Removed unused method

ADVRHumanoids · Mar 21, 2024 · d442518 · d442518
1 parent 42656b3
commit d442518
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diff --git a/include/OpenSoT/constraints/Aggregated.h b/include/OpenSoT/constraints/Aggregated.h
@@ -115,18 +115,6 @@ using namespace OpenSoT::utils;
             virtual void _log(XBot::MatLogger2::Ptr logger);
 
         public:
-            /**
-             * @brief Aggregated
-             * @param bounds a std::list of Bounds
-             * @param q the vector of q at which to create the Aggregated bound
-             *          Notice that by specifying q, the Aggregated will automatically call
-             *          update(q) on all tasks he is composed of
-             */
-            Aggregated(const std::list< ConstraintPtr > constraints,
-                       const Eigen::VectorXd &q,
-                       const unsigned int aggregationPolicy =
-                            EQUALITIES_TO_INEQUALITIES |
-                            UNILATERAL_TO_BILATERAL);
 
             /**
              * @brief Aggregated

diff --git a/src/constraints/Aggregated.cpp b/src/constraints/Aggregated.cpp
@@ -27,19 +27,6 @@ const std::string Aggregated::_CONSTRAINT_PLUS_ = "+";
 const std::string Aggregated::_CONSTRAINT_AGGREGATED_ = "AGGR_";
 std::string Aggregated::concatenatedId = "";
 
-Aggregated::Aggregated(const std::list<ConstraintPtr> bounds,
-                       const Eigen::VectorXd &q,
-                       const unsigned int aggregationPolicy) :
-    Constraint(concatenateConstraintsIds(bounds), q.rows()),
-               _bounds(bounds), _aggregationPolicy(aggregationPolicy)
-{
-    assert(bounds.size()>0);
-    _number_of_bounds = _bounds.size();
-
-    this->checkSizes();
-    /* calling update to generate bounds */
-    this->update(q);
-}
 
 Aggregated::Aggregated(const std::list<ConstraintPtr> bounds,
                        const unsigned int x_size,