Cleanup

moveit · Feb 21, 2023 · a004e81 · a004e81
1 parent 0b9fdf4
commit a004e81
Showing 1 changed file with 0 additions and 12 deletions.
diff --git a/moveit_core/trajectory_processing/src/ruckig_traj_smoothing.cpp b/moveit_core/trajectory_processing/src/ruckig_traj_smoothing.cpp
@@ -79,12 +79,6 @@ bool RuckigSmoothing::applySmoothing(robot_trajectory::RobotTrajectory& trajecto
     return false;
   }
 
-  // auto ruckig_result = runRuckigInBatches(trajectory, ruckig_input);
-  // if (ruckig_result.has_value())
-  // {
-  //   trajectory = ruckig_result.value();
-  // }
-  // return ruckig_result.has_value();  // Ruckig failed to smooth the trajectory
   return runRuckig(trajectory, ruckig_input);
 }
 
@@ -143,12 +137,6 @@ bool RuckigSmoothing::applySmoothing(robot_trajectory::RobotTrajectory& trajecto
     }
   }
 
-  // auto ruckig_result = runRuckigInBatches(trajectory, ruckig_input);
-  // if (ruckig_result.has_value())
-  // {
-  //   trajectory = ruckig_result.value();
-  // }
-  // return ruckig_result.has_value();  // Ruckig failed to smooth the trajectory
   return runRuckig(trajectory, ruckig_input);
 }