Remove viewpoint object

F
ethz-asl · Nov 28, 2023 · 2e780e4 · 2e780e4
1 parent 535cdd6
commit 2e780e4
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Showing 5 changed files with 0 additions and 354 deletions.
diff --git a/terrain_navigation/include/terrain_navigation/viewpoint.h b/terrain_navigation/include/terrain_navigation/viewpoint.h
diff --git a/terrain_navigation/include/terrain_navigation/visualization.h b/terrain_navigation/include/terrain_navigation/visualization.h
diff --git a/terrain_navigation_ros/include/terrain_navigation_ros/terrain_planner.h b/terrain_navigation_ros/include/terrain_navigation_ros/terrain_planner.h
@@ -59,7 +59,6 @@
 #include <mutex>
 
 #include <terrain_navigation/profiler.h>
-#include <terrain_navigation/viewpoint.h>
 
 #include "terrain_navigation_ros/visualization.h"
 #include "terrain_planner/common.h"
@@ -173,8 +172,6 @@ class TerrainPlanner {
   ros::Publisher rallypoint_pub_;
   ros::Publisher candidate_goal_pub_;
   ros::Publisher candidate_start_pub_;
-  ros::Publisher viewpoint_pub_;
-  ros::Publisher planned_viewpoint_pub_;
   ros::Publisher tree_pub_;
   ros::Publisher vehicle_velocity_pub_;
   ros::Publisher path_segment_pub_;
@@ -184,7 +181,6 @@ class TerrainPlanner {
   ros::Subscriber mavstate_sub_;
   ros::Subscriber mavmission_sub_;
   ros::Subscriber global_origin_sub_;
-  ros::Subscriber image_captured_sub_;
 
   ros::ServiceServer setlocation_serviceserver_;
   ros::ServiceServer setmaxaltitude_serviceserver_;
@@ -234,11 +230,8 @@ class TerrainPlanner {
   std::mutex goal_mutex_;  // protects g_i
 
   std::vector<Eigen::Vector3d> vehicle_position_history_;
-  std::vector<ViewPoint> added_viewpoint_list;
-  std::vector<ViewPoint> planned_viewpoint_list;
   std::vector<geometry_msgs::PoseStamped> posehistory_vector_;
   std::vector<geometry_msgs::PoseStamped> referencehistory_vector_;
-  std::vector<ViewPoint> viewpoints_;
   Eigen::Vector3d vehicle_position_{Eigen::Vector3d::Zero()};
   Eigen::Vector3d vehicle_velocity_{Eigen::Vector3d::Zero()};
   Eigen::Vector4d vehicle_attitude_{Eigen::Vector4d(1.0, 0.0, 0.0, 0.0)};

diff --git a/terrain_navigation_ros/include/terrain_navigation_ros/visualization.h b/terrain_navigation_ros/include/terrain_navigation_ros/visualization.h
@@ -126,27 +126,6 @@ inline void publishCameraView(const ros::Publisher pub, const Eigen::Vector3d& p
   pub.publish(marker);
 }
 
-inline void publishViewpoints(const ros::Publisher pub, std::vector<ViewPoint>& viewpoint_vector,
-                              Eigen::Vector3d color = Eigen::Vector3d(0.0, 0.0, 1.0)) {
-  visualization_msgs::MarkerArray msg;
-
-  std::vector<visualization_msgs::Marker> marker;
-  visualization_msgs::Marker mark;
-  mark.action = visualization_msgs::Marker::DELETEALL;
-  marker.push_back(mark);
-  msg.markers = marker;
-  pub.publish(msg);
-
-  std::vector<visualization_msgs::Marker> viewpoint_marker_vector;
-  int i = 0;
-  for (auto viewpoint : viewpoint_vector) {
-    viewpoint_marker_vector.insert(viewpoint_marker_vector.begin(), Viewpoint2MarkerMsg(i, viewpoint, color));
-    i++;
-  }
-  msg.markers = viewpoint_marker_vector;
-  pub.publish(msg);
-}
-
 void publishCandidateManeuvers(const ros::Publisher& pub, const std::vector<Path>& candidate_maneuvers,
                                bool visualize_invalid_trajectories = false) {
   visualization_msgs::MarkerArray msg;