cleanup RobotInteraction

MIGRATION.md

@@ -17,6 +17,8 @@ API changes in MoveIt! releases
 - KinematicsBase: Deprecated `initialize(robot_description, ...)` in favour of `initialize(robot_model, ...)`.
   Adapt your kinematics plugin to directly receive a `RobotModel`. See the [KDL plugin](https://github.com/ros-planning/moveit/tree/melodic-devel/moveit_kinematics/kdl_kinematics_plugin) for an example.
 - ``RDFLoader`` / ``RobotModelLoader``: removed TinyXML-based API (https://github.com/ros-planning/moveit/pull/1254)
+- Deprecated `EndEffectorInteractionStyle` got removed from `RobotInteraction` (https://github.com/ros-planning/moveit/pull/1287)
+  Use [the corresponding `InteractionStyle` definitions](https://github.com/ros-planning/moveit/pull/1287/files#diff-24e57a8ea7f2f2d8a63cfc31580d09ddL240) instead
 
 ## ROS Kinetic
 

moveit_ros/robot_interaction/include/moveit/robot_interaction/robot_interaction.h

@@ -156,23 +156,29 @@ class RobotInteraction
   // enable/disable subscription of the topics to move interactive marker
   void toggleMoveInteractiveMarkerTopic(bool enable);
 
+  const std::vector<EndEffectorInteraction>& getActiveEndEffectors() const
+  {
+    return active_eef_;
+  }
+  const std::vector<JointInteraction>& getActiveJoints() const
+  {
+    return active_vj_;
+  }
+
 private:
   // called by decideActiveComponents(); add markers for end effectors
   void decideActiveEndEffectors(const std::string& group);
   void decideActiveEndEffectors(const std::string& group, InteractionStyle::InteractionStyle style);
 
-  // called by decideActiveComponents(); add markers for planar and floating
-  // joints
+  // called by decideActiveComponents(); add markers for planar and floating joints
   void decideActiveJoints(const std::string& group);
 
   void moveInteractiveMarker(const std::string name, const geometry_msgs::PoseStampedConstPtr& msg);
-  // register the name of the topic and marker name to move
-  // interactive marker from other ROS nodes
+  // register the name of the topic and marker name to move interactive marker from other ROS nodes
   void registerMoveInteractiveMarkerTopic(const std::string marker_name, const std::string& name);
   // return the diameter of the sphere that certainly can enclose the AABB of the link
   double computeLinkMarkerSize(const std::string& link);
-  // return the diameter of the sphere that certainly can enclose the AABB of
-  // the links in this group
+  // return the diameter of the sphere that certainly can enclose the AABB of the links in this group
   double computeGroupMarkerSize(const std::string& group);
   void computeMarkerPose(const InteractionHandlerPtr& handler, const EndEffectorInteraction& eef,
                          const robot_state::RobotState& robot_state, geometry_msgs::Pose& pose,
@@ -225,53 +231,7 @@ class RobotInteraction
   std::string topic_;
 
   // options for doing IK
-  // Locking is done internally
   KinematicOptionsMapPtr kinematic_options_map_;
-
-public:
-  // DEPRECATED.  This is included for backwards compatibility.
-  // These classes/enums used to be subclasses of RobotInteraction.  This
-  // allows client code to continue to work as if they are.
-
-  /// DEPRECATED. Instead use
-  /// robot_interaction::InteractionStyle::InteractionStyle in interaction.h
-  enum EndEffectorInteractionStyle
-  {
-    EEF_POSITION_ARROWS = InteractionStyle::POSITION_ARROWS,
-    EEF_ORIENTATION_CIRCLES = InteractionStyle::ORIENTATION_CIRCLES,
-    EEF_POSITION_SPHERE = InteractionStyle::POSITION_SPHERE,
-    EEF_ORIENTATION_SPHERE = InteractionStyle::ORIENTATION_SPHERE,
-    EEF_POSITION_EEF = InteractionStyle::POSITION_EEF,
-    EEF_ORIENTATION_EEF = InteractionStyle::ORIENTATION_EEF,
-    EEF_FIXED = InteractionStyle::FIXED,
-    EEF_POSITION = InteractionStyle::POSITION,
-    EEF_ORIENTATION = InteractionStyle::ORIENTATION,
-    EEF_6DOF = InteractionStyle::SIX_DOF,
-    EEF_6DOF_SPHERE = InteractionStyle::SIX_DOF_SPHERE,
-    EEF_POSITION_NOSPHERE = InteractionStyle::POSITION_NOSPHERE,
-    EEF_ORIENTATION_NOSPHERE = InteractionStyle::ORIENTATION_NOSPHERE,
-    EEF_6DOF_NOSPHERE = InteractionStyle::SIX_DOF_NOSPHERE
-  };
-  // DEPRECATED.  Use InteractionStyle::InteractionStyle version.
-  void decideActiveComponents(const std::string& group, EndEffectorInteractionStyle style);
-  // DEPRECATED.  Use InteractionStyle::InteractionStyle version.
-  void decideActiveEndEffectors(const std::string& group, EndEffectorInteractionStyle style);
-  // DEPRECATED
-  const std::vector<EndEffectorInteraction>& getActiveEndEffectors() const
-  {
-    return active_eef_;
-  }
-  // DEPRECATED
-  const std::vector<JointInteraction>& getActiveJoints() const
-  {
-    return active_vj_;
-  }
-  // DEPRECATED
-  static bool updateState(
-      robot_state::RobotState& state, const EndEffectorInteraction& eef, const geometry_msgs::Pose& pose,
-      unsigned int attempts, double ik_timeout,
-      const robot_state::GroupStateValidityCallbackFn& validity_callback = robot_state::GroupStateValidityCallbackFn(),
-      const kinematics::KinematicsQueryOptions& kinematics_query_options = kinematics::KinematicsQueryOptions());
 };
 }
 

moveit_ros/robot_interaction/src/robot_interaction.cpp

@@ -485,26 +485,26 @@ void RobotInteraction::addInteractiveMarkers(const InteractionHandlerPtr& handle
       visualization_msgs::InteractiveMarker im = makeEmptyInteractiveMarker(marker_name, pose, mscale);
       if (handler && handler->getControlsVisible())
       {
-        if (active_eef_[i].interaction & EEF_POSITION_ARROWS)
-          addPositionControl(im, active_eef_[i].interaction & EEF_FIXED);
-        if (active_eef_[i].interaction & EEF_ORIENTATION_CIRCLES)
-          addOrientationControl(im, active_eef_[i].interaction & EEF_FIXED);
-        if (active_eef_[i].interaction & (EEF_POSITION_SPHERE | EEF_ORIENTATION_SPHERE))
+        if (active_eef_[i].interaction & InteractionStyle::POSITION_ARROWS)
+          addPositionControl(im, active_eef_[i].interaction & InteractionStyle::FIXED);
+        if (active_eef_[i].interaction & InteractionStyle::ORIENTATION_CIRCLES)
+          addOrientationControl(im, active_eef_[i].interaction & InteractionStyle::FIXED);
+        if (active_eef_[i].interaction & (InteractionStyle::POSITION_SPHERE | InteractionStyle::ORIENTATION_SPHERE))
         {
           std_msgs::ColorRGBA color;
           color.r = 0;
           color.g = 1;
           color.b = 1;
           color.a = 0.5;
-          addViewPlaneControl(im, mscale * 0.25, color, active_eef_[i].interaction & EEF_POSITION_SPHERE,
-                              active_eef_[i].interaction & EEF_ORIENTATION_SPHERE);
+          addViewPlaneControl(im, mscale * 0.25, color, active_eef_[i].interaction & InteractionStyle::POSITION_SPHERE,
+                              active_eef_[i].interaction & InteractionStyle::ORIENTATION_SPHERE);
         }
       }
       if (handler && handler->getMeshesVisible() &&
-          (active_eef_[i].interaction & (EEF_POSITION_EEF | EEF_ORIENTATION_EEF)))
+          (active_eef_[i].interaction & (InteractionStyle::POSITION_EEF | InteractionStyle::ORIENTATION_EEF)))
         addEndEffectorMarkers(handler, active_eef_[i], control_to_eef_tf, im,
-                              active_eef_[i].interaction & EEF_POSITION_EEF,
-                              active_eef_[i].interaction & EEF_ORIENTATION_EEF);
+                              active_eef_[i].interaction & InteractionStyle::POSITION_EEF,
+                              active_eef_[i].interaction & InteractionStyle::ORIENTATION_EEF);
       ims.push_back(im);
       registerMoveInteractiveMarkerTopic(marker_name, handler->getName() + "_" + active_eef_[i].parent_link);
       ROS_DEBUG_NAMED("robot_interaction", "Publishing interactive marker %s (size = %lf)", marker_name.c_str(),
@@ -678,22 +678,6 @@ bool RobotInteraction::showingMarkers(const InteractionHandlerPtr& handler)
   return true;
 }
 
-// TODO: can we get rid of this?  Only used in moveit_ros/benchmarks_gui/src/tab_states_and_goals.cpp right now.
-bool RobotInteraction::updateState(robot_state::RobotState& state, const EndEffectorInteraction& eef,
-                                   const geometry_msgs::Pose& pose, unsigned int attempts, double ik_timeout,
-                                   const robot_state::GroupStateValidityCallbackFn& validity_callback,
-                                   const kinematics::KinematicsQueryOptions& kinematics_query_options)
-{
-  if (state.setFromIK(state.getJointModelGroup(eef.parent_group), pose, eef.parent_link,
-                      kinematics_query_options.lock_redundant_joints ? 1 : attempts, ik_timeout, validity_callback,
-                      kinematics_query_options))
-  {
-    state.update();
-    return true;
-  }
-  return false;
-}
-
 void RobotInteraction::moveInteractiveMarker(const std::string name, const geometry_msgs::PoseStampedConstPtr& msg)
 {
   std::map<std::string, std::size_t>::const_iterator it = shown_markers_.find(name);
@@ -836,16 +820,4 @@ void RobotInteraction::processingThread()
     }
   }
 }
-
-// DEPRECATED FUNCTIONALITY for backwards compatibility
-void RobotInteraction::decideActiveComponents(const std::string& group, EndEffectorInteractionStyle style)
-{
-  decideActiveComponents(group, (InteractionStyle::InteractionStyle)(int)style);
-}
-
-// DEPRECATED FUNCTIONALITY for backwards compatibility
-void RobotInteraction::decideActiveEndEffectors(const std::string& group, EndEffectorInteractionStyle style)
-{
-  decideActiveEndEffectors(group, (InteractionStyle::InteractionStyle)(int)style);
-}
 }