commenting out unused validPointPotential (#1854)

ros-navigation · Jul 7, 2020 · 8b8807a · 8b8807a
1 parent 4755a1e
commit 8b8807a
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Showing 2 changed files with 38 additions and 38 deletions.
diff --git a/nav2_navfn_planner/include/nav2_navfn_planner/navfn_planner.hpp b/nav2_navfn_planner/include/nav2_navfn_planner/navfn_planner.hpp
@@ -88,8 +88,8 @@ class NavfnPlanner : public nav2_core::GlobalPlanner
   // Check for a valid potential value at a given point in the world
   // - must call computePotential first
   // - currently unused
-  bool validPointPotential(const geometry_msgs::msg::Point & world_point);
-  bool validPointPotential(const geometry_msgs::msg::Point & world_point, double tolerance);
+  // bool validPointPotential(const geometry_msgs::msg::Point & world_point);
+  // bool validPointPotential(const geometry_msgs::msg::Point & world_point, double tolerance);
 
   // Compute the squared distance between two points
   inline double squared_distance(

diff --git a/nav2_navfn_planner/src/navfn_planner.cpp b/nav2_navfn_planner/src/navfn_planner.cpp
@@ -357,42 +357,42 @@ NavfnPlanner::getPointPotential(const geometry_msgs::msg::Point & world_point)
   return planner_->potarr[index];
 }
 
-bool
-NavfnPlanner::validPointPotential(const geometry_msgs::msg::Point & world_point)
-{
-  return validPointPotential(world_point, tolerance_);
-}
-
-bool
-NavfnPlanner::validPointPotential(
-  const geometry_msgs::msg::Point & world_point, double tolerance)
-{
-  const double resolution = costmap_->getResolution();
-
-  geometry_msgs::msg::Point p = world_point;
-  double potential = getPointPotential(p);
-  if (potential < POT_HIGH) {
-    // world_point is reachable by itself
-    return true;
-  } else {
-    // world_point, is not reachable. Trying to find any
-    // reachable point within its tolerance region
-    p.y = world_point.y - tolerance;
-    while (p.y <= world_point.y + tolerance) {
-      p.x = world_point.x - tolerance;
-      while (p.x <= world_point.x + tolerance) {
-        potential = getPointPotential(p);
-        if (potential < POT_HIGH) {
-          return true;
-        }
-        p.x += resolution;
-      }
-      p.y += resolution;
-    }
-  }
-
-  return false;
-}
+// bool
+// NavfnPlanner::validPointPotential(const geometry_msgs::msg::Point & world_point)
+// {
+//   return validPointPotential(world_point, tolerance_);
+// }
+
+// bool
+// NavfnPlanner::validPointPotential(
+//   const geometry_msgs::msg::Point & world_point, double tolerance)
+// {
+//   const double resolution = costmap_->getResolution();
+
+//   geometry_msgs::msg::Point p = world_point;
+//   double potential = getPointPotential(p);
+//   if (potential < POT_HIGH) {
+//     // world_point is reachable by itself
+//     return true;
+//   } else {
+//     // world_point, is not reachable. Trying to find any
+//     // reachable point within its tolerance region
+//     p.y = world_point.y - tolerance;
+//     while (p.y <= world_point.y + tolerance) {
+//       p.x = world_point.x - tolerance;
+//       while (p.x <= world_point.x + tolerance) {
+//         potential = getPointPotential(p);
+//         if (potential < POT_HIGH) {
+//           return true;
+//         }
+//         p.x += resolution;
+//       }
+//       p.y += resolution;
+//     }
+//   }
+
+//   return false;
+// }
 
 bool
 NavfnPlanner::worldToMap(double wx, double wy, unsigned int & mx, unsigned int & my)