From 68d852b1d122071c2231ab9153da896cddd16b0b Mon Sep 17 00:00:00 2001
From: rachelmoan <moanrachel516@gmail.com>
Date: Mon, 19 Aug 2024 17:30:54 -0500
Subject: [PATCH] Remove unused code
---
guided_mrmp/controllers/mpc.py | 5 +----
guided_mrmp/planners/singlerobot/RRT.py | 4 ++--
guided_mrmp/planners/singlerobot/RRTStar.py | 2 --
guided_mrmp/utils/__init__.py | 2 --
guided_mrmp/utils/environment.py | 4 ----
guided_mrmp/utils/robot.py | 4 ----
guided_mrmp/utils/template_matcher.py | 15 ---------------
7 files changed, 3 insertions(+), 33 deletions(-)
delete mode 100644 guided_mrmp/utils/template_matcher.py
diff --git a/guided_mrmp/controllers/mpc.py b/guided_mrmp/controllers/mpc.py
index 30bb054..ba80d4d 100644
--- a/guided_mrmp/controllers/mpc.py
+++ b/guided_mrmp/controllers/mpc.py
@@ -49,8 +49,7 @@ class MPC:
# weight for error in control
self.R = np.diag(input_cost)
self.P = np.diag(input_rate_cost)
-
-
+
def get_linear_model_matrices_roomba(self,x_bar,u_bar):
"""
Computes the approximated LTI state space model x' = Ax + Bu + C
@@ -98,7 +97,6 @@ class MPC:
return A_lin, B_lin, C_lin
-
def get_linear_model_matrices(self, x_bar, u_bar):
"""
Computes the approximated LTI state space model x' = Ax + Bu + C
@@ -221,7 +219,6 @@ class MPC:
solution = prob.solve(solver=opt.OSQP, warm_start=True, verbose=False)
return x, u
-
if __name__ == "__main__":
# Example usage:
dt = 0.1
diff --git a/guided_mrmp/planners/singlerobot/RRT.py b/guided_mrmp/planners/singlerobot/RRT.py
index 69d5244..507aeb9 100644
--- a/guided_mrmp/planners/singlerobot/RRT.py
+++ b/guided_mrmp/planners/singlerobot/RRT.py
@@ -4,7 +4,7 @@ RRT implementation
import math
import numpy as np
-from guided_mrmp.utils import Node, Env, Plotting
+from guided_mrmp.utils import Node, Env
class RRT:
def __init__(self, env, s_start, s_goal, step_len, goal_sample_rate, iter_max):
@@ -16,7 +16,7 @@ class RRT:
self.sampled_vertices = [self.s_start]
self.env = env
- self.plotting = Plotting(self.env)
+ # self.plotting = Plotting(self.env)
# self.utils = utils.Utils()
self.x_range = self.env.boundary[0]
diff --git a/guided_mrmp/planners/singlerobot/RRTStar.py b/guided_mrmp/planners/singlerobot/RRTStar.py
index e56b233..8f1a0da 100644
--- a/guided_mrmp/planners/singlerobot/RRTStar.py
+++ b/guided_mrmp/planners/singlerobot/RRTStar.py
@@ -1,8 +1,6 @@
"""
RRT*
"""
-from guided_mrmp.utils import Node, Env, Plotting
-
from guided_mrmp.planners.singlerobot.RRT import RRT
class RRTStar(RRT):
diff --git a/guided_mrmp/utils/__init__.py b/guided_mrmp/utils/__init__.py
index 3bf9111..d14f7f3 100644
--- a/guided_mrmp/utils/__init__.py
+++ b/guided_mrmp/utils/__init__.py
@@ -1,8 +1,6 @@
from .conflict import Conflict
from .control import Roomba
from .environment import Node, Env
-from .figures import Plotting
from .library import Library
from .robot import Robot
-from .template_matcher import TemplateMatcher
from .helpers import *
\ No newline at end of file
diff --git a/guided_mrmp/utils/environment.py b/guided_mrmp/utils/environment.py
index 7efec0b..4b850d5 100644
--- a/guided_mrmp/utils/environment.py
+++ b/guided_mrmp/utils/environment.py
@@ -61,10 +61,6 @@ class Env:
self.circle_obs = circle_obs
self.rect_obs = rectangle_obs
- def update_obs(self, obs_cir, obs_bound, obs_rec):
- self.circle_obs = obs_cir
- self.obs_boundary = obs_bound
- self.rect_obs = obs_rec
def get_obs_vertex(self):
delta = self.delta
diff --git a/guided_mrmp/utils/robot.py b/guided_mrmp/utils/robot.py
index f5fd0f3..2f73fe3 100644
--- a/guided_mrmp/utils/robot.py
+++ b/guided_mrmp/utils/robot.py
@@ -1,7 +1,3 @@
-import numpy as np
-
-
-
class Robot:
def __init__(self, label, color, radius, start, goal, target_v, T, DT, rrtpath,waypoints):
self.label = label
diff --git a/guided_mrmp/utils/template_matcher.py b/guided_mrmp/utils/template_matcher.py
deleted file mode 100644
index 3feae02..0000000
--- a/guided_mrmp/utils/template_matcher.py
+++ /dev/null
@@ -1,15 +0,0 @@
-"""
-Match a local nxm regiaon to its corresponding database tmeplate
-"""
-
-class TemplateMatcher:
- def __init__(self,type, starts, goals):
- """
- inputs:
- - type (string): the type of subproblem
- """
- self.type = type
- self.starts = starts
- self.goals = goals
-
-
--
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