Merge branch 'master' into style/statespace

include/aikido/control/ros/RosTrajectoryExecutor.hpp

@@ -20,15 +20,13 @@ class RosTrajectoryExecutor : public aikido::control::TrajectoryExecutor
 {
 public:
   /// Constructor.
-  /// \param[in] space Space in which trajectries operate.
   /// \param[in] node ROS node handle for action client.
   /// \param[in] serverName Name of the server to send traejctory to.
   /// \param[in] timestep Step size for interpolating trajectories.
   /// \param[in] goalTimeTolerance
   /// \param[in] connectionTimeout Timeout for server connection.
   /// \param[in] connectionPollingPeriod Polling period for server connection.
   RosTrajectoryExecutor(
-    statespace::dart::MetaSkeletonStateSpacePtr space,
     ::ros::NodeHandle node,
     const std::string& serverName,
     double timestep,
@@ -66,7 +64,6 @@ class RosTrajectoryExecutor : public aikido::control::TrajectoryExecutor
 
   void transitionCallback(GoalHandle handle);
 
-  statespace::dart::MetaSkeletonStateSpacePtr mSpace;
   ::ros::NodeHandle mNode;
   ::ros::CallbackQueue mCallbackQueue;
   TrajectoryActionClient mClient;

src/control/ros/RosTrajectoryExecutor.cpp

@@ -49,15 +49,13 @@ std::string getFollowJointTrajectoryErrorMessage(int32_t errorCode)
 
 //=============================================================================
 RosTrajectoryExecutor::RosTrajectoryExecutor(
-      statespace::dart::MetaSkeletonStateSpacePtr space,
       ::ros::NodeHandle node,
       const std::string& serverName,
       double timestep,
       double goalTimeTolerance,
       const std::chrono::milliseconds& connectionTimeout,
       const std::chrono::milliseconds& connectionPollingPeriod)
-  : mSpace{std::move(space)}
-  , mNode{std::move(node)}
+  : mNode{std::move(node)}
   , mCallbackQueue{}
   , mClient{mNode, serverName, &mCallbackQueue}
   , mTimestep{timestep}
@@ -66,9 +64,6 @@ RosTrajectoryExecutor::RosTrajectoryExecutor(
   , mConnectionPollingPeriod{connectionPollingPeriod}
   , mInProgress{false}
 {
-  if (!mSpace)
-    throw std::invalid_argument("Space is null.");
-
   if (mTimestep <= 0)
     throw std::invalid_argument("Timestep must be positive.");
 
@@ -109,12 +104,6 @@ std::future<void> RosTrajectoryExecutor::execute(
       "Trajectory is not in a MetaSkeletonStateSpace.");
   }
 
-  if (space != mSpace)
-  {
-    throw std::invalid_argument(
-      "Trajectory is not in the same StateSpace as this RosTrajectoryExecutor.");
-  }
-
   // Setup the goal properties.
   // TODO: Also set goal_tolerance, path_tolerance.
   control_msgs::FollowJointTrajectoryGoal goal;