Remove useless part

Author: rdesarz

biped_walking_controller/preview_control.py

@@ -375,32 +375,3 @@ def get_current_state(self) -> State:
     def update_steps(self, steps_pose):
         self.steps = steps_pose
         self.step_idx = 0
-
-
-class CentroidalPlanner:
-    def __init__(
-        self,
-        dt: float,
-        com_initial_target: np.ndarray,
-        state_machine: WalkingStateMachine,
-        params: PreviewControllerParams,
-    ):
-        self.state_machine = state_machine
-        self.params = params
-        self.ctrler_mat = compute_preview_control_matrices(params, dt)
-        self.x = np.array([0.0, com_initial_target[0], 0.0, 0.0], dtype=float)
-        self.y = np.array([0.0, com_initial_target[1], 0.0, 0.0], dtype=float)
-
-    def update(self, t: float, rf_contact_force: float, lf_contact_force: float):
-        # Update buffers based on state machine transition
-        # if self.state_machine.get_current_state() == State.DS:
-
-        # Update control
-        zmp_ref_horizon = build_zmp_horizon()
-
-        _, self.x, self.y = update_control(
-            self.ctrler_mat, zmp_ref_horizon[0], zmp_ref_horizon, self.x.copy(), self.y.copy()
-        )
-
-    def get_com_pos(self) -> typing.Tuple[float, float]:
-        return self.x[1], self.y[1]