[Personalrobots-commit] SF.net SVN: personalrobots:[16776] pkg/trunk/motion_planning/ planning_models

[<is...@us...>]

Revision: 16776
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=16776&view=rev
Author:   isucan
Date:     2009-06-05 19:59:01 +0000 (Fri, 05 Jun 2009)

Log Message:
-----------
removed check for repeated calls (same params)

Modified Paths:
--------------
    pkg/trunk/motion_planning/planning_models/CMakeLists.txt
    pkg/trunk/motion_planning/planning_models/include/planning_models/kinematic.h
    pkg/trunk/motion_planning/planning_models/src/kinematic.cpp

Modified: pkg/trunk/motion_planning/planning_models/CMakeLists.txt
===================================================================
--- pkg/trunk/motion_planning/planning_models/CMakeLists.txt	2009-06-05 19:47:49 UTC (rev 16775)
+++ pkg/trunk/motion_planning/planning_models/CMakeLists.txt	2009-06-05 19:59:01 UTC (rev 16776)
@@ -3,7 +3,7 @@
 rospack(planning_models)
 rospack_add_boost_directories()
 
-set(ROS_BUILD_TYPE Debug)
+set(ROS_BUILD_TYPE Release)
 
 rospack_add_library(planning_models src/kinematic.cpp
                                     src/load_mesh.cpp)

Modified: pkg/trunk/motion_planning/planning_models/include/planning_models/kinematic.h
===================================================================
--- pkg/trunk/motion_planning/planning_models/include/planning_models/kinematic.h	2009-06-05 19:47:49 UTC (rev 16775)
+++ pkg/trunk/motion_planning/planning_models/include/planning_models/kinematic.h	2009-06-05 19:59:01 UTC (rev 16776)
@@ -557,15 +557,10 @@
 	    m_ignoreSensors = false;
 	    m_verbose = false;	    
 	    m_built = false;
-	    m_lastTransformParams = NULL;
-	    m_lastTransformGroup = -2;
 	}
 	
 	virtual ~KinematicModel(void)
 	{
-	    if (m_lastTransformParams)
-		delete[] m_lastTransformParams;
-	    
 	    for (unsigned int i = 0 ; i < m_robots.size() ; ++i)
 		delete m_robots[i];
 	}
@@ -652,11 +647,6 @@
 
 	boost::mutex                      m_lock;
 
-	/* Subsequent calls with the same argument should not redo computation; 
-	 * We simply store this state information and compare against it for next time */
-	double                           *m_lastTransformParams;
-	int                               m_lastTransformGroup;
-	
     private:
 	
 	/** Build the needed datastructure for a joint */

Modified: pkg/trunk/motion_planning/planning_models/src/kinematic.cpp
===================================================================
--- pkg/trunk/motion_planning/planning_models/src/kinematic.cpp	2009-06-05 19:47:49 UTC (rev 16775)
+++ pkg/trunk/motion_planning/planning_models/src/kinematic.cpp	2009-06-05 19:59:01 UTC (rev 16776)
@@ -80,7 +80,6 @@
 	    params[i] = 0.0;
 	else
 	    params[i] = (m_mi.stateBounds[2 * i] + m_mi.stateBounds[2 * i + 1]) / 2.0;
-    m_lastTransformGroup = -2;
     computeTransformsGroup(params, -1);
 }
 
@@ -92,23 +91,7 @@
 void planning_models::KinematicModel::computeTransformsGroup(const double *params, int groupID)
 {
     assert(m_built);
-    
-    const unsigned int gdim = getGroupDimension(groupID);
-    if (m_lastTransformGroup == groupID)
-    {
-	bool same = true;
-	for (unsigned int i = 0 ; i < gdim ; ++i)
-	    if (params[i] != m_lastTransformParams[i])
-	    {
-		same = false;
-		break;
-	    }
-	if (same)
-	    return;
-    }
-    m_lastTransformGroup = groupID;
-    memcpy(m_lastTransformParams, params,  gdim * sizeof(double));
-    
+
     if (groupID >= 0)
     {
 	for (unsigned int i = 0 ; i < m_mi.groupChainStart[groupID].size() ; ++i)
@@ -454,8 +437,6 @@
 	    m_jointMap[m_robots[i]->joints[j]->name] = m_robots[i]->joints[j];
     }
 
-    m_lastTransformParams = new double[m_mi.stateDimension];
-    
     computeParameterNames();
     defaultState();
 }


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