From 73df7bd6f3c8ddeb3848c75150f82cece403812b Mon Sep 17 00:00:00 2001
From: asantamaria <asantamaria@iri.upc.edu>
Date: Sun, 13 May 2018 23:02:44 +0200
Subject: [PATCH] cosmetics
---
FindKDL.cmake | 2 +-
src/common_obj.h | 4 ++--
src/uam_task_ctrl.cpp | 5 -----
src/uam_task_ctrl.h | 2 --
4 files changed, 3 insertions(+), 10 deletions(-)
diff --git a/FindKDL.cmake b/FindKDL.cmake
index f58a870..44e132d 100644
--- a/FindKDL.cmake
+++ b/FindKDL.cmake
@@ -2,7 +2,7 @@
MESSAGE(STATUS "Detecting KDL: using orocos_kdl-config.cmake to locate files.")
-FIND_PATH(KDL_DIR orocos_kdl-config.cmake /usr/local/share/orocos_kdl/cmake)
+FIND_PATH(KDL_DIR orocos_kdl-config.cmake /usr/local/share/orocos_kdl)
INCLUDE (${KDL_DIR}/orocos_kdl-config.cmake)
diff --git a/src/common_obj.h b/src/common_obj.h
index 42b9729..361a315 100644
--- a/src/common_obj.h
+++ b/src/common_obj.h
@@ -52,7 +52,7 @@ class CArm{
unsigned int nj; // number of joints.
std::vector<CArmJoint> joint_info; // joints info.
Eigen::MatrixXd jnt_pos; // Joint value.
- boost::shared_ptr<KDL::ChainFkSolverPos_recursive> jnt_to_pose_solver; // chain solver.
+ boost::scoped_ptr<KDL::ChainFkSolverPos_recursive> jnt_to_pose_solver; // chain solver.
boost::scoped_ptr<KDL::ChainJntToJacSolver> jnt_to_jac_solver; // chain solver.
KDL::JntArray jnt_pos_kdl; // Array of arm positions.
KDL::Jacobian jacobian; // Jacobian.
@@ -151,4 +151,4 @@ class TaskJac{
} // End of UAM namespace
-#endif
\ No newline at end of file
+#endif
diff --git a/src/uam_task_ctrl.cpp b/src/uam_task_ctrl.cpp
index 6bc7f5b..9788c57 100644
--- a/src/uam_task_ctrl.cpp
+++ b/src/uam_task_ctrl.cpp
@@ -20,11 +20,6 @@ CHierarchTaskPCtrl::~CHierarchTaskPCtrl()
{
}
-void CHierarchTaskPCtrl::kktest(std::string& data)
-{
- std::cout << data << std::endl;
-}
-
// Main public function
void CHierarchTaskPCtrl::htpc(const MatrixXd& quad_dist_obs,
const goal_obj& goal,
diff --git a/src/uam_task_ctrl.h b/src/uam_task_ctrl.h
index c8a2cb7..117fe7a 100644
--- a/src/uam_task_ctrl.h
+++ b/src/uam_task_ctrl.h
@@ -92,8 +92,6 @@ class CHierarchTaskPCtrl
UAM::CCtrlParams& CtrlParams,
MatrixXd& robot_pos,
MatrixXd& robot_vel);
-
- void kktest(std::string& data);
};
#endif
--
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