Commit 4b968671 authored by jcarpent's avatar jcarpent
Browse files

[Python] Fix issue with respect to deprecated called functions

parent 72ab3c1a
......@@ -24,23 +24,23 @@ from .deprecation import deprecated
@deprecated("This function has been renamed computeJointJacobians and will be removed in release 1.4.0 of Pinocchio. Please change for new computeJacobians.")
def computeJacobians(model,data,q=None):
if q is None:
return computeJointJacobians(model,data)
return se3.computeJointJacobians(model,data)
else:
return computeJointJacobians(model,data,q)
return se3.computeJointJacobians(model,data,q)
@deprecated("This function has been renamed jointJacobian and will be removed in release 1.4.0 of Pinocchio. Please change for new jointJacobian.")
def jacobian(model,data,q,jointId,local,update_kinematics):
if local:
return jointJacobian(model,data,q,jointId,se3.ReferenceFrame.LOCAL,update_kinematics)
return se3.jointJacobian(model,data,q,jointId,se3.ReferenceFrame.LOCAL,update_kinematics)
else:
return jointJacobian(model,data,q,jointId,se3.ReferenceFrame.WORLD,update_kinematics)
return se3.jointJacobian(model,data,q,jointId,se3.ReferenceFrame.WORLD,update_kinematics)
@deprecated("This function has been renamed getJointJacobian and will be removed in release 1.4.0 of Pinocchio. Please change for new getJointJacobian.")
def getJointJacobian(model,data,jointId,local):
def getJacobian(model,data,jointId,local):
if local:
return getJointJacobian(model,data,jointId,se3.ReferenceFrame.LOCAL)
return se3.getJointJacobian(model,data,jointId,se3.ReferenceFrame.LOCAL)
else:
return getJointJacobian(model,data,jointId,se3.ReferenceFrame.WORLD)
return se3.getJointJacobian(model,data,jointId,se3.ReferenceFrame.WORLD)
@deprecated("This function has been renamed computeJacobiansTimeVariation and will be removed in release 1.4.0 of Pinocchio. Please change for new computeJacobiansTimeVariation.")
def computeJacobiansTimeVariation(model,data,q,v):
......@@ -49,8 +49,8 @@ def computeJacobiansTimeVariation(model,data,q,v):
@deprecated("This function has been renamed getJointJacobianTimeVariation and will be removed in release 1.4.0 of Pinocchio. Please change for new getJointJacobianTimeVariation.")
def getJacobianTimeVariation(model,data,jointId,local):
if local:
return getJointJacobianTimeVariation(model,data,jointId,se3.ReferenceFrame.LOCAL)
return se3.getJointJacobianTimeVariation(model,data,jointId,se3.ReferenceFrame.LOCAL)
else:
return getJointJacobianTimeVariation(model,data,jointId,se3.ReferenceFrame.WORLD)
return se3.getJointJacobianTimeVariation(model,data,jointId,se3.ReferenceFrame.WORLD)
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