Removing RAL code

Author: Federico-PizarroBejarano

mm_plan/src/mm_plan/TaskManager.py

@@ -490,76 +490,6 @@ def update(self, t, states):
         return finished, 1
 
 
-class SoTRal25(SoTBase):
-    def __init__(self, config):
-        super().__init__(config)
-        self.curr_task_id = 0
-        self.curr_task_num = 2
-        self.total_task_num = len(config["tasks"])
-
-        # not really scalable
-        self.planners[1].set_base_planner(self.planners[0])
-
-    def getPlanners(self, num_planners=2):
-        # get the top #num_planners in the stack
-        ids = np.arange(self.curr_task_id, self.curr_task_id + self.curr_task_num)
-        ids %= self.total_task_num
-
-        return [self.planners[id] for id in ids]
-
-    def update(self, t, states):
-        # check if current task is finished
-        planner = self.planners[self.curr_task_id]
-        finished = False
-        if planner.type == "EE":
-            finished = planner.checkFinished(t, states["EE"])
-        elif planner.type == "base":
-            finished = planner.checkFinished(t, states["base"])
-
-        if finished:
-            # if current task finished increment self.curr_task_id by 1
-            if self.curr_task_id == 0:
-                self.curr_task_id = 2
-                # two tasks for odd number task id (EE task)
-                self.planners[self.curr_task_id].regeneratePlan(states["EE"])
-                self.planners[
-                    (self.curr_task_id + 1) % self.total_task_num
-                ].regeneratePlan(states["base"])
-            else:
-                self.curr_task_id = 0
-
-        return finished, 0
-
-    def print(self):
-        self.logger.log(
-            "Currently at Task {} with Task num {}".format(
-                self.curr_task_id, self.curr_task_num
-            )
-        )
-
-
-class SoTRal25NavOnly(SoTBase):
-    def __init__(self, config):
-        super().__init__(config)
-
-    def getPlanners(self, num_planners=1):
-        return self.planners
-
-    def update(self, t, states):
-        # check if current task is finished
-        planner = self.planners[0]
-        finished = False
-        if planner.type == "EE":
-            finished = planner.checkFinished(t, states["EE"])
-        elif planner.type == "base":
-            finished = planner.checkFinished(t, states["base"])
-
-        if finished:
-            self.planners[0].regeneratePlan(states["base"])
-
-        return finished, 0
-
-
 if __name__ == "__main__":
     config_path = "$PROJECTMM3D_HOME/experiments/config/sim/simulation.yaml"
     config = parsing.load_config(config_path)