Commits

Mark Moll committed 7c45cba

remove unused member variable

Comments (0)

Files changed (4)

src/ompl/control/planners/pdst/PDST.h

             {
                 return goalBias_;
             }
-            /// \brief Set the range the planner is supposed to use.
-            ///
-            /// This parameter greatly influences the runtime of the
-            /// algorithm. It represents the maximum length of a
-            /// motion to be added in the tree of motions. */
-            void setRange(double distance)
-            {
-                maxDistance_ = distance;
-            }
-
-            /// Get the range the planner is using
-            double getRange(void) const
-            {
-                return maxDistance_;
-            }
 
         protected:
             struct Cell;
             // Random number generator
             RNG rng_;
 
-            /// Maximum distance for sampling random states
-            double                                   maxDistance_;
-
             /// \brief Vector holding all of the start states supplied for the problem
             /// Each start motion is the root of its own tree of motions.
             std::vector<Motion*>                     startMotions_;

src/ompl/control/planners/pdst/src/PDST.cpp

 #include "ompl/control/planners/pdst/PDST.h"
 
 ompl::control::PDST::PDST(const SpaceInformationPtr &si)
-    : base::Planner(si, "PDST"), siC_(si.get()), maxDistance_(0.0), bsp_(NULL),
-    goalBias_(0.05), goalSampler_(NULL), iteration_(1), lastGoalMotion_(NULL)
+    : base::Planner(si, "PDST"), siC_(si.get()), bsp_(NULL), goalBias_(0.05),
+    goalSampler_(NULL), iteration_(1), lastGoalMotion_(NULL)
 {
-    Planner::declareParam<double>("range", this, &PDST::setRange, &PDST::getRange, "0.:1.:10000.");
     Planner::declareParam<double>("goal_bias", this, &PDST::setGoalBias, &PDST::getGoalBias, "0.:.05:1.");
 }
 
         }
     }
 
-    // generate a random nearby state
+    // generate a random state
     if (goalSampler_ && rng_.uniform01() < goalBias_ && goalSampler_->canSample())
         goalSampler_->sampleGoal(scratch);
     else
     Planner::setup();
     tools::SelfConfig sc(si_, getName());
     sc.configureProjectionEvaluator(projectionEvaluator_);
-    sc.configurePlannerRange(maxDistance_);
     if (bsp_)
         delete bsp_;
     bsp_ = new Cell(1.0, projectionEvaluator_->getBounds(), 0);

src/ompl/geometric/planners/pdst/PDST.h

             {
                 return goalBias_;
             }
-            /// \brief Set the range the planner is supposed to use.
-            ///
-            /// This parameter greatly influences the runtime of the
-            /// algorithm. It represents the maximum length of a
-            /// motion to be added in the tree of motions. */
-            void setRange(double distance)
-            {
-                maxDistance_ = distance;
-            }
-
-            /// Get the range the planner is using
-            double getRange(void) const
-            {
-                return maxDistance_;
-            }
 
         protected:
             struct Cell;
             // Random number generator
             RNG rng_;
 
-            /// Maximum distance for sampling random states
-            double                                   maxDistance_;
-
             /// \brief Vector holding all of the start states supplied for the problem
             /// Each start motion is the root of its own tree of motions.
             std::vector<Motion*>                     startMotions_;

src/ompl/geometric/planners/pdst/src/PDST.cpp

 #include "ompl/geometric/planners/pdst/PDST.h"
 
 ompl::geometric::PDST::PDST(const base::SpaceInformationPtr &si)
-    : base::Planner(si, "PDST"), maxDistance_(0.0), bsp_(NULL),
+    : base::Planner(si, "PDST"), bsp_(NULL),
     goalBias_(0.05), goalSampler_(NULL), iteration_(1), lastGoalMotion_(NULL)
 {
-    Planner::declareParam<double>("range", this, &PDST::setRange, &PDST::getRange, "0.:1.:10000.");
     Planner::declareParam<double>("goal_bias", this, &PDST::setGoalBias, &PDST::getGoalBias, "0.:.05:1.");
 }
 
     Planner::setup();
     tools::SelfConfig sc(si_, getName());
     sc.configureProjectionEvaluator(projectionEvaluator_);
-    sc.configurePlannerRange(maxDistance_);
     if (bsp_)
         delete bsp_;
     bsp_ = new Cell(1.0, projectionEvaluator_->getBounds(), 0);
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