Do not use slot planner

diff --git a/base/main.cc b/base/main.cc
index 61fd55f30bdad9446dfb407a75f2bdfa68b5beb8..eb02e50ad326de9becc4e281667d4a644597b8e0 100644 (file)
--- a/base/main.cc
+++ b/base/main.cc
@@ -209,58 +209,6 @@ int main()
         p.ocost(p.root());
         p.ocost(p.goal());
 
-        ParallelSlot ps = ParallelSlot();
-        if (
-                jvi["slot"] != Json::nullValue &&
-                jvi["slot"]["polygon"] != Json::nullValue
-        ) {
-                for (auto xy: jvi["slot"]["polygon"]) {
-                        ps.slot().add_bnode(new RRTNode(
-                                xy[0].asFloat(),
-                                xy[1].asFloat()
-                        ));
-                }
-                for (auto e: ps.slot().frame())
-                        so.push_back(SegmentObstacle(e->init(), e->goal()));
-        }
-#ifdef USE_SLOTPLANNER
-        TSTART();
-        if (ps.slot().bnodes().size() > 0)
-                ps.fip(co, so);
-        TEND();
-        jvo["ppse"] = ELAPSED;
-        TPRINT("ParallelSlot");
-#endif
-        if (ps.slot().bnodes().size() > 0) {
-                ps.setAll();
-                //if (ps.getMidd() != nullptr)
-                //        p.setSamplingInfo(ps.getSamplingInfo());
-        }
-        if (ps.cusp().size() > 0) {
-                p.goal(ps.getMidd());
-                p.slot_cusp(ps.cusp().front()); // use first found solution
-                p.goals(ps.goals());
-                jvo["midd"][0] = p.goal()->x();
-                jvo["midd"][1] = p.goal()->y();
-                jvo["midd"][2] = p.goal()->h();
-                jvo["goal"][0] = p.slot_cusp().back()->x();
-                jvo["goal"][1] = p.slot_cusp().back()->y();
-                jvo["goal"][2] = p.slot_cusp().back()->h();
-        } else {
-                jvo["goal"][0] = p.goal()->x();
-                jvo["goal"][1] = p.goal()->y();
-                jvo["goal"][2] = p.goal()->h();
-        }
-        TSTART();
-        std::cerr << "Slot Info:" << std::endl;
-        if (ps.slotSide() == LEFT)
-                std::cerr << "- LEFT" << std::endl;
-        else
-                std::cerr << "- RIGHT" << std::endl;
-        if (ps.slotType() == PARALLEL)
-                std::cerr << "- PARALLEL" << std::endl;
-        else
-                std::cerr << "- PERPENDICULAR" << std::endl;
 #ifdef USE_LOADF
         std::vector<RRTNode *> steered;
         for (auto jn: jvi["traj"][0]) {
@@ -310,8 +258,6 @@ int main()
                         p.tlog(p.findt());
                 }
         }
-        if (p.goal_found() && ps.slotType() == PARALLEL)
-                p.tlog(p.findt(p.slot_cusp().back()));
 #elif defined USE_PTHREAD
         bool gf = false;
         RRTNode *ron = nullptr;