Code cleanup

include/ur_modern_driver/ur_driver.h

@@ -63,10 +63,7 @@ public:
 
 	void setSpeed(double q0, double q1, double q2, double q3, double q4,
 			double q5, double acc = 100.);
-	/* void addTraj(
+
-			std::vector<double> inp_timestamps, //DEPRECATED
-			std::vector<std::vector<double> > positions,
-			std::vector<std::vector<double> > velocities); */
 	bool doTraj(std::vector<double> inp_timestamps,
 			std::vector<std::vector<double> > inp_positions,
 			std::vector<std::vector<double> > inp_velocities);

src/ur_communication.cpp

@@ -155,7 +155,6 @@ void UrCommunication::run() {
 			while (keepalive_ && !connected_) {
 				std::this_thread::sleep_for(std::chrono::seconds(10));
 				fd_set writefds;
-				keepalive_ = true;
 
 				connect(sec_sockfd_, (struct sockaddr *) &sec_serv_addr_,
 						sizeof(sec_serv_addr_));

src/ur_driver.cpp

@@ -73,61 +73,7 @@ std::vector<double> UrDriver::interp_cubic(double t, double T,
 	}
 	return positions;
 }
-/*
- void UrDriver::addTraj(std::vector<double> inp_timestamps,
- std::vector<std::vector<double> > inp_positions,
- std::vector<std::vector<double> > inp_velocities) {
- // DEPRECATED
- printf("!! addTraj is deprecated !!\n");
- std::vector<double> timestamps;
- std::vector<std::vector<double> > positions;
- std::string command_string = "def traj():\n";
 
- for (unsigned int i = 1; i < inp_timestamps.size(); i++) {
- timestamps.push_back(inp_timestamps[i - 1]);
- double dt = inp_timestamps[i] - inp_timestamps[i - 1];
- unsigned int steps = (unsigned int) ceil(dt / maximum_time_step_);
- double step_size = dt / steps;
- for (unsigned int j = 1; j < steps; j++) {
- timestamps.push_back(inp_timestamps[i - 1] + step_size * j);
- }
- }
- // //make sure we come to a smooth stop
- // while (timestamps.back() < inp_timestamps.back()) {
- //   timestamps.push_back(timestamps.back() + 0.008);
- // }
- // timestamps.pop_back();
-
- unsigned int j = 0;
- for (unsigned int i = 0; i < timestamps.size(); i++) {
- while (inp_timestamps[j] <= timestamps[i]) {
- j += 1;
- }
- positions.push_back(
- UrDriver::interp_cubic(timestamps[i] - inp_timestamps[j - 1],
- inp_timestamps[j] - inp_timestamps[j - 1],
- inp_positions[j - 1], inp_positions[j],
- inp_velocities[j - 1], inp_velocities[j]));
- }
-
- timestamps.push_back(inp_timestamps[inp_timestamps.size() - 1]);
- positions.push_back(inp_positions[inp_positions.size() - 1]);
- /// This is actually faster than using a stringstream :-o
- for (unsigned int i = 1; i < timestamps.size(); i++) {
- char buf[128];
- sprintf(buf,
- "\tservoj([%1.5f, %1.5f, %1.5f, %1.5f, %1.5f, %1.5f], t=%1.5f)\n",
- positions[i][0], positions[i][1], positions[i][2],
- positions[i][3], positions[i][4], positions[i][5],
- timestamps[i] - timestamps[i - 1]);
- command_string += buf;
- }
- command_string += "end\n";
- //printf("%s", command_string.c_str());
- rt_interface_->addCommandToQueue(command_string);
-
- }
- */
 bool UrDriver::doTraj(std::vector<double> inp_timestamps,
 		std::vector<std::vector<double> > inp_positions,
 		std::vector<std::vector<double> > inp_velocities) {

src/ur_realtime_communication.cpp

@@ -156,7 +156,6 @@ void UrRealtimeCommunication::run() {
 			while (keepalive_ && !connected_) {
 				std::this_thread::sleep_for(std::chrono::seconds(10));
 				fd_set writefds;
-				keepalive_ = true;
 
 				connect(sockfd_, (struct sockaddr *) &serv_addr_,
 						sizeof(serv_addr_));