Revert "[mppi] constrain velocity & curvature in predict"

This reverts commit c4afab0.

Author: adivardi

nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp

@@ -125,17 +125,6 @@ class MotionModel
       //   state.cwz.col(i - 1) = state.wz.col(i);
       // }
 
-      // // also apply velocity limits constrains
-      // state.vx.col(i) = state.vx.col(i)
-      //   .cwiseMax(control_constraints_.vx_min)
-      //   .cwiseMin(control_constraints_.vx_max);
-
-      // state.wz.col(i) = state.wz.col(i)
-      //   .cwiseMax(-control_constraints_.wz)
-      //   .cwiseMin(control_constraints_.wz);
-
-
-      // also constrain wz base
       if (is_holo) {
         auto lower_bound_vy = (state.vy.col(i - 1) >
           0).select(state.vy.col(i - 1) + min_delta_vy,
@@ -148,17 +137,8 @@ class MotionModel
           .cwiseMax(lower_bound_vy)
           .cwiseMin(upper_bound_vy);
         state.vy.col(i) = state.cvy.col(i - 1);
-        // state.vy.col(i) = state.cvy.col(i - 1)
-        //   .cwiseMax(lower_bound_vy)
-        //   .cwiseMin(upper_bound_vy);
-
-        // state.vy.col(i) = state.cvy.col(i - 1)
-        // .cwiseMax(-control_constraints_.vy)
-        // .cwiseMin(control_constraints_.vy);
       }
     }
-
-    applyConstraints(state);
   }
 
   /**
@@ -172,7 +152,6 @@ class MotionModel
    * @param control_sequence Control sequence to apply constraints to
    */
   virtual void applyConstraints(models::ControlSequence & /*control_sequence*/) {}
-  virtual void applyConstraints(models::State & /*state*/) {}
 
 protected:
   float model_dt_{0.0};
@@ -217,14 +196,6 @@ class AckermannMotionModel : public MotionModel
       .min(wz_constrained);
   }
 
-  void applyConstraints(models::State & state) override
-  {
-    const auto wz_constrained = state.vx.abs() / min_turning_r_;
-    state.wz = state.wz
-      .max((-wz_constrained))
-      .min(wz_constrained);
-  }
-
   /**
    * @brief Get minimum turning radius of ackermann drive
    * @return Minimum turning radius