remove everyting related to the now unused state space factories in the ompl interface

Author: JeroenDM

moveit_planners/ompl/ompl_interface/CMakeLists.txt

@@ -5,11 +5,8 @@ add_library(${MOVEIT_LIB_NAME}
   src/planning_context_manager.cpp
   src/model_based_planning_context.cpp
   src/parameterization/model_based_state_space.cpp
-  src/parameterization/model_based_state_space_factory.cpp
   src/parameterization/joint_space/joint_model_state_space.cpp
-  src/parameterization/joint_space/joint_model_state_space_factory.cpp
   src/parameterization/work_space/pose_model_state_space.cpp
-  src/parameterization/work_space/pose_model_state_space_factory.cpp
   src/detail/threadsafe_state_storage.cpp
   src/detail/state_validity_checker.cpp
   src/detail/projection_evaluators.cpp

moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space_factory.h

@@ -38,7 +38,6 @@
 
 #include <moveit/ompl_interface/model_based_planning_context.h>
 #include <moveit/ompl_interface/parameterization/model_based_state_space.h>
-#include <moveit/ompl_interface/parameterization/model_based_state_space_factory.h>
 #include <moveit/constraint_samplers/constraint_sampler_manager.h>
 #include <moveit/macros/class_forward.h>
 
@@ -181,30 +180,17 @@ class PlanningContextManager
     known_planners_[planner_id] = pa;
   }
 
-  void registerStateSpaceFactory(const ModelBasedStateSpaceFactoryPtr& factory)
-  {
-    state_space_factories_[factory->getType()] = factory;
-  }
-
   const std::map<std::string, ConfiguredPlannerAllocator>& getRegisteredPlannerAllocators() const
   {
     return known_planners_;
   }
 
-  const std::map<std::string, ModelBasedStateSpaceFactoryPtr>& getRegisteredStateSpaceFactories() const
-  {
-    return state_space_factories_;
-  }
-
   ConfiguredPlannerSelector getPlannerSelector() const;
 
 protected:
-  typedef std::function<const ModelBasedStateSpaceFactoryPtr&(const std::string&)> StateSpaceFactoryTypeSelector;
-
   ConfiguredPlannerAllocator plannerSelector(const std::string& planner) const;
 
   void registerDefaultPlanners();
-  void registerDefaultStateSpaces();
 
   template <typename T>
   void registerPlannerAllocatorHelper(const std::string& planner_id);
@@ -214,11 +200,6 @@ class PlanningContextManager
                                                   const std::string& state_space_parameterization_type,
                                                   const moveit_msgs::MotionPlanRequest& req) const;
 
-  const ModelBasedStateSpaceFactoryPtr& getStateSpaceFactory1(const std::string& group_name,
-                                                              const std::string& factory_type) const;
-  const ModelBasedStateSpaceFactoryPtr& getStateSpaceFactory2(const std::string& group_name,
-                                                              const moveit_msgs::MotionPlanRequest& req) const;
-
   /** \brief Check whether a joint model group has an inverse kinematics solver available. **/
   bool doesGroupHaveIKSolver(const std::string& group_name) const;
 
@@ -234,7 +215,6 @@ class PlanningContextManager
   constraint_samplers::ConstraintSamplerManagerPtr constraint_sampler_manager_;
 
   std::map<std::string, ConfiguredPlannerAllocator> known_planners_;
-  std::map<std::string, ModelBasedStateSpaceFactoryPtr> state_space_factories_;
 
   /** \brief All the existing planning configurations. The name
       of the configuration is the key of the map. This name can