[Gimbalrotor][Model] delete unused fuction for mask calculation.

jsk-ros-pkg · May 9, 2023 · 47b4b05 · 47b4b05
1 parent 11203c4
commit 47b4b05
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diff --git a/robots/gimbalrotor/include/gimbalrotor/model/gimbalrotor_robot_model.h b/robots/gimbalrotor/include/gimbalrotor/model/gimbalrotor_robot_model.h
@@ -14,21 +14,17 @@ class GimbalrotorRobotModel : public aerial_robot_model::RobotModel{
                     double epsilon = 10);
   virtual ~GimbalrotorRobotModel() = default;
 
-  std::vector<Eigen::MatrixXd> getRotorMasks() { return rotor_masks_;};
   template <class T> std::vector<T> getLinksRotationFromCog();
   template <class T> std::vector<T> getThrustCoordRot();
 
 private:
   void updateRobotModelImpl(const KDL::JntArray& joint_positions) override;
-  void calcThrustMask();
 
-  std::vector<Eigen::MatrixXd> rotor_masks_;
   KDL::JntArray gimbal_processed_joint_;
   std::vector<KDL::Rotation> links_rotation_from_cog_;
   std::vector<KDL::Rotation> thrust_coords_rot_;
   std::mutex links_rotation_mutex_;
   std::mutex thrust_rotation_mutex_;
-  bool mask_calc_flag_;
 
 };
 

diff --git a/robots/gimbalrotor/src/model/gimbalrotor_robot_model.cpp b/robots/gimbalrotor/src/model/gimbalrotor_robot_model.cpp
@@ -8,30 +8,6 @@ GimbalrotorRobotModel::GimbalrotorRobotModel(bool init_with_rosparam, bool verbo
 
   links_rotation_from_cog_.resize(rotor_num);
   thrust_coords_rot_.resize(rotor_num);
-  mask_calc_flag_ = false;
-}
-
-void GimbalrotorRobotModel::calcThrustMask()
-{
-  if(mask_calc_flag_) return;
-  /* this process is only for untransformable robots */
-  const auto& segment_map = getTree().getSegments();
-  const auto& joint_names = getJointNames();
-  const auto& joint_segment_map = getJointSegmentMap();
-  rotor_masks_.resize(RobotModel::getRotorNum());
-  for (int i = 0; i < joint_names.size(); i++)
-    {
-      Eigen::MatrixXd mask(3, 2);
-      std::vector<std::string> joint_i_child_segments = joint_segment_map.at(joint_names[i]);
-      std::string joint_i_child_segment_name = joint_i_child_segments.at(0);
-      const KDL::Segment& joint_i_child_segment = GetTreeElementSegment(segment_map.at(joint_i_child_segment_name));
-      Eigen::Vector3d gimbal_i_axis = aerial_robot_model::kdlToEigen(joint_i_child_segment.getJoint().JointAxis()); //supposing that the axis of gimbal is along coordinate axis
-      double m_00 = 1.0 - std::abs(gimbal_i_axis[0]);
-      double m_10 = 1.0 - std::abs(gimbal_i_axis[1]);
-      mask << m_00, 0, m_10, 0, 0, 1;
-      rotor_masks_[i] = mask;
-    }
-  mask_calc_flag_ = true;
 }
 
 void GimbalrotorRobotModel::updateRobotModelImpl(const KDL::JntArray& joint_positions)