Removed unreachable code

Author: urfeex

include/ur_client_library/exceptions.h

@@ -217,22 +217,6 @@ class UnsupportedMotionType : public UrException
   }
 };
 
-/*!
- * \brief Thrown when data received from or passed through the library does not match the
- * expected structure or value range.
- *
- * Examples include motion targets whose variant alternative is not handled by the corresponding
- * primitive constructor.
- */
-class InvalidData : public UrException
-{
-public:
-  explicit InvalidData() = delete;
-  explicit InvalidData(const std::string& error_text) : std::runtime_error(error_text)
-  {
-  }
-};
-
 class UnknownVariable : public UrException
 {
 private:

src/control/trajectory_point_interface.cpp

@@ -102,11 +102,6 @@ bool TrajectoryPointInterface::writeMotionPrimitive(const std::shared_ptr<contro
                         movej_primitive->target_pose.z,  movej_primitive->target_pose.rx,
                         movej_primitive->target_pose.ry, movej_primitive->target_pose.rz };
       }
-      else
-      {
-        throw InvalidData("Motion type " + motionTypeToString(movej_primitive->type) +
-                          " is not allowed in a MoveJPrimitive.");
-      }
       second_block.fill(primitive->velocity);
       third_block.fill(primitive->acceleration);
       break;
@@ -125,11 +120,6 @@ bool TrajectoryPointInterface::writeMotionPrimitive(const std::shared_ptr<contro
       {
         first_block = movel_primitive->target_joint_configuration;
       }
-      else
-      {
-        throw InvalidData("Motion type " + motionTypeToString(movel_primitive->type) +
-                          " is not allowed in a MoveLPrimitive.");
-      }
       second_block.fill(primitive->velocity);
       third_block.fill(primitive->acceleration);
       break;
@@ -148,11 +138,6 @@ bool TrajectoryPointInterface::writeMotionPrimitive(const std::shared_ptr<contro
       {
         first_block = movep_primitive->target_joint_configuration;
       }
-      else
-      {
-        throw InvalidData("Motion type " + motionTypeToString(movep_primitive->type) +
-                          " is not allowed in a MovePPrimitive.");
-      }
       second_block.fill(primitive->velocity);
       third_block.fill(primitive->acceleration);
       break;
@@ -191,11 +176,6 @@ bool TrajectoryPointInterface::writeMotionPrimitive(const std::shared_ptr<contro
                          movec_primitive->via_point_pose.z,  movec_primitive->via_point_pose.rx,
                          movec_primitive->via_point_pose.ry, movec_primitive->via_point_pose.rz };
       }
-      else
-      {
-        throw InvalidData("Motion type " + motionTypeToString(movec_primitive->type) +
-                          " is not allowed in a MoveCPrimitive.");
-      }
       third_block = {
         primitive->velocity, primitive->acceleration, static_cast<double>(movec_primitive->mode), 0, 0, 0
       };
@@ -226,11 +206,6 @@ bool TrajectoryPointInterface::writeMotionPrimitive(const std::shared_ptr<contro
                         optimovej_primitive->target_pose.z,  optimovej_primitive->target_pose.rx,
                         optimovej_primitive->target_pose.ry, optimovej_primitive->target_pose.rz };
       }
-      else
-      {
-        throw InvalidData("Motion type " + motionTypeToString(optimovej_primitive->type) +
-                          " is not allowed in an OptimoveJPrimitive.");
-      }
       second_block.fill(primitive->velocity);
       third_block.fill(primitive->acceleration);
       break;
@@ -249,11 +224,6 @@ bool TrajectoryPointInterface::writeMotionPrimitive(const std::shared_ptr<contro
       {
         first_block = optimovel_primitive->target_joint_configuration;
       }
-      else
-      {
-        throw InvalidData("Motion type " + motionTypeToString(optimovel_primitive->type) +
-                          " is not allowed in an OptimoveLPrimitive.");
-      }
       second_block.fill(primitive->velocity);
       third_block.fill(primitive->acceleration);
       break;