Update global_planner.h

include/global_planner.h

@@ -43,21 +43,11 @@ class Global_Planner
 
     // 参数
     int algorithm_mode;
-    bool is_2D;
-    double fly_height_2D;
-    double safe_distance;
-    double time_per_path;
     int map_input;
-    double replan_time;
-    bool consider_neighbour;
     bool sim_mode;
     bool map_groundtruth;
 
-    // 本机位置
-    // 邻机位置
     // 根据不同的输入（激光雷达输入、相机输入等）生成occupymap
-    // 调用路径规划算法 生成路径
-    // 调用轨迹优化算法 规划轨迹
 
     // 订阅无人机状态、目标点、传感器数据（生成地图）
     ros::Subscriber goal_sub;
@@ -70,21 +60,14 @@ class Global_Planner
     // ？
 
     // 发布控制指令
-    ros::Publisher command_pub,path_cmd_pub;
+    ros::Publisher command_pub;
     ros::Timer mainloop_timer, track_path_timer, safety_timer;
 
-    // A星规划器
-    Astar::Ptr Astar_ptr;
-
     prometheus_msgs::DroneState _DroneState;
     nav_msgs::Odometry Drone_odom;
 
-    nav_msgs::Path path_cmd;
-    double distance_walked;
     prometheus_msgs::ControlCommand Command_Now;   
 
-    double distance_to_goal;
-
     // 规划器状态
     bool odom_ready;
     bool drone_ready;
@@ -100,8 +83,6 @@ class Global_Planner
     // 规划初始状态及终端状态
     Eigen::Vector3d start_pos, start_vel, start_acc, goal_pos, goal_vel;
 
-    float desired_yaw;
-
     ros::Time tra_start_time;
     float tra_running_time;
 
@@ -145,4 +126,4 @@ class Global_Planner
 
 }
 
-#endif
+#endif