obsolete param

ros-planning · Apr 24, 2012 · 55d9a47 · 55d9a47
1 parent 8140c25
commit 55d9a47
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Showing 3 changed files with 0 additions and 6 deletions.
diff --git a/dwa_local_planner/cfg/DWAPlanner.cfg b/dwa_local_planner/cfg/DWAPlanner.cfg
@@ -42,8 +42,6 @@ gen.add("vx_samples", int_t, 0, "The number of samples to use when exploring the
 gen.add("vy_samples", int_t, 0, "The number of samples to use when exploring the y velocity space", 10, 1)
 gen.add("vth_samples", int_t, 0, "The number of samples to use when exploring the theta velocity space", 20, 1)
 
-gen.add("penalize_negative_x", bool_t, 0, "Whether to penalize trajectories that have negative x velocities.", True)
-
 gen.add("restore_defaults", bool_t,0, "Restore to the original configuration.", False)
 
 exit(gen.generate(PACKAGE, "dwa_local_planner", "DWAPlanner"))
diff --git a/dwa_local_planner/include/dwa_local_planner/dwa_planner.h b/dwa_local_planner/include/dwa_local_planner/dwa_planner.h
@@ -161,7 +161,6 @@ namespace dwa_local_planner {
       std::vector<geometry_msgs::PoseStamped> global_plan_;
 
       boost::mutex configuration_mutex_;
-      bool penalize_negative_x_;
       pcl::PointCloud<base_local_planner::MapGridCostPoint> traj_cloud_;
       pcl_ros::Publisher<base_local_planner::MapGridCostPoint> traj_cloud_pub_;
       bool publish_cost_grid_pc_; ///< @brief Whether or not to build and publish a PointCloud

diff --git a/dwa_local_planner/src/dwa_planner.cpp b/dwa_local_planner/src/dwa_planner.cpp
@@ -104,8 +104,6 @@ namespace dwa_local_planner {
     vsamples_[1] = vy_samp;
     vsamples_[2] = vth_samp;
 
-    penalize_negative_x_ = config.penalize_negative_x;
-
     base_local_planner::LocalPlannerLimits limits;
     limits.max_trans_vel = config.max_trans_vel;
     limits.min_trans_vel = config.min_trans_vel;
@@ -131,7 +129,6 @@ namespace dwa_local_planner {
   }
 
   DWAPlanner::DWAPlanner(std::string name, tf::TransformListener* tf, costmap_2d::Costmap2DROS* costmap_ros) :
-      penalize_negative_x_(true),
       obstacle_costs_(costmap_ros),
       prefer_forward_costs_(0.0),
       path_costs_(costmap_ros),