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[DRAFT] Remove deprecated odometry reset methods #2252

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[DRAFT] Remove deprecated odometry reset methods #2252

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1 change: 0 additions & 1 deletion diff_drive_controller/include/diff_drive_controller/odometry.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,7 +56,6 @@ class Odometry
bool update_from_vel(double left_vel, double right_vel, double dt);
bool try_update_open_loop(double linear_vel, double angular_vel, double dt);
void setOdometry(double x, double y, double heading);
[[deprecated("Use setOdometry(0.0, 0.0, 0.0) instead")]] void resetOdometry();

double getX() const { return x_; }
double getY() const { return y_; }
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7 changes: 0 additions & 7 deletions diff_drive_controller/src/odometry.cpp
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Expand Up @@ -186,13 +186,6 @@ void Odometry::setOdometry(double x, double y, double heading)
heading_ = heading;
resetAccumulators();
}
void Odometry::resetOdometry()
{
x_ = 0.0;
y_ = 0.0;
heading_ = 0.0;
resetAccumulators();
}

void Odometry::setWheelParams(
double wheel_separation, double left_wheel_radius, double right_wheel_radius)
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1 change: 0 additions & 1 deletion omni_wheel_drive_controller/include/omni_wheel_drive_controller/odometry.hpp
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Expand Up @@ -32,7 +32,6 @@ class Odometry
bool updateOpenLoop(
const double & linear_x_vel, const double & linear_y_vel, const double & angular_vel,
const rclcpp::Time & time);
[[deprecated("Use setOdometry(0.0, 0.0, 0.0) instead")]] void resetOdometry();
void setOdometry(const double & x, const double & y, const double & heading);

double getX() const { return x_; }
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6 changes: 0 additions & 6 deletions omni_wheel_drive_controller/src/odometry.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -122,12 +122,6 @@ bool Odometry::updateOpenLoop(
return true;
}

void Odometry::resetOdometry()
{
x_ = 0.0;
y_ = 0.0;
heading_ = 0.0;
}
void Odometry::setOdometry(const double & x, const double & y, const double & heading)
{
x_ = x;
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5 changes: 0 additions & 5 deletions steering_controllers_library/include/steering_controllers_library/steering_kinematics.hpp
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Expand Up @@ -213,11 +213,6 @@ class SteeringKinematics
const double v_bx, const double omega_bz, const bool open_loop = true,
const bool reduce_wheel_speed_until_steering_reached = false);

/**
* \brief Reset poses, heading, and accumulators
*/
[[deprecated("Use set_odometry(0.0, 0.0, 0.0) instead")]] void reset_odometry();

/**
* \brief Set poses and heading with the given values and reset accumulators
* \param x x position [m]
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2 changes: 0 additions & 2 deletions steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp
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Expand Up @@ -114,8 +114,6 @@ class [[deprecated("Use steering_kinematics::SteeringKinematics instead")]] Stee
double v_bx, double omega_bz, bool open_loop = true,
bool reduce_wheel_speed_until_steering_reached = false);

void reset_odometry();

private:
steering_kinematics::SteeringKinematics sk_impl_;
};
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8 changes: 0 additions & 8 deletions steering_controllers_library/src/steering_kinematics.cpp
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Expand Up @@ -347,14 +347,6 @@ std::tuple<std::vector<double>, std::vector<double>> SteeringKinematics::get_com
}
}

void SteeringKinematics::reset_odometry()
{
x_ = 0.0;
y_ = 0.0;
heading_ = 0.0;
reset_accumulators();
}

void SteeringKinematics::set_odometry(const double & x, const double & y, const double & heading)
{
x_ = x;
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2 changes: 0 additions & 2 deletions steering_controllers_library/src/steering_odometry.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -108,6 +108,4 @@ std::tuple<std::vector<double>, std::vector<double>> SteeringOdometry::get_comma
v_bx, omega_bz, open_loop, reduce_wheel_speed_until_steering_reached);
}

void SteeringOdometry::reset_odometry() { sk_impl_.set_odometry(0.0, 0.0, 0.0); }

} // namespace steering_odometry
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