
   if(maybeScaleV.size() == 3)
   {
     mesh.scaleV = Eigen::Map<Eigen::Vector3d>(maybeScaleV.data(), 3);
-    mesh.scale = mesh.scaleV[2];
   }
   else
   {
     assert(maybeScaleV.size() == 1);
-    mesh.scale = maybeScaleV[0];
-    mesh.scaleV.setConstant(mesh.scale);
+    mesh.scaleV.setConstant(maybeScaleV[0]);
   }
   return mesh;
 }
diff --git a/tests/ParsersTestUtils.h b/tests/ParsersTestUtils.h
index dcba25cf..f6a56651 100644
--- a/tests/ParsersTestUtils.h
+++ b/tests/ParsersTestUtils.h
@@ -77,14 +77,12 @@ inline rbd::parsers::ParserResult createRobot()
     rbd::parsers::Geometry::Mesh mesh;
     v1.origin = create_ptransform(0.1, 0.2, 0.3, 0, 0, 0);
     mesh.filename = "file://test_mesh1.dae";
-    mesh.scale = 1.0;
     mesh.scaleV = Eigen::Vector3d::Ones();
     v1.geometry.type = rbd::parsers::Geometry::Type::MESH;
     v1.geometry.data = mesh;
 
     v2.origin = create_ptransform(0, 0, 0, 0, 0, 0);
     mesh.filename = "file://test_mesh2.dae";
-    mesh.scale = 0.1;
     mesh.scaleV = Eigen::Vector3d(0.1, -0.1, 0.1);
     v2.geometry.type = rbd::parsers::Geometry::Type::MESH;
     v2.geometry.data = mesh;
@@ -168,7 +166,7 @@ namespace parsers
 
 inline bool operator==(const Geometry::Mesh & m1, const Geometry::Mesh & m2)
 {
-  return m1.scaleV == m2.scaleV && m1.scale == m2.scale && m1.filename == m2.filename;
+  return m1.scaleV == m2.scaleV && m1.filename == m2.filename;
 }
 
 inline bool operator==(const Geometry::Box & b1, const Geometry::Box & b2)