Remove useless is_finished

actions_manager/src/tasks/goto.py

@@ -27,15 +27,3 @@ class Goto(Task):
             self.robot.rotate_to(angle_to_target)
             self.robot.forward(self.robot.position.distance(self.target_pos))
             self.robot.rotate_to(self.target_pos.theta)
-
-    def is_finished(self):
-        """
-        Return true if the robot has reached the target position with an error of EPSILON_POSITION on x and y and EPSILON_ROTATION on theta at maximum.
-        """
-
-        # TODO: take into account the speed of the robot ? Make sure he is pretty still at the target and not just passing it
-        position_ok = compare_distance(self.robot.position, self.target_pos)
-        rotation_ok = compare_theta(
-            self.robot.position.theta, self.target_pos.theta)
-
-        return position_ok and rotation_ok

actions_manager/src/tasks/task.py

@@ -8,10 +8,6 @@ class Task():
     For instance : goto a position, grab an object, ...
     """
 
-    @abstractmethod
-    def is_finished(self):
-        pass
-
     def estimatePointsAndTime(self):
         """
         return a tuple (points, time) due to the task
@@ -21,4 +17,7 @@ class Task():
 
     @abstractmethod
     def run(self):
+        """
+        Blocking call to process the task
+        """
         pass