Commit 71f77569 authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
Browse files

Remove deprecated functions.

parent 13561a10
......@@ -29,42 +29,6 @@ namespace hpp {
extern const std::string STABILITY_CONTEXT;
typedef constraints::Implicit Implicit;
typedef constraints::ImplicitPtr_t ImplicitPtr_t;
/// Create quasi-static stability constraints
/// \param robot the robot,
/// \param comc a hpp::pinocchio::CenterOfMassComputation that handle
/// COM computations.
/// \param leftAnkle left ankle joint,
/// \param rightAnkle right ankle joint,
/// \param configuration the configuration of the robot satisfying
/// the constraint,
///
/// The constraints make the feet of the robot slide on a horizontal ground
/// and the center of mass project at a constant position with respect to
/// the feet. Five constraints are returned:
/// \li relative position of the center of mass (as defined with comc)
/// in the left ankle frame (dimension 3),
/// \li relative orientation of the feet (dimension 3),
/// \li relative position of the feet (dimension 3),
/// \li orientation of the left foot (dimension 2),
/// \li position of the left foot (dimension 1).
///
/// All constraints are returned along with the
/// hpp::core::ComparisonType::createDefault()
std::vector <ImplicitPtr_t> createSlidingStabilityConstraint
(const DevicePtr_t& robot, const CenterOfMassComputationPtr_t& comc,
const JointPtr_t& leftAnkle, const JointPtr_t& rightAnkle,
ConfigurationIn_t configuration) HPP_WHOLEBODY_STEP_DEPRECATED;
/// Create quasi-static stability constraints
/// The center of mass takes into account all the joints of the robot.
/// \param robot, leftAnkle, rightAnkle, configuration
/// see createSlidingStabilityConstraint(const DevicePtr_t&,
/// const JointPtr_t&, const JointPtr_t&, ConfigurationIn_t)
std::vector <ImplicitPtr_t> createSlidingStabilityConstraint
(const DevicePtr_t& robot, const JointPtr_t& leftAnkle,
const JointPtr_t& rightAnkle, ConfigurationIn_t configuration)
HPP_WHOLEBODY_STEP_DEPRECATED;
/// Create quasi-static stability complementary constraints
/// \param robot the robot,
/// \param comc a hpp::pinocchio::CenterOfMassComputation that handle
......
......@@ -63,18 +63,7 @@ namespace hpp {
const std::string STABILITY_CONTEXT = "stability";
std::vector <ImplicitPtr_t> createSlidingStabilityConstraint
(const DevicePtr_t& robot, const JointPtr_t& leftAnkle,
const JointPtr_t& rightAnkle, ConfigurationIn_t configuration)
{
CenterOfMassComputationPtr_t comc =
CenterOfMassComputation::create (robot);
comc->add (robot->rootJoint ());
return createSlidingStabilityConstraint
(robot, comc, leftAnkle, rightAnkle, configuration);
}
std::vector <ImplicitPtr_t> createSlidingStabilityConstraint
static std::vector <ImplicitPtr_t> createSlidingStabilityConstraint
(const DevicePtr_t& robot, const CenterOfMassComputationPtr_t& comc,
const JointPtr_t& leftAnkle, const JointPtr_t& rightAnkle,
ConfigurationIn_t configuration)
......
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