removed legacy datatypes

ur_rtde_driver/src/ur/rt_state.cpp

@@ -1,138 +0,0 @@
-/*
- * Copyright 2017, 2018 Simon Rasmussen (refactor)
- *
- * Copyright 2015, 2016 Thomas Timm Andersen (original version)
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "ur_rtde_driver/ur/rt_state.h"
-#include "ur_rtde_driver/ur/consumer.h"
-
-namespace ur_driver
-{
-void RTShared::parse_shared1(BinParser& bp)
-{
-  bp.parse(time);
-  bp.parse(q_target);
-  bp.parse(qd_target);
-  bp.parse(qdd_target);
-  bp.parse(i_target);
-  bp.parse(m_target);
-  bp.parse(q_actual);
-  bp.parse(qd_actual);
-  bp.parse(i_actual);
-}
-
-void RTShared::parse_shared2(BinParser& bp)
-{
-  bp.parse(digital_inputs);
-  bp.parse(motor_temperatures);
-  bp.parse(controller_time);
-  bp.consume(sizeof(double));  // Unused "Test value" field
-  bp.parse(robot_mode);
-}
-
-bool RTState_V1_6__7::parseWith(BinParser& bp)
-{
-  if (!bp.checkSize<RTState_V1_6__7>())
-    return false;
-
-  parse_shared1(bp);
-
-  bp.parse(tool_accelerometer_values);
-  bp.consume(sizeof(double) * 15);
-  bp.parse(tcp_force);
-  bp.parse(tool_vector_actual);
-  bp.parse(tcp_speed_actual);
-
-  parse_shared2(bp);
-
-  return true;
-}
-
-bool RTState_V1_8::parseWith(BinParser& bp)
-{
-  if (!bp.checkSize<RTState_V1_8>())
-    return false;
-
-  RTState_V1_6__7::parseWith(bp);
-
-  bp.parse(joint_modes);
-
-  return true;
-}
-
-bool RTState_V3_0__1::parseWith(BinParser& bp)
-{
-  if (!bp.checkSize<RTState_V3_0__1>())
-    return false;
-
-  parse_shared1(bp);
-
-  bp.parse(i_control);
-  bp.parse(tool_vector_actual);
-  bp.parse(tcp_speed_actual);
-  bp.parse(tcp_force);
-  bp.parse(tool_vector_target);
-  bp.parse(tcp_speed_target);
-
-  parse_shared2(bp);
-
-  bp.parse(joint_modes);
-  bp.parse(safety_mode);
-  bp.consume(sizeof(double[6]));  // skip undocumented
-  bp.parse(tool_accelerometer_values);
-  bp.consume(sizeof(double[6]));  // skip undocumented
-  bp.parse(speed_scaling);
-  bp.parse(linear_momentum_norm);
-  bp.consume(sizeof(double));  // skip undocumented
-  bp.consume(sizeof(double));  // skip undocumented
-  bp.parse(v_main);
-  bp.parse(v_robot);
-  bp.parse(i_robot);
-  bp.parse(v_actual);
-
-  return true;
-}
-
-bool RTState_V3_2__3::parseWith(BinParser& bp)
-{
-  if (!bp.checkSize<RTState_V3_2__3>())
-    return false;
-
-  RTState_V3_0__1::parseWith(bp);
-
-  bp.parse(digital_outputs);
-  bp.parse(program_state);
-
-  return true;
-}
-
-bool RTState_V1_6__7::consumeWith(URRTPacketConsumer& consumer)
-{
-  return consumer.consume(*this);
-}
-bool RTState_V1_8::consumeWith(URRTPacketConsumer& consumer)
-{
-  return consumer.consume(*this);
-}
-bool RTState_V3_0__1::consumeWith(URRTPacketConsumer& consumer)
-{
-  return consumer.consume(*this);
-}
-bool RTState_V3_2__3::consumeWith(URRTPacketConsumer& consumer)
-{
-  return consumer.consume(*this);
-}
-}  // namespace ur_driver