Drop duplicate edge checks from karto::Mapper

Signed-off-by: Michel Hidalgo <[email protected]>
SteveMacenski · Mar 25, 2022 · c119840 · c119840
1 parent aa9ffa6
commit c119840
Showing 1 changed file with 0 additions and 12 deletions.
diff --git a/slam_toolbox/lib/karto_sdk/src/Mapper.cpp b/slam_toolbox/lib/karto_sdk/src/Mapper.cpp
@@ -1682,18 +1682,6 @@ namespace karto
       return false;
     }
 
-    // see if edge already exists
-    for (Edge<LocalizedRangeScan> * pOtherEdge : GetEdges()) {
-      if (pEdge->GetSource() == pOtherEdge->GetSource() &&
-          pEdge->GetTarget() == pOtherEdge->GetTarget()) {
-        return false;
-      }
-      if (pEdge->GetTarget() == pOtherEdge->GetSource() &&
-          pEdge->GetSource() == pOtherEdge->GetTarget()) {
-        return false;
-      }
-    }
-
     Graph<LocalizedRangeScan>::AddEdge(pEdge);
     return true;
   }