From cd27cb2f19963b7e2a69ce55cd5336806f546aca Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Mon, 4 May 2020 20:26:52 -0700 Subject: [PATCH] Remove dead code from navfn planner --- nav2_navfn_planner/src/navfn_planner.cpp | 33 ------------------------ 1 file changed, 33 deletions(-) diff --git a/nav2_navfn_planner/src/navfn_planner.cpp b/nav2_navfn_planner/src/navfn_planner.cpp index 5cd9f1c2b0..3b9250d46f 100644 --- a/nav2_navfn_planner/src/navfn_planner.cpp +++ b/nav2_navfn_planner/src/navfn_planner.cpp @@ -273,39 +273,6 @@ NavfnPlanner::smoothApproachToGoal( plan.poses.push_back(goal_copy); } -bool -NavfnPlanner::computePotential(const geometry_msgs::msg::Point & world_point) -{ - // make sure to resize the underlying array that Navfn uses - planner_->setNavArr( - costmap_->getSizeInCellsX(), - costmap_->getSizeInCellsY()); - - planner_->setCostmap(costmap_->getCharMap(), true, allow_unknown_); - - unsigned int mx, my; - if (!worldToMap(world_point.x, world_point.y, mx, my)) { - return false; - } - - int map_start[2]; - map_start[0] = 0; - map_start[1] = 0; - - int map_goal[2]; - map_goal[0] = mx; - map_goal[1] = my; - - planner_->setStart(map_start); - planner_->setGoal(map_goal); - - if (use_astar_) { - return planner_->calcNavFnAstar(); - } - - return planner_->calcNavFnDijkstra(); -} - bool NavfnPlanner::getPlanFromPotential( const geometry_msgs::msg::Pose & goal,