Remove unused code

Author: saikishor

controller_manager/include/controller_manager/controller_spec.hpp

@@ -612,141 +612,5 @@ class ControllerChainDependencyGraph
   std::unordered_map<std::string, ControllerPeerInfo> controller_graph_;
 };
 
-// class ControllerChainDependencyGraph
-// {
-// public:
-//   void add_dependency(const std::string & predecessor, const std::string & successor)
-//   {
-//     if (predecessors.count(predecessor) == 0)
-//     {
-//       predecessors[predecessor] = {};
-//     }
-//     if (successors.count(successor) == 0)
-//     {
-//       successors[successor] = {};
-//     }
-
-//     ros2_control::add_item(predecessors[successor], predecessor);
-//     ros2_control::add_item(successors[predecessor], successor);
-//   }
-
-//   void remove_controller(const std::string & controller_name)
-//   {
-//     predecessors.erase(controller_name);
-//     successors.erase(controller_name);
-//     for (auto & [_, succ] : predecessors)
-//     {
-//       succ.erase(std::remove(succ.begin(), succ.end(), controller_name), succ.end());
-//     }
-//     for (auto & [_, preds] : successors)
-//     {
-//       preds.erase(std::remove(preds.begin(), preds.end(), controller_name), preds.end());
-//     }
-//   }
-
-//   void depth_first_search(
-//     const std::string & controller_name, std::unordered_set<std::string> & visited,
-//     std::unordered_map<std::string, std::vector<std::string>> & graph, const std::string &
-//     untill_node = "")
-//   {
-//     if (visited.find(controller_name) != visited.end())
-//     {
-//       return;
-//     }
-//     if(!untill_node.empty() && controller_name == untill_node)
-//     {
-//       return;
-//     }
-//     visited.insert(controller_name);
-//     for (const auto & neighbor : graph[controller_name])
-//     {
-//       if (visited.find(neighbor) == visited.end())
-//       {
-//         depth_first_search(neighbor, visited, graph);
-//       }
-//     }
-//   }
-
-//   std::vector<std::string> get_all_predecessors(const std::string & controller_name, const
-//   std::string & untill_node = "")
-//   {
-//     std::unordered_set<std::string> visited;
-//     depth_first_search(controller_name, visited, predecessors, untill_node);
-//     std::vector<std::string> predecessors_list;
-//     std::copy(visited.begin(), visited.end(), std::back_inserter(predecessors_list));
-//     ros2_control::remove_item(predecessors_list, controller_name);
-//     return predecessors_list;
-//   }
-
-//   std::vector<std::string> get_all_successors(const std::string & controller_name, const
-//   std::string & untill_node = "")
-//   {
-//     std::unordered_set<std::string> visited;
-//     depth_first_search(controller_name, visited, successors, untill_node);
-//     std::vector<std::string> successors_list;
-//     std::copy(visited.begin(), visited.end(), std::back_inserter(successors_list));
-//     ros2_control::remove_item(successors_list, controller_name);
-//     return successors_list;
-//   }
-
-//   std::vector<std::string> get_dependents_to_activate(const std::string & controller_name)
-//   {
-//     std::unordered_set<std::string> visited;
-//     depth_first_search(controller_name, visited, successors);
-//     // now for every visited controller look for all it's predecessors and their predecessors and
-//     // add to the dependents list
-//     std::vector<std::string> dependents_to_activate;
-//     std::copy(visited.begin(), visited.end(), std::back_inserter(dependents_to_activate));
-//     ros2_control::remove_item(dependents_to_activate, controller_name);
-//     for (const auto & controller : visited)
-//     {
-//       std::vector<std::string> predecessors_list = get_all_predecessors(controller,
-//       controller_name); ros2_control::remove_item(predecessors_list, controller_name);
-
-//       for(const auto & predecessor : predecessors_list)
-//       {
-//         RCLCPP_INFO(
-//           rclcpp::get_logger("controller_manager"),
-//           "Predecessor of %s is %s", controller_name.c_str(), predecessor.c_str());
-//         std::vector<std::string> successors_of_predecessor = get_all_successors(predecessor,
-//         controller_name); ros2_control::remove_item(successors_of_predecessor, predecessor);
-
-//         for (const auto & succ_pred : successors_of_predecessor)
-//         {
-//           RCLCPP_INFO(
-//             rclcpp::get_logger("controller_manager"),
-//             "Successor of predecessor %s is %s", predecessor.c_str(), succ_pred.c_str());
-//         }
-//         // insert if not already in the list
-//         std::copy_if(
-//           successors_of_predecessor.begin(), successors_of_predecessor.end(),
-//           std::back_inserter(dependents_to_activate),
-//           [&dependents_to_activate](const std::string & succ_pred)
-//           {
-//             return std::find(
-//                     dependents_to_activate.begin(), dependents_to_activate.end(), succ_pred) ==
-//                   dependents_to_activate.end();
-//           });
-//       }
-//       // insert if not already in the list
-//       std::copy_if(
-//         predecessors_list.begin(), predecessors_list.end(),
-//         std::back_inserter(dependents_to_activate),
-//         [&dependents_to_activate](const std::string & predecessor)
-//         {
-//           return std::find(
-//                    dependents_to_activate.begin(), dependents_to_activate.end(), predecessor) ==
-//                  dependents_to_activate.end();
-//         });
-//     }
-//     ros2_control::remove_item(dependents_to_activate, controller_name);
-//     return dependents_to_activate;
-//   }
-
-// private:
-//   std::unordered_map<std::string, std::vector<std::string>> predecessors = {};
-//   std::unordered_map<std::string, std::vector<std::string>> successors = {};
-// };
-
 }  // namespace controller_manager
 #endif  // CONTROLLER_MANAGER__CONTROLLER_SPEC_HPP_