From dcda1c3fd2dff4ab01ac65c4491806b1581a79ad Mon Sep 17 00:00:00 2001
From: "Dr. Denis" <denis@stoglrobotics.de>
Date: Tue, 6 Feb 2024 17:18:37 +0100
Subject: [PATCH] Update joint_trajectory_controller.cpp

---
 .../src/joint_trajectory_controller.cpp       | 32 -------------------
 1 file changed, 32 deletions(-)

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
index aced70703f..9fb9c0d997 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp
+++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -134,38 +134,6 @@ controller_interface::return_type JointTrajectoryController::update(
     }
   }
 
-<<<<<<< HEAD
-  auto compute_error_for_joint = [&](
-                                   JointTrajectoryPoint & error, int index,
-                                   const JointTrajectoryPoint & current,
-                                   const JointTrajectoryPoint & desired)
-  {
-    // error defined as the difference between current and desired
-    if (joints_angle_wraparound_[index])
-    {
-      // if desired, the shortest_angular_distance is calculated, i.e., the error is
-      //  normalized between -pi<error<pi
-      error.positions[index] =
-        angles::shortest_angular_distance(current.positions[index], desired.positions[index]);
-    }
-    else
-    {
-      error.positions[index] = desired.positions[index] - current.positions[index];
-    }
-    if (
-      has_velocity_state_interface_ &&
-      (has_velocity_command_interface_ || has_effort_command_interface_))
-    {
-      error.velocities[index] = desired.velocities[index] - current.velocities[index];
-    }
-    if (has_acceleration_state_interface_ && has_acceleration_command_interface_)
-    {
-      error.accelerations[index] = desired.accelerations[index] - current.accelerations[index];
-    }
-  };
-
-=======
->>>>>>> 833ed7f ([JTC] Convert lambda to class functions (#945))
   // don't update goal after we sampled the trajectory to avoid any racecondition
   const auto active_goal = *rt_active_goal_.readFromRT();