Remove functionalities deprecated in iDynTree 1

robotology · Oct 16, 2020 · 34618cd · 34618cd
1 parent d8808b0
commit 34618cd
Show file tree

Hide file tree

Showing 32 changed files with 25 additions and 880 deletions.
diff --git a/src/estimation/include/iDynTree/Estimation/ExtWrenchesAndJointTorquesEstimator.h b/src/estimation/include/iDynTree/Estimation/ExtWrenchesAndJointTorquesEstimator.h
@@ -104,20 +104,6 @@ class ExtWrenchesAndJointTorquesEstimator
      */
     bool setModelAndSensors(const Model & _model, const SensorsList & _sensors);
 
-    /**
-     * Load model and sensors from file.
-     *
-     * @deprecated Use iDynTree::ModelLoader::loadModelFromFile and call setModelAndSensors
-     * on the parsed Model and SensorsList
-     *
-     * @param[in] filename path to the file to load.
-     * @param[in] filetype (optional) explicit definiton of the filetype to load.
-     *                     Only "urdf" is supported at the moment.
-     * @return true if all went well (files were correctly loaded and consistent), false otherwise.
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use iDynTree::ModelLoader::loadModelFromFile and call setModelAndSensors on the parsed Model and SensorsList")
-    bool loadModelAndSensorsFromFile(const std::string filename, const std::string filetype="");
-
     /**
      * Load model and sensors from file, specifieng the dof considered for the estimation.
      *

diff --git a/src/estimation/include/iDynTree/Estimation/SimpleLeggedOdometry.h b/src/estimation/include/iDynTree/Estimation/SimpleLeggedOdometry.h
@@ -118,38 +118,6 @@ class SimpleLeggedOdometry
      */
     bool setModel(const Model & _model);
 
-    /**
-     * Load model from file.
-     *
-     * @deprecated Use iDynTree::ModelLoader::loadModelFromFile and call setModel on the parsed Model
-     *
-     * @param[in] filename path to the file to load.
-     * @param[in] filetype (optional) explicit definiton of the filetype to load.
-     *                     Only "urdf" is supported at the moment.
-     * @return true if all went well (files were correctly loaded and consistent), false otherwise.
-     *
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use iDynTree::ModelLoader::loadModelFromFile and call setModel on the parsed Model")
-    bool loadModelFromFile(const std::string filename, const std::string filetype="");
-
-    /**
-     * Load model from file, specifieng the dof considered for the estimation.
-     *
-     * @deprecated Use iDynTree::ModelLoader::loadReducedModelFromFile and call setModel on the parsed Model
-     *
-     * @note this will create e a reduced model only with the joint specified in consideredDOFs
-     *
-     * @param[in] filename path to the file to load.
-     * @param[in] consideredDOFs list of dof to consider in the model.
-     * @param[in] filetype (optional) explicit definiton of the filetype to load.
-     *                     Only "urdf" is supported at the moment.
-     * @return true if all went well (files were correctly loaded and consistent), false otherwise.
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use iDynTree::ModelLoader::loadReducedModelFromFile and call setModel on the parsed Model")
-    bool loadModelFromFileWithSpecifiedDOFs(const std::string filename,
-                                            const std::vector<std::string> & consideredDOFs,
-                                            const std::string filetype="");
-
     /**
      * Get used model.
      *

diff --git a/src/estimation/src/ExtWrenchesAndJointTorquesEstimator.cpp b/src/estimation/src/ExtWrenchesAndJointTorquesEstimator.cpp
@@ -117,17 +117,6 @@ bool ExtWrenchesAndJointTorquesEstimator::setModelAndSensors(const Model& _model
     return true;
 }
 
-bool ExtWrenchesAndJointTorquesEstimator::loadModelAndSensorsFromFile(const std::string filename,
-                                                                      const std::string filetype)
-{
-    ModelLoader loader;
-    if (!loader.loadModelFromFile(filename, filetype)) {
-        reportError("ExtWrenchesAndJointTorquesEstimator", "loadModelAndSensorsFromFile", "Error in parsing from URDF.");
-        return false;
-    }
-    return setModelAndSensors(loader.model(), loader.sensors());
-}
-
 bool ExtWrenchesAndJointTorquesEstimator::loadModelAndSensorsFromFileWithSpecifiedDOFs(const std::string filename,
                                                                                        const std::vector< std::string >& consideredDOFs,
                                                                                        const std::string filetype)

diff --git a/src/estimation/src/SimpleLeggedOdometry.cpp b/src/estimation/src/SimpleLeggedOdometry.cpp
@@ -182,36 +182,6 @@ bool SimpleLeggedOdometry::setModel(const Model& _model)
     return true;
 }
 
-
-bool SimpleLeggedOdometry::loadModelFromFile(const std::string filename,
-                                             const std::string filetype)
-{
-    ModelLoader loader;
-    if (!loader.loadModelFromFile(filename, filetype)) {
-        reportError("SimpleLeggedOdometry",
-                    "loadModelFromFile",
-                    "Error in parsing model from URDF.");
-        return false;
-    }
-    return setModel(loader.model());
-}
-
-bool SimpleLeggedOdometry::loadModelFromFileWithSpecifiedDOFs(const std::string filename,
-                                                              const std::vector<std::string>& consideredDOFs,
-                                                              const std::string filetype)
-{
-    ModelLoader loader;
-    if (!loader.loadReducedModelFromFile(filename, consideredDOFs, filetype)) {
-        reportError("SimpleLeggedOdometry",
-                    "loadModelFromFileWithSpecifiedDOFs",
-                    "Error in parsing model from URDF.");
-        return false;
-    }
-    return setModel(loader.model());
-}
-
-
-
 std::string SimpleLeggedOdometry::getCurrentFixedLink()
 {
     if( this->m_isModelValid && this->m_isOdometryInitialized )

diff --git a/src/high-level/include/iDynTree/KinDynComputations.h b/src/high-level/include/iDynTree/KinDynComputations.h
@@ -121,27 +121,7 @@ class KinDynComputations {
      * @param model the model to use in this class.
      * @return true if all went ok, false otherwise.
      */
-    bool loadRobotModel(const iDynTree::Model & model );
-
-    /**
-     * Load the model of the robot from an external file.
-     *
-     * @param filename path to the file to load
-     * @param filetype type of the file to load, currently supporting only urdf type.
-     *
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use iDynTree::ModelLoader::loadRobotModelFromFile and pass the Model to loadRobotModel")
-    bool loadRobotModelFromFile(const std::string & filename, const std::string & filetype="urdf");
-
-    /**
-     * Load the model of the robot  from a string.
-     *
-     * @param modelString string containg the model of the robot.
-     * @param filetype type of the file to load, currently supporting only urdf type.
-     *
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use iDynTree::ModelLoader::loadRobotModelFromString and pass the Model to loadRobotModel")
-    bool loadRobotModelFromString(const std::string & modelString, const std::string & filetype="urdf");
+    bool loadRobotModel(const iDynTree::Model & model);
 
     /**
      * Return true if the models for the robot have been correctly.

diff --git a/src/high-level/src/KinDynComputations.cpp b/src/high-level/src/KinDynComputations.cpp
@@ -460,28 +460,6 @@ void KinDynComputations::computeBiasAccFwdKinematics()
     this->pimpl->m_areBiasAccelerationsUpdated = ok;
 }
 
-bool KinDynComputations::loadRobotModelFromFile(const std::string& filename,
-                                                  const std::string& filetype)
-{
-    ModelLoader loader;
-    if (!loader.loadModelFromFile(filename, filetype)) {
-        reportError("KinDynComputations", "loadRobotModelFromFile", "Error in loading robot model");
-        return false;
-    }
-    return this->loadRobotModel(loader.model());
-}
-
-bool KinDynComputations::loadRobotModelFromString(const std::string& modelString,
-                                                  const std::string& filetype)
-{
-    ModelLoader loader;
-    if (!loader.loadModelFromString(modelString, filetype)) {
-        reportError("KinDynComputations", "loadRobotModelFromString", "Error in loading robot model");
-        return false;
-    }
-    return this->loadRobotModel(loader.model());
-}
-
 bool KinDynComputations::loadRobotModel(const Model& model)
 {
     this->pimpl->m_robot_model = model;

diff --git a/src/icub/CMakeLists.txt b/src/icub/CMakeLists.txt
@@ -48,7 +48,3 @@ install(TARGETS ${libraryname}
 
 set_property(GLOBAL APPEND PROPERTY ${VARS_PREFIX}_TARGETS idyntree-icub)
 
-# Install headers in deprecated location
-install(DIRECTORY include/iDynTree/iCub
-        DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/iDynTree")
-
diff --git a/src/icub/include/iDynTree/iCub/skinDynLibConversions.h b/src/icub/include/iDynTree/iCub/skinDynLibConversions.h
diff --git a/src/inverse-kinematics/include/iDynTree/InverseKinematics.h b/src/inverse-kinematics/include/iDynTree/InverseKinematics.h
@@ -165,22 +165,6 @@ class iDynTree::InverseKinematics
 
     bool setFloatingBaseOnFrameNamed(const std::string &floatingBaseFrameName);
 
-    /*!
-     * Sets the robot current configuration
-     *
-     *
-     * @param baseConfiguration  transformation identifying the base pose with respect to the world frame
-     * @param robotConfiguration the robot configuration
-     *
-     * @note the size (and order) of jointConfiguration must match the joints in the model, not
-     * in the consideredJoints variable
-     *
-     * @return true if successful, false otherwise.
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use setCurrentRobotConfiguration instead")
-    bool setRobotConfiguration(const iDynTree::Transform& baseConfiguration,
-                               const iDynTree::VectorDynSize& jointConfiguration);
-
     /*!
      * Sets the robot current configuration
      *
@@ -660,23 +644,6 @@ class iDynTree::InverseKinematics
     enum InverseKinematicsTreatTargetAsConstraint targetResolutionMode(const std::string& frameName);
     ///@}
 
-    /*!
-     * Sets a desired final configuration for the joints.
-     *
-     * The solver will try to obtain solutions as similar to the specified configuration as possible
-     *
-     * @note the desiredJointConfiguration have the same serialisation of the joints in the specified model
-     *
-     * @param[in] desiredJointConfiguration configuration for the joints
-     * @param[in] weight weight for the joint configuration cost.
-     *                   If it is not passed, the previous passed value will be mantained.
-     *                   If the value was never passed, its value is 1e-6 .
-     *
-     * @return true if successful, false otherwise.
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use the explicit setDesiredFullJointsConfiguration or setDesiredReducedJointConfiguration instead")
-    bool setDesiredJointConfiguration(const iDynTree::VectorDynSize& desiredJointConfiguration, double weight=-1.0);
-
     /*!
      * Sets a desired final configuration for all the robot joints.
      *
@@ -743,20 +710,6 @@ class iDynTree::InverseKinematics
      */
     bool setDesiredReducedJointConfiguration(const iDynTree::VectorDynSize& desiredJointConfiguration, const iDynTree::VectorDynSize& weights);
 
-
-
-    /*!
-     * Initial guess for the solution
-     *
-     * @note the initialCondition variable have the same serialisation of the joints in the specified model
-     * @param baseTransform     initial base pose
-     * @param initialCondition  initial joints configuration
-     * @return
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use the explicit setFullJointsInitialCondition or setReducedInitialCondition instead")
-    bool setInitialCondition(const iDynTree::Transform* baseTransform,
-                        const iDynTree::VectorDynSize* initialCondition);
-
     bool setFullJointsInitialCondition(const iDynTree::Transform* baseTransform,
                                        const iDynTree::VectorDynSize* initialCondition);
     bool setReducedInitialCondition(const iDynTree::Transform* baseTransform,
@@ -768,16 +721,6 @@ class iDynTree::InverseKinematics
     /*! @name Solution-related methods
       */
     ///@{
-    /*!
-     * Return the last solution of the inverse kinematics problem
-     *
-     * @param[out] baseTransformSolution  solution for the base position
-     * @param[out] shapeSolution       solution for the shape (the internal configurations)
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use the explicit getFullJointsSolution or getReducedSolution instead")
-    void getSolution(iDynTree::Transform& baseTransformSolution,
-                     iDynTree::VectorDynSize& shapeSolution);
-
 
     void getFullJointsSolution(iDynTree::Transform& baseTransformSolution,
                                iDynTree::VectorDynSize& shapeSolution);
@@ -808,28 +751,20 @@ class iDynTree::InverseKinematics
      - add check on modelLoaded, and other stuff if needed
      */
 
-    /*!
-     *  Access the model used by the InverseKinematics .
-     *
-     * @return A constant reference to iDynTree::Model used by the inverse kinematics.
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use the explicit fullModel or reducedModel instead")
-    const Model & model() const;
-
     const Model & fullModel() const;
-    
+
     const Model & reducedModel() const;
 
     void setCOMTarget(iDynTree::Position& desiredPosition, double weight = 1.0);
-    
+
     void setCOMAsConstraint(bool asConstraint = true);
-    
+
     void setCOMAsConstraintTolerance(double tolerance = 1e-8);
-    
+
     bool isCOMAConstraint();
-    
+
     bool isCOMTargetActive();
-    
+
     void deactivateCOMTarget();
 
     /*!