non-free extern removed

rai/Geo/geo.cpp

@@ -1074,10 +1074,6 @@ Vector operator/(const Transformation& X, const Vector& c) {
 /// initialize by reading from the string
 Transformation& Transformation::setText(const char* txt) { read(rai::String(txt).stream()); return *this; }
 
-void Transformation::set(double *p) { pos.set(p); rot.set(p+3); }
-
-void Transformation::set(const arr &t) { CHECK_EQ(t.N,7, "");  set(t.p); }
-
 /// resets the position to origin, rotation to identity, velocities to zero, scale to unit
 Transformation& Transformation::setZero() {
   memset(this, 0, sizeof(Transformation));

rai/KOMO/komo.cpp

@@ -1492,7 +1492,7 @@ Graph KOMO::getReport(bool gnuplt, int reportFeatures, std::ostream& featuresOs)
       if(task->prec.N>t && task->prec(t)){
         uint d=0;
         if(wasRun){
-          d=task->map->dim_phi(configurations({t,t+k_order}), t);
+          d=task->map->dim_phi(configurations({t,t+k_order}));
           for(uint j=0;j<d;j++) CHECK(tt(M+j)==task->type,"");
           if(d){
             if(task->type==OT_sumOfSqr){
@@ -1600,7 +1600,7 @@ void KOMO::Conv_MotionProblem_KOMO_Problem::getStructure(uintA& variableDimensio
       Task *task = komo.tasks.elem(i);
       if(task->prec.N>t && task->prec(t)){
         //      CHECK(task->prec.N<=MP.T,"");
-        uint m = task->map->dim_phi(komo.configurations({t,t+komo.k_order}), t); //dimensionality of this task
+        uint m = task->map->dim_phi(komo.configurations({t,t+komo.k_order})); //dimensionality of this task
 
         if(&featureTimes) featureTimes.append(t, m); //consts<uint>(t, m));
         if(&featureTypes) featureTypes.append(task->type, m); //consts<ObjectiveType>(task->type, m));
@@ -1666,7 +1666,7 @@ void KOMO::Conv_MotionProblem_KOMO_Problem::phi(arr& phi, arrA& J, arrA& H, uint
       Task *task = komo.tasks.elem(i);
       if(task->prec.N>t && task->prec(t)){
         //query the task map and check dimensionalities of returns
-        task->map->phi(y, (&J?Jy:NoArr), Ktuple, komo.tau, t);
+        task->map->phi(y, (&J?Jy:NoArr), Ktuple);
         if(&J) CHECK_EQ(y.N, Jy.d0, "");
         if(&J) CHECK_EQ(Jy.nd, 2, "");
         if(&J) CHECK_EQ(Jy.d1, Ktuple_dim, "");

rai/Kin/switch.cpp

@@ -228,7 +228,7 @@ void rai::KinematicSwitch::apply(KinematicWorld& K){
 
   if(symbol==makeDynamic){
     CHECK_EQ(jointType, JT_none, "");
-    CHECK_EQ(to, NULL, "");
+    CHECK_EQ(to, 0, "");
     CHECK(from->inertia, "can only make frames with intertia dynamic");
 
     from->inertia->type=rai::BT_dynamic;
@@ -241,7 +241,7 @@ void rai::KinematicSwitch::apply(KinematicWorld& K){
 
   if(symbol==makeKinematic){
     CHECK_EQ(jointType, JT_none, "");
-    CHECK_EQ(to, NULL, "");
+    CHECK_EQ(to, 0, "");
     CHECK(from->inertia, "can only make frames with intertia kinematic");
 
     from->inertia->type=rai::BT_kinematic;

rai/LGP/optLGP.h

@@ -79,7 +79,7 @@ struct OptLGP : GLDrawer{
   void step();
   void buildTree(uint depth);
   void getSymbolicSolutions(uint depth);
-  void optFixedSequence(const mlr::String& seq, int specificLevel=-1, bool collisions=false);
+  void optFixedSequence(const rai::String& seq, int specificLevel=-1, bool collisions=false);
   void optMultiple(const StringA& seqs);
 
   // output
@@ -99,12 +99,4 @@ struct OptLGP : GLDrawer{
   bool execRandomChoice();
 
   void player(StringA cmds={});
-
-  void optFixedSequence(const rai::String& seq, int specificLevel=-1, bool collisions=false);
-  void optMultiple(const StringA& seqs);
-
-
-  void writeNodeList(ostream& os=cout);
-
-  void glDraw(struct OpenGL&gl);
 };