Merge pull request #704 from robotology/removeSemantics

Remove semantics check classes and related methods
robotology · Jun 26, 2020 · 441e3ca · 441e3ca
2 parents ae2c02f + 2aac356
commit 441e3ca
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -12,6 +12,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Removed 
 - Remove the CMake option IDYNTREE_USES_KDL and all the classes available when enabling it. They were deprecated in iDynTree 1.0 .
+- Remove the semantics related classes. They were deprecated in iDynTree 1.0 .
+
 
 ## [Unreleased]
 

diff --git a/bindings/CMakeLists.txt b/bindings/CMakeLists.txt
@@ -45,7 +45,6 @@ if(SWIG_FOUND OR IDYNTREE_USES_MATLAB OR IDYNTREE_USES_OCTAVE)
     # is resolved
     # (not working at the moment, todo \TODO fix)
     set(IDYNTREE_SWIG_DEPENDS_I_FILES ${CMAKE_CURRENT_SOURCE_DIR}/ignore.i
-                                      ${CMAKE_CURRENT_SOURCE_DIR}/macrosForTemplates.i
                                       ${CMAKE_CURRENT_SOURCE_DIR}/sensors.i)
 
     if(IDYNTREE_USES_LUA)

diff --git a/bindings/iDynTree.i b/bindings/iDynTree.i
@@ -14,8 +14,6 @@
 // Ignore some methods to avoid warnings
 %include "./ignore.i"
 
-// macros for class templates handling
-%include "./macrosForTemplates.i"
 
 // Python
 #ifdef SWIGPYTHON
@@ -44,12 +42,7 @@
 
 // Basic Vectors: Point Vectors and Spatial Vectors
 #include "iDynTree/Core/PositionRaw.h"
-#include "iDynTree/Core/PositionSemantics.h"
 #include "iDynTree/Core/Position.h"
-#include "iDynTree/Core/LinearMotionVector3.h"
-#include "iDynTree/Core/LinearForceVector3.h"
-#include "iDynTree/Core/AngularMotionVector3.h"
-#include "iDynTree/Core/AngularForceVector3.h"
 #include "iDynTree/Core/SpatialForceVector.h"
 #include "iDynTree/Core/SpatialMotionVector.h"
 #include "iDynTree/Core/Twist.h"
@@ -69,9 +62,7 @@
 
 // Transformations: Rotation and Transform
 #include "iDynTree/Core/RotationRaw.h"
-#include "iDynTree/Core/RotationSemantics.h"
 #include "iDynTree/Core/Rotation.h"
-#include "iDynTree/Core/TransformSemantics.h"
 #include "iDynTree/Core/Transform.h"
 #include "iDynTree/Core/TransformDerivative.h"
 #include "iDynTree/Core/Span.h"
@@ -186,44 +177,10 @@ namespace std {
 
 // Basic Vectors: Point Vectors and Spatial Vectors
 %include "iDynTree/Core/PositionRaw.h"
-%include "iDynTree/Core/PositionSemantics.h"
 %include "iDynTree/Core/Position.h"
 
-%include "iDynTree/Core/PrivateMotionForceVertorAssociations.h"
-
-TEMPLATE_WRAP_MOTION_FORCE(MotionForce_traits, WRAP_MOTION_FORCE, NO_NAME_FOR_WRAPPER,,)
-
-TEMPLATE_WRAP_MOTION_FORCE(MotionDerivativeOf, WRAP_MOTION_FORCE, NO_NAME_FOR_WRAPPER, AngularMotionVector3,)
-TEMPLATE_WRAP_MOTION_FORCE(MotionDerivativeOf, WRAP_MOTION_FORCE, NO_NAME_FOR_WRAPPER, LinearMotionVector3,)
-
-TEMPLATE_WRAP_MOTION_FORCE(ConvertSem2motionForceTraits, WRAP_MOTION_FORCE, NO_NAME_FOR_WRAPPER,,Semantics)
-
-TEMPLATE_WRAP_MOTION_FORCE(DualMotionForceSemanticsT, WRAP_MOTION_FORCE, NO_NAME_FOR_WRAPPER,,Semantics)
-
-%template() iDynTree::SpatialMotionForceVectorT_traits<iDynTree::SpatialMotionVector>;
-%template() iDynTree::SpatialMotionForceVectorT_traits<iDynTree::SpatialForceVector>;
-
-
 %include "iDynTree/Core/GeomVector3.h"
 
-TEMPLATE_WRAP_MOTION_FORCE(GeomVector3Semantics, WRAP_MOTION_FORCE, SET_NAME_FOR_WRAPPER,,Semantics)
-
-TEMPLATE_WRAP_MOTION_FORCE(GeomVector3, WRAP_MOTION_FORCE, SET_NAME_FOR_WRAPPER,,)
-
-%include "iDynTree/Core/MotionVector3.h"
-%include "iDynTree/Core/ForceVector3.h"
-
-TEMPLATE_WRAP_MOTION_FORCE(ForceVector3Semantics, WRAP_FORCE, SET_NAME_FOR_WRAPPER,,Semantics)
-
-TEMPLATE_WRAP_MOTION_FORCE(MotionVector3, WRAP_MOTION, SET_NAME_FOR_WRAPPER,,)
-
-TEMPLATE_WRAP_MOTION_FORCE(ForceVector3, WRAP_FORCE, SET_NAME_FOR_WRAPPER,,)
-
-%include "iDynTree/Core/LinearMotionVector3.h"
-%include "iDynTree/Core/AngularMotionVector3.h"
-%include "iDynTree/Core/LinearForceVector3.h"
-%include "iDynTree/Core/AngularForceVector3.h"
-
 %include "iDynTree/Core/SpatialVector.h"
 
 %template() iDynTree::DualSpace<iDynTree::SpatialMotionVector>;
@@ -237,9 +194,6 @@ TEMPLATE_WRAP_MOTION_FORCE(ForceVector3, WRAP_FORCE, SET_NAME_FOR_WRAPPER,,)
 %include "./octave/octave_spatialvec.i"
 #endif
 
-%template(SpatialMotionVectorSemanticsBase) iDynTree::SpatialVectorSemantics<iDynTree::LinearMotionVector3Semantics,iDynTree::AngularMotionVector3Semantics>;
-%template(SpatialForceVectorSemanticsBase) iDynTree::SpatialVectorSemantics<iDynTree::LinearForceVector3Semantics,iDynTree::AngularForceVector3Semantics>;
-
 %template(SpatialMotionVectorBase) iDynTree::SpatialVector<iDynTree::SpatialMotionVector>;
 %template(SpatialForceVectorBase) iDynTree::SpatialVector<iDynTree::SpatialForceVector>;
 
@@ -262,9 +216,7 @@ TEMPLATE_WRAP_MOTION_FORCE(ForceVector3, WRAP_FORCE, SET_NAME_FOR_WRAPPER,,)
 
 // Transformations: Rotation and Transform
 %include "iDynTree/Core/RotationRaw.h"
-%include "iDynTree/Core/RotationSemantics.h"
 %include "iDynTree/Core/Rotation.h"
-%include "iDynTree/Core/TransformSemantics.h"
 %include "iDynTree/Core/Transform.h"
 %include "iDynTree/Core/TransformDerivative.h"
 %include "iDynTree/Core/Span.h"

diff --git a/bindings/macrosForTemplates.i b/bindings/macrosForTemplates.i
diff --git a/bindings/matlab/autogenerated/+iDynTree/AccelerometerSensor.m b/bindings/matlab/autogenerated/+iDynTree/AccelerometerSensor.m
@@ -7,58 +7,58 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1482, varargin{:});
+        tmp = iDynTreeMEX(1300, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1483, self);
+        iDynTreeMEX(1301, self);
         self.SwigClear();
       end
     end
     function varargout = setName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1484, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1302, self, varargin{:});
     end
     function varargout = setLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1485, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1303, self, varargin{:});
     end
     function varargout = setParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1486, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1304, self, varargin{:});
     end
     function varargout = setParentLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1487, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1305, self, varargin{:});
     end
     function varargout = getName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1488, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1306, self, varargin{:});
     end
     function varargout = getSensorType(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1489, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1307, self, varargin{:});
     end
     function varargout = getParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1490, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1308, self, varargin{:});
     end
     function varargout = getParentLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1491, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1309, self, varargin{:});
     end
     function varargout = getLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1492, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1310, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1493, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1311, self, varargin{:});
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1494, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1312, self, varargin{:});
     end
     function varargout = updateIndices(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1495, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1313, self, varargin{:});
     end
     function varargout = updateIndeces(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1496, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1314, self, varargin{:});
     end
     function varargout = predictMeasurement(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1497, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1315, self, varargin{:});
     end
   end
   methods(Static)

diff --git a/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithm.m b/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithm.m
@@ -1,3 +1,3 @@
 function varargout = ArticulatedBodyAlgorithm(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1397, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1215, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithmInternalBuffers.m b/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithmInternalBuffers.m
@@ -9,110 +9,110 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1375, varargin{:});
+        tmp = iDynTreeMEX(1193, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1376, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1194, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1377, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1195, self, varargin{:});
     end
     function varargout = S(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1378, self);
+        varargout{1} = iDynTreeMEX(1196, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1379, self, varargin{1});
+        iDynTreeMEX(1197, self, varargin{1});
       end
     end
     function varargout = U(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1380, self);
+        varargout{1} = iDynTreeMEX(1198, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1381, self, varargin{1});
+        iDynTreeMEX(1199, self, varargin{1});
       end
     end
     function varargout = D(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1382, self);
+        varargout{1} = iDynTreeMEX(1200, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1383, self, varargin{1});
+        iDynTreeMEX(1201, self, varargin{1});
       end
     end
     function varargout = u(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1384, self);
+        varargout{1} = iDynTreeMEX(1202, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1385, self, varargin{1});
+        iDynTreeMEX(1203, self, varargin{1});
       end
     end
     function varargout = linksVel(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1386, self);
+        varargout{1} = iDynTreeMEX(1204, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1387, self, varargin{1});
+        iDynTreeMEX(1205, self, varargin{1});
       end
     end
     function varargout = linksBiasAcceleration(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1388, self);
+        varargout{1} = iDynTreeMEX(1206, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1389, self, varargin{1});
+        iDynTreeMEX(1207, self, varargin{1});
       end
     end
     function varargout = linksAccelerations(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1390, self);
+        varargout{1} = iDynTreeMEX(1208, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1391, self, varargin{1});
+        iDynTreeMEX(1209, self, varargin{1});
       end
     end
     function varargout = linkABIs(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1392, self);
+        varargout{1} = iDynTreeMEX(1210, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1393, self, varargin{1});
+        iDynTreeMEX(1211, self, varargin{1});
       end
     end
     function varargout = linksBiasWrench(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1394, self);
+        varargout{1} = iDynTreeMEX(1212, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1395, self, varargin{1});
+        iDynTreeMEX(1213, self, varargin{1});
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1396, self);
+        iDynTreeMEX(1214, self);
         self.SwigClear();
       end
     end