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(moveit_py) remove unused applyPlanningScene #2505

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merged 2 commits into from Nov 3, 2023
Merged

(moveit_py) remove unused applyPlanningScene #2505

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aee77d1
(moveit_py) remove unused applyPlanningScene
MatthijsBurgh Oct 31, 2023
ded77a6
Merge branch 'main' into py_cleanup
sjahr Nov 3, 2023
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11 changes: 0 additions & 11 deletions moveit_py/src/moveit/moveit_ros/planning_scene_monitor/planning_scene_monitor.cpp
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Expand Up @@ -79,17 +79,6 @@ void LockedPlanningSceneContextManagerRW::lockedPlanningSceneRwExit(const py::ob
ls_rw_.reset();
}

// TODO: simplify with typecaster
void applyPlanningScene(std::shared_ptr<planning_scene_monitor::PlanningSceneMonitor>& planning_scene_monitor,
const moveit_msgs::msg::PlanningScene& planning_scene)
{
// lock planning scene
{
planning_scene_monitor::LockedPlanningSceneRW scene(planning_scene_monitor);
scene->usePlanningSceneMsg(planning_scene);
}
}

void initPlanningSceneMonitor(py::module& m)
{
py::class_<planning_scene_monitor::PlanningSceneMonitor, planning_scene_monitor::PlanningSceneMonitorPtr>(
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8 changes: 0 additions & 8 deletions moveit_py/src/moveit/moveit_ros/planning_scene_monitor/planning_scene_monitor.h
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Expand Up @@ -90,14 +90,6 @@ readWrite(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_
LockedPlanningSceneContextManagerRO
readOnly(const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor);

// const planning_scene::PlanningScenePtr& locked_planning_scene_enter_(LockedPlanningSceneContextManager& context_manager);

// void locked_planning_scene_exit_(LockedPlanningSceneContextManager& context_manager, const py::object& type,
// const py::object& value, const py::object& traceback);

void applyPlanningScene(std::shared_ptr<planning_scene_monitor::PlanningSceneMonitor>& planning_scene_monitor,
const moveit_msgs::msg::PlanningScene& planning_scene);

void initPlanningSceneMonitor(py::module& m);

void initContextManagers(py::module& m);
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