remove geo geometry stuff i forgot to delete

Author: lia-viam

src/viam/sdk/services/private/motion_client.cpp

@@ -8,6 +8,7 @@
 #include <viam/api/service/motion/v1/motion.pb.h>
 
 #include <viam/sdk/common/client_helper.hpp>
+#include <viam/sdk/common/proto_convert_vector.hpp>
 #include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/services/motion.hpp>
@@ -245,17 +246,13 @@ std::string MotionClient::move_on_globe(
                       request.set_heading(*heading);
                   }
 
-                  for (const auto& obstacle : obstacles) {
-                      *request.mutable_obstacles()->Add() = obstacle.to_proto();
-                  }
+                  *request.mutable_obstacles() = v2::to_proto(obstacles);
 
                   if (motion_configuration) {
                       *request.mutable_motion_configuration() = to_proto(*motion_configuration);
                   }
 
-                  for (const auto& bounding_region : bounding_regions) {
-                      *request.mutable_bounding_regions()->Add() = bounding_region.to_proto();
-                  }
+                  *request.mutable_bounding_regions() = v2::to_proto(bounding_regions);
               })
         .invoke([](auto& response) { return response.execution_id(); });
 }

src/viam/sdk/services/private/motion_server.cpp

@@ -4,6 +4,7 @@
 
 #include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/pose.hpp>
+#include <viam/sdk/common/proto_convert_vector.hpp>
 #include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/common/service_helper.hpp>
 #include <viam/sdk/common/utils.hpp>
@@ -231,12 +232,8 @@ ::grpc::Status MotionServer::MoveOnGlobe(
         const auto destination = v2::from_proto(request->destination());
         const auto component_name = Name::from_proto(request->component_name());
         const auto movement_sensor_name = Name::from_proto(request->movement_sensor_name());
-        std::vector<geo_geometry> obstacles;
-        std::vector<geo_geometry> bounding_regions;
-
-        for (const auto& obstacle : request->obstacles()) {
-            obstacles.push_back(geo_geometry::from_proto(obstacle));
-        }
+        std::vector<geo_geometry> obstacles = v2::from_proto(request->obstacles());
+        std::vector<geo_geometry> bounding_regions = v2::from_proto(request->bounding_regions());
 
         boost::optional<double> heading;
         if (request->has_heading()) {
@@ -249,10 +246,6 @@ ::grpc::Status MotionServer::MoveOnGlobe(
                 std::make_shared<motion_configuration>(from_proto(request->motion_configuration()));
         }
 
-        for (const auto& bounding_region : request->bounding_regions()) {
-            bounding_regions.push_back(geo_geometry::from_proto(bounding_region));
-        }
-
         const std::string execution_id = motion->move_on_globe(destination,
                                                                heading,
                                                                component_name,

src/viam/sdk/spatialmath/geometry.cpp

@@ -109,29 +109,6 @@ bool operator==(const geo_geometry& lhs, const geo_geometry& rhs) {
     return std::tie(lhs.location, lhs.geometries) == std::tie(rhs.location, rhs.geometries);
 }
 
-common::v1::GeoGeometry geo_geometry::to_proto() const {
-    common::v1::GeoGeometry proto;
-    *proto.mutable_location() = v2::to_proto(location);
-
-    for (const auto& geometry : geometries) {
-        *proto.mutable_geometries()->Add() = v2::to_proto(geometry);
-    }
-
-    return proto;
-}
-
-geo_geometry geo_geometry::from_proto(const common::v1::GeoGeometry& proto) {
-    struct geo_geometry geo_geometry;
-
-    geo_geometry.location = v2::from_proto(proto.location());
-    for (const auto& proto_geometry : proto.geometries()) {
-        auto geometry = v2::from_proto(proto_geometry);
-        geo_geometry.geometries.push_back(std::move(geometry));
-    }
-
-    return geo_geometry;
-}
-
 namespace proto_convert_details {
 
 void to_proto<box>::operator()(const box& self, common::v1::RectangularPrism* proto) const {

src/viam/sdk/spatialmath/geometry.hpp

@@ -86,8 +86,6 @@ struct geo_geometry {
     geo_point location;
     std::vector<GeometryConfig> geometries;
 
-    common::v1::GeoGeometry to_proto() const;
-    static geo_geometry from_proto(const common::v1::GeoGeometry& proto);
     friend bool operator==(const geo_geometry& lhs, const geo_geometry& rhs);
 };