drop getLayerKey function

MIT-SPARK · Nov 19, 2024 · 55de110 · 55de110
1 parent b5f8823
commit 55de110
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diff --git a/include/spark_dsg/dynamic_scene_graph.h b/include/spark_dsg/dynamic_scene_graph.h
@@ -330,13 +330,6 @@ class DynamicSceneGraph {
    */
   const SceneGraphNode* findNode(NodeId node_id) const;
 
-  /**
-   * @brief Get node layer information (if the node exists)
-   * @param node_id Node ID to get
-   * @returns A potentially valid Layer ID and prefix
-   */
-  std::optional<LayerKey> getLayerForNode(NodeId node_id) const;
-
   /**
    * @brief Get a particular edge in the graph
    *

diff --git a/src/dynamic_scene_graph.cpp b/src/dynamic_scene_graph.cpp
@@ -433,15 +433,6 @@ const Node* DynamicSceneGraph::findNode(NodeId node_id) const {
   return getNodePtr(node_id, iter->second);
 }
 
-std::optional<LayerKey> DynamicSceneGraph::getLayerForNode(NodeId node_id) const {
-  auto iter = node_lookup_.find(node_id);
-  if (iter == node_lookup_.end()) {
-    return std::nullopt;
-  }
-
-  return iter->second;
-}
-
 const Edge& DynamicSceneGraph::getEdge(NodeId source, NodeId target) const {
   const auto edge = findEdge(source, target);
   if (!edge) {

diff --git a/tests/utest_dynamic_scene_graph.cpp b/tests/utest_dynamic_scene_graph.cpp
@@ -907,19 +907,6 @@ TEST(DynamicSceneGraphTests, InsertMixedEdgeCorrect) {
   testSiblingRelationship(graph, NodeSymbol('c', 0), NodeSymbol('a', 0));
 }
 
-TEST(DynamicSceneGraphTests, GetLayerKeyCorrect) {
-  using namespace std::chrono_literals;
-  DynamicSceneGraph graph;
-  graph.emplaceNode(2, 'a', 10ns, std::make_unique<NodeAttributes>());
-  graph.emplaceNode(3, NodeSymbol('x', 0), std::make_unique<NodeAttributes>());
-
-  LayerPrefix prefix('a');
-  EXPECT_EQ(*graph.getLayerForNode(NodeSymbol('a', 0)), LayerKey(2, prefix));
-  EXPECT_EQ(*graph.getLayerForNode(NodeSymbol('x', 0)), LayerKey(3));
-
-  EXPECT_FALSE(graph.getLayerForNode(NodeSymbol('b', 0)));
-}
-
 TEST(DynamicSceneGraphTests, RemovedAndNewNodesCorrect) {
   using namespace std::chrono_literals;
   DynamicSceneGraph graph;