clean up

ethz-asl · Aug 20, 2019 · 93cdeeb · 93cdeeb
1 parent 40a2aab
commit 93cdeeb
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Showing 2 changed files with 2 additions and 7 deletions.
diff --git a/mav_trajectory_generation/src/segment.cpp b/mav_trajectory_generation/src/segment.cpp
@@ -218,11 +218,11 @@ bool Segment::getSegmentWithAppendedDimension(const Segment& segment_to_append,
 
   // Scale segment polynomials to the longer segment time.
   const double new_time = std::max(time_, segment_to_append.getTime());
-  if (time_ < new_time){
+  if (time_ < new_time && new_time > 0.0){
     for (int d = 0; d < D_; d++) {
       current_segment[d].scalePolynomialInTime(time_ / new_time);
     }
-  } else if (segment_to_append.getTime() < new_time) {
+  } else if (segment_to_append.getTime() < new_time && new_time > 0.0) {
     for (int d = 0; d < segment_to_append.D(); d++) {
       segment_to_append_temp[d].scalePolynomialInTime(segment_to_append.getTime() / new_time);
     }

diff --git a/mav_trajectory_generation_ros/include/mav_trajectory_generation_ros/ros_visualization.h b/mav_trajectory_generation_ros/include/mav_trajectory_generation_ros/ros_visualization.h
@@ -47,11 +47,6 @@ void drawMavSampledTrajectorybyTime(
     const mav_msgs::EigenTrajectoryPoint::Vector& trajectory_points, double dt,
     const std::string& frame_id, visualization_msgs::MarkerArray* marker_array);
 
-// Draw an eigen trajectory with markers that are a minimum of dt apart in time.
-void drawMavSampledTrajectorybyTime(
-    const mav_msgs::EigenTrajectoryPoint::Vector& flat_states, double dt,
-    const std::string& frame_id, visualization_msgs::MarkerArray* marker_array);
-
 // Same as drawMavTrajectory, but also draws an additional marker at a set
 // distance.
 void drawMavTrajectoryWithMavMarker(