Update tension for common5 (#260)

Signed-off-by: Nate Koenig <nate@openrobotics.org>
gazebosim · Oct 15, 2021 · 92abc29 · 92abc29
1 parent c5da532
commit 92abc29
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 33 deletions.
diff --git a/graphics/include/ignition/common/Animation.hh b/graphics/include/ignition/common/Animation.hh
@@ -110,13 +110,6 @@ namespace ignition
     /// \brief A pose animation.
     class IGNITION_COMMON_GRAPHICS_VISIBLE PoseAnimation : public Animation
     {
-      /// \brief Constructor
-      /// \param[in] _name String name of the animation. This should be unique.
-      /// \param[in] _length Length of the animation in seconds
-      /// \param[in] _loop True == loop the animation
-      public: PoseAnimation(const std::string &_name,
-                  const double _length, const bool _loop);
-
       /// \brief Constructor
       /// \param[in] _name String name of the animation. This should be unique.
       /// \param[in] _length Length of the animation in seconds
@@ -126,11 +119,9 @@ namespace ignition
       /// also cause the animation to overshoot keyframes. A value of one will
       /// cause the animation to stick to the keyframes. This value should
       /// be in the range 0..1.
-      /// \todo(nkoenig) Remove this in ign-common5, and use a single
-      /// consutrctory with a default _tension of 0.
       public: PoseAnimation(const std::string &_name,
                   const double _length, const bool _loop,
-                  double _tension);
+                  double _tension = 0.0);
 
       /// \brief Create a pose keyframe at the given time
       /// \param[in] _time Time at which to create the keyframe
@@ -242,13 +233,6 @@ namespace ignition
       /// \return Waypoints represented in pose animation format
       public: common::PoseAnimation *Waypoints() const;
 
-      /// \brief Load all waypoints in the trajectory
-      /// \param[in] _waypoints Map of waypoints, where the key is the absolute
-      /// time of the waypoint and the value is the pose.
-      public: void SetWaypoints(
-          std::map<std::chrono::steady_clock::time_point, math::Pose3d>
-           _waypoints);
-
       /// \brief Load all waypoints in the trajectory
       /// \param[in] _waypoints Map of waypoints, where the key is the absolute
       /// time of the waypoint and the value is the pose.
@@ -259,7 +243,7 @@ namespace ignition
       /// be in the range 0..1.
       public: void SetWaypoints(
           std::map<std::chrono::steady_clock::time_point, math::Pose3d>
-           _waypoints, double _tension);
+           _waypoints, double _tension = 0.0);
 
       /// \brief Private data pointer.
       IGN_UTILS_IMPL_PTR(dataPtr)

diff --git a/graphics/src/Animation.cc b/graphics/src/Animation.cc
@@ -285,14 +285,6 @@ double Animation::KeyFramesAtTime(double _time, common::KeyFrame **_kf1,
     return (_time - t1) / (t2 - t1);
 }
 
-/////////////////////////////////////////////////
-PoseAnimation::PoseAnimation(const std::string &_name, const double _length,
-    const bool _loop)
-: Animation(_name, _length, _loop),
-  dataPtr(ignition::utils::MakeImpl<Implementation>())
-{
-}
-
 /////////////////////////////////////////////////
 PoseAnimation::PoseAnimation(const std::string &_name, const double _length,
     const bool _loop, double _tension)
@@ -520,13 +512,6 @@ common::PoseAnimation *TrajectoryInfo::Waypoints() const
   return this->dataPtr->waypoints.get();
 }
 
-/////////////////////////////////////////////////
-void TrajectoryInfo::SetWaypoints(
-    std::map<std::chrono::steady_clock::time_point, math::Pose3d> _waypoints)
-{
-  this->SetWaypoints(_waypoints, 0.0);
-}
-
 /////////////////////////////////////////////////
 void TrajectoryInfo::SetWaypoints(
     std::map<std::chrono::steady_clock::time_point, math::Pose3d> _waypoints,