Removed path planning visualization as this should be in path plannin…

…g and not stp
RoboTeamTwente · May 2, 2023 · b965aec · b965aec
1 parent 58abc8e
commit b965aec
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diff --git a/roboteam_ai/include/roboteam_ai/stp/skills/GoToPos.h b/roboteam_ai/include/roboteam_ai/stp/skills/GoToPos.h
@@ -25,11 +25,6 @@ class GoToPos : public Skill {
      */
     const char* getName() override;
 
-    /**
-     * @brief Visualizes the path the robot will take
-     * @param info StpInfo struct with all relevant information for this robot and skill
-     */
-    void visualize(StpInfo const& info);
 };
 }  // namespace rtt::ai::stp::skill
 

diff --git a/roboteam_ai/src/stp/skills/GoToPos.cpp b/roboteam_ai/src/stp/skills/GoToPos.cpp
@@ -64,8 +64,6 @@ Status GoToPos::onUpdate(const StpInfo &info) noexcept {
     // forward the generated command to the ControlModule, for checking and limiting
     forwardRobotCommand(info.getCurrentWorld());
 
-    visualize(info);
-
     // Check if successful
     if ((info.getRobot().value()->getPos() - targetPos).length() <= stp::control_constants::GO_TO_POS_ERROR_MARGIN) {
         return Status::Success;
@@ -76,10 +74,4 @@ Status GoToPos::onUpdate(const StpInfo &info) noexcept {
 
 const char *GoToPos::getName() { return "Go To Position"; }
 
-void GoToPos::visualize(const StpInfo &info) {
-    auto pathPoints = info.getCurrentWorld()->getRobotPositionController()->getComputedPath(info.getRobot().value()->getId());
-    ai::interface::Input::addDrawing(interface::Drawing(interface::Visual::PATHFINDING, pathPoints, QColorConstants::Magenta, info.getRobot().value()->getId(),
-                                                        interface::Drawing::LINES_CONNECTED, 10, 10, 10));
-}
-
 }  // namespace rtt::ai::stp::skill