From 2189d7841f06c21de004e81e2deade52d9f1bdb3 Mon Sep 17 00:00:00 2001
From: Sucan126 <632190820@qq.com>
Date: Mon, 22 Sep 2025 15:18:30 +0800
Subject: [PATCH] refactor(controller): Remove additional unused motion control
 methods

- Deleted the UseRemoteCommandFromApi, MoveToAbsolutePosition, and MoveToIncrementPosition methods from the controller interface and implementation. This further simplifies the code structure and enhances maintainability.
---
 include/controller.hpp |  3 ---
 src/controller.cpp     | 18 ------------------
 2 files changed, 21 deletions(-)

diff --git a/include/controller.hpp b/include/controller.hpp
index c80bf4b..9562e2c 100644
--- a/include/controller.hpp
+++ b/include/controller.hpp
@@ -57,9 +57,6 @@ public:
     // Obstacle 
     bool SwitchSet(bool enable);
     bool SwitchGet(bool& enable);
-    bool UseRemoteCommandFromApi(bool isRemoteCommandsFromApi);
-    bool MoveToAbsolutePosition(float x, float y, float yaw);
-    bool MoveToIncrementPosition(float x, float y, float yaw);
     
     // MotionSwitcher
     bool CheckMode(std::string& form, std::string& name);
diff --git a/src/controller.cpp b/src/controller.cpp
index d7cbb43..90c8982 100644
--- a/src/controller.cpp
+++ b/src/controller.cpp
@@ -314,24 +314,6 @@ bool Controller::SwitchGet(bool& enable) {
     });
 }
 
-bool Controller::UseRemoteCommandFromApi(bool isRemoteCommandsFromApi) {
-    return ExecuteObstacleCmd([isRemoteCommandsFromApi](auto* oac) {
-        return oac->UseRemoteCommandFromApi(isRemoteCommandsFromApi);
-    });
-}
-
-bool Controller::MoveToAbsolutePosition(float x, float y, float yaw) {
-    return ExecuteObstacleCmd([x, y, yaw](auto* oac) {
-        return oac->MoveToAbsolutePosition(x, y, yaw);
-    });
-}
-
-bool Controller::MoveToIncrementPosition(float x, float y, float yaw) {
-    return ExecuteObstacleCmd([x, y, yaw](auto* oac) {
-        return oac->MoveToIncrementPosition(x, y, yaw);
-    });
-}
-
 bool Controller::CheckMode(std::string& form, std::string& name) {
     return ExecuteMotionSwitchCmd([&](auto* msc) {
         return msc->CheckMode(form, name);