Do not deprecate or remove ExtWrenchesAndJointTorquesEstimator::loadM…

…odelAndSensorsFromFile
robotology · Oct 26, 2020 · ac98b6d · ac98b6d
1 parent 5803747
commit ac98b6d
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diff --git a/src/estimation/include/iDynTree/Estimation/ExtWrenchesAndJointTorquesEstimator.h b/src/estimation/include/iDynTree/Estimation/ExtWrenchesAndJointTorquesEstimator.h
@@ -104,6 +104,19 @@ 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.
+     */
+    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/src/ExtWrenchesAndJointTorquesEstimator.cpp b/src/estimation/src/ExtWrenchesAndJointTorquesEstimator.cpp
@@ -117,6 +117,17 @@ 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)