Remove unnecessary callback for travmap because no expansion happens anymore

Author: haider8645

src/Planner.cpp

@@ -38,11 +38,6 @@ void Planner::enablePathStatistics(bool enable){
     }
 }
 
-void Planner::setTravMapCallback(const std::function< void ()>& callback)
-{
-    travMapCallback = callback;
-}
-
 bool Planner::calculateGoal(Eigen::Vector3d& goal_translation, const double yaw) noexcept
 {
     if (tryGoal(goal_translation, yaw)){
@@ -148,8 +143,6 @@ Planner::PLANNING_RESULT Planner::plan(const base::Time& maxTime, const base::sa
     startbody2Mls.setTransform(startGround2Mls);
     endbody2Mls.setTransform(endGround2Mls);
 
-    if(travMapCallback)
-        travMapCallback();
     try
     {
         env->setStart(startGround2Mls.translation(), base::getYaw(Eigen::Quaterniond(startGround2Mls.linear())));

src/Planner.hpp

@@ -26,9 +26,7 @@ class Planner
     traversability_generator3d::TraversabilityConfig traversabilityConfig;
     PlannerConfig plannerConfig;
     std::vector<int> solutionIds;
-    
-    std::function<void ()> travMapCallback;
-    
+        
     /**are buffered and reused for a more robust map generation */
     std::vector<Eigen::Vector3d> previousStartPositions;
 
@@ -63,12 +61,6 @@ class Planner
 
     void enablePathStatistics(bool enable);
 
-    /**
-     * This callback is executed, whenever a new traverability map
-     * was expanded
-     * */
-    void setTravMapCallback(const std::function<void ()> &callback);
-    
     std::vector<Motion> getMotions() const;
 
     /** Plan a path from @p start to @p end.