From 5dcab943cf5b5974d1ccfdf3e6777e05162a60ac Mon Sep 17 00:00:00 2001 From: Jakubach Date: Fri, 22 Nov 2024 16:56:36 +0100 Subject: [PATCH] Fixes Signed-off-by: Jakubach --- .../include/opennav_docking/controller.hpp | 12 ------------ 1 file changed, 12 deletions(-) diff --git a/nav2_docking/opennav_docking/include/opennav_docking/controller.hpp b/nav2_docking/opennav_docking/include/opennav_docking/controller.hpp index f7ac2be7246..985248fc518 100644 --- a/nav2_docking/opennav_docking/include/opennav_docking/controller.hpp +++ b/nav2_docking/opennav_docking/include/opennav_docking/controller.hpp @@ -67,18 +67,6 @@ class Controller const geometry_msgs::msg::Pose & pose, geometry_msgs::msg::Twist & cmd, bool is_docking, bool backward = false); -protected: - /** - * @brief Check if a trajectory is collision free. - * - * @param target_pose Target pose, in robot centric coordinates. - * @param is_docking If true, robot is docking. If false, robot is undocking. - * @param backward If true, robot will drive backwards to goal. - * @return True if trajectory is collision free. - */ - bool isTrajectoryCollisionFree( - const geometry_msgs::msg::Pose & target_pose, bool is_docking, bool backward = false); - /** * @brief Perform a command for in-place rotation. * @param angular_distance_to_heading Angular distance to goal