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From: <is...@us...> - 2009-06-05 19:59:51
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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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