From 425c9d16adaa35b8d79e3057a4fb14ac37f44ec0 Mon Sep 17 00:00:00 2001 From: nozawa Date: Tue, 10 Jun 2014 18:09:14 +0900 Subject: [PATCH] revert codes for collision model making according to https://github.com/euslisp/jskeus/pull/93 and https://github.com/jsk-ros-pkg/jsk_model_tools/pull/46 --- irteus/irtrobot.l | 20 -------------------- 1 file changed, 20 deletions(-) diff --git a/irteus/irtrobot.l b/irteus/irtrobot.l index be729462a..d71194ef1 100644 --- a/irteus/irtrobot.l +++ b/irteus/irtrobot.l @@ -786,26 +786,6 @@ (setq dx (+ dx ddx) dy (+ dy ddy) dth (+ dth ddth))))) (push (funcall gen-go-pos-step-node-func mc leg leg-translate-pos) ret) (reverse ret)))) - ;; make collision model from faces or gl-vertices - (:make-collision-model-for-links - (&key (fat 0) (collision-func 'pqp-collision-check) ((:links ls) (send self :links))) - (dolist (ll ls) - (unless (send ll :get (read-from-string (format nil ":~Amodel" - (string-right-trim "-COLLISION-CHECK" (string collision-func))))) - (send ll - (read-from-string - (format nil ":make-~Amodel" - (string-right-trim "-COLLISION-CHECK" (string collision-func)))) - :fat fat - :faces (flatten (mapcar #'(lambda (x) - (cond - ((find-method x :def-gl-vertices) - (send (x . glvertices) :convert-to-faces :wrt :world)) - (t - (send x :faces)))) - (send ll :bodies))))) - ) - ) ) (in-package "GEOMETRY")