Remove functionalities deprecated in iDynTree 1

robotology · Oct 26, 2020 · bba67e6 · bba67e6
1 parent d8808b0
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -29,12 +29,13 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - The Python package name of the SWIG bindings changed from `iDynTree` to `idyntree.bindings` (https://github.com/robotology/idyntree/pull/733, https://github.com/robotology/idyntree/pull/735). To continue referring to iDynTree classes as `iDynTree.<ClassName>`, you can change your `import iDynTree` statements to `import idyntree.bindings as iDynTree`. Otherwise, you can use `import idyntree.bindings` to refer them as `idyntree.bindings.<ClassName>`.
 - Improve the use of `const` keyword  in `KinDynComputations`(https://github.com/robotology/idyntree/pull/736).
 
-### Removed 
+### 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 .
 - Remove unnecessary warning messages from [ModelSensorsTransformers.cpp](https://github.com/robotology/idyntree/blob/master/src/sensors/src/ModelSensorsTransformers.cpp) and [URDFDocument.cpp](https://github.com/robotology/idyntree/blob/master/src/model_io/urdf/src/URDFDocument.cpp) (see [PR 718](https://github.com/robotology/idyntree/pull/718))
 - Python2 will not be maintained past 2020 and its support has been dropped (https://github.com/robotology/idyntree/pull/726).
 - Remove the need to call `iDynTree.init_helpers()` and `iDynTree.init_numpy_helpers()` from Python (https://github.com/robotology/idyntree/pull/726).
+- Remove headers and methods that were deprecated in iDynTree 1.0 (https://github.com/robotology/idyntree/pull/751).
 
 ## [Unreleased]
 

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/estimation/tests/SimpleLeggedOdometryUnitTest.cpp b/src/estimation/tests/SimpleLeggedOdometryUnitTest.cpp
@@ -13,6 +13,7 @@
 #include "testModels.h"
 
 #include <iDynTree/Core/TestUtils.h>
+#include <iDynTree/ModelIO/ModelLoader.h>
 
 
 using namespace iDynTree;
@@ -71,7 +72,9 @@ int main()
 
     std::vector<std::string> consideredJoints = getCanonical_iCubJoints();
 
-    bool ok = simpleOdometry.loadModelFromFileWithSpecifiedDOFs(getAbsModelPath("iCubDarmstadt01.urdf"),consideredJoints);
+    iDynTree::ModelLoader mdlLoader;
+    bool ok = mdlLoader.loadReducedModelFromFile(getAbsModelPath("iCubDarmstadt01.urdf"),consideredJoints);
+    ok =  ok && simpleOdometry.setModel(mdlLoader.model());
 
     ASSERT_IS_TRUE(ok);
 

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/high-level/tests/KinDynComputationsMatrixViewAndSpanUnitTest.cpp b/src/high-level/tests/KinDynComputationsMatrixViewAndSpanUnitTest.cpp
@@ -25,6 +25,9 @@
 #include <iDynTree/Model/JointState.h>
 #include <iDynTree/Model/FreeFloatingState.h>
 
+#include <iDynTree/ModelIO/ModelLoader.h>
+
+
 namespace Eigen
 {
     using Vector6d = Eigen::Matrix<double, 6, 1>;
@@ -384,8 +387,9 @@ void testAbsoluteJacobiansAndFrameBiasAcc(KinDynComputations & dynComp)
 void testModelConsistency(std::string modelFilePath, const FrameVelocityRepresentation frameVelRepr)
 {
     iDynTree::KinDynComputations dynComp;
-
-    bool ok = dynComp.loadRobotModelFromFile(modelFilePath);
+    iDynTree::ModelLoader mdlLoader;
+    bool ok = mdlLoader.loadModelFromFile(modelFilePath);
+    ok = ok && dynComp.loadRobotModel(mdlLoader.model());
     ASSERT_IS_TRUE(ok);
 
     ok = dynComp.setFrameVelocityRepresentation(frameVelRepr);
@@ -492,9 +496,10 @@ void testAbsoluteJacobianSparsity(KinDynComputations & dynComp)
 
 void testSparsityPattern(std::string modelFilePath, const FrameVelocityRepresentation frameVelRepr)
 {
-    iDynTree::KinDynComputations dynComp;
-
-    bool ok = dynComp.loadRobotModelFromFile(modelFilePath);
+	iDynTree::KinDynComputations dynComp;
+    iDynTree::ModelLoader mdlLoader;
+    bool ok = mdlLoader.loadModelFromFile(modelFilePath);
+    ok = ok && dynComp.loadRobotModel(mdlLoader.model());
     ASSERT_IS_TRUE(ok);
 
     ok = dynComp.setFrameVelocityRepresentation(frameVelRepr);

diff --git a/src/high-level/tests/KinDynComputationsUnitTest.cpp b/src/high-level/tests/KinDynComputationsUnitTest.cpp
@@ -25,6 +25,9 @@
 #include <iDynTree/Model/JointState.h>
 #include <iDynTree/Model/FreeFloatingState.h>
 
+#include <iDynTree/ModelIO/ModelLoader.h>
+
+
 using namespace iDynTree;
 
 double random_double()
@@ -392,9 +395,10 @@ void testAbsoluteJacobiansAndFrameBiasAcc(KinDynComputations & dynComp)
 
 void testModelConsistency(std::string modelFilePath, const FrameVelocityRepresentation frameVelRepr)
 {
-    iDynTree::KinDynComputations dynComp;
-
-    bool ok = dynComp.loadRobotModelFromFile(modelFilePath);
+	iDynTree::KinDynComputations dynComp;
+    iDynTree::ModelLoader mdlLoader;
+    bool ok = mdlLoader.loadModelFromFile(modelFilePath);
+    ok = ok && dynComp.loadRobotModel(mdlLoader.model());
     ASSERT_IS_TRUE(ok);
 
     ok = dynComp.setFrameVelocityRepresentation(frameVelRepr);
@@ -502,9 +506,10 @@ void testAbsoluteJacobianSparsity(KinDynComputations & dynComp)
 
 void testSparsityPattern(std::string modelFilePath, const FrameVelocityRepresentation frameVelRepr)
 {
-    iDynTree::KinDynComputations dynComp;
-
-    bool ok = dynComp.loadRobotModelFromFile(modelFilePath);
+	iDynTree::KinDynComputations dynComp;
+    iDynTree::ModelLoader mdlLoader;
+    bool ok = mdlLoader.loadModelFromFile(modelFilePath);
+    ok = ok && dynComp.loadRobotModel(mdlLoader.model());
     ASSERT_IS_TRUE(ok);
 
     ok = dynComp.setFrameVelocityRepresentation(frameVelRepr);

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