Commit a658fcaa authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Remove deprecated typedefs and some methods.

parent 3a660c8a
......@@ -92,13 +92,6 @@ namespace hpp {
bool contains (const constraints::ImplicitPtr_t& numericalConstraint)
const;
/// \copydoc ConfigProjector::add(const constraints::ImplicitPtr_t&, const std::size_t)
/// \param passiveDofs column indices of the jacobian vector that will be
/// set to zero when solving.
bool add (const constraints::ImplicitPtr_t& numericalConstraint,
const segments_t& passiveDofs = segments_t (0),
const std::size_t priority = 0);
/// Add a numerical constraint
///
/// \note The intervals are interpreted as a list of couple
......@@ -109,10 +102,7 @@ namespace hpp {
/// optional.
/// \return false if numerical constraint had already been inserted.
bool add (const constraints::ImplicitPtr_t& numericalConstraint,
const std::size_t priority)
{
return add (numericalConstraint, segments_t(0), priority);
}
const std::size_t priority = 0);
void lastIsOptional (bool optional);
......@@ -169,12 +159,6 @@ namespace hpp {
vectorOut_t value,
matrixOut_t reducedJacobian);
/// Execute one iteration of the projection algorithm
/// \return true if the constraints are satisfied
/// \deprecated use solver().oneStep is needed
bool oneStep (ConfigurationOut_t config, vectorOut_t dq,
const value_type& alpha) HPP_CORE_DEPRECATED;
/// \name Compression of locked degrees of freedom
///
/// Degrees of freedom related to locked joint are not taken into
......@@ -186,10 +170,6 @@ namespace hpp {
/// Return the number of free variables
size_type numberFreeVariables () const;
/// Get number of non-locked degrees of freedom
/// \deprecated Call numberFreeVariables instead
size_type numberNonLockedDof () const HPP_CORE_DEPRECATED;
/// Get constraint dimension
size_type dimension () const;
......
......@@ -345,20 +345,6 @@ namespace hpp {
typedef constraints::JointAndShape_t JointAndShape_t;
typedef constraints::JointAndShapes_t JointAndShapes_t;
typedef constraints::Implicit NumericalConstraint HPP_CORE_DEPRECATED;
typedef constraints::ImplicitPtr_t NumericalConstraintPtr_t
HPP_CORE_DEPRECATED;
typedef constraints::Implicit Equation HPP_CORE_DEPRECATED;
typedef constraints::ImplicitPtr_t EquationPtr_t HPP_CORE_DEPRECATED;
typedef constraints::Explicit ExplicitNumericalConstraint
HPP_CORE_DEPRECATED;
typedef constraints::ExplicitPtr_t ExplicitNumericalConstraintPtr_t
HPP_CORE_DEPRECATED;
typedef hpp::constraints::explicit_::RelativePosePtr_t
ExplicitRelativeTransformationPtr_t HPP_CORE_DEPRECATED;
typedef hpp::constraints::explicit_::RelativePose
ExplicitRelativeTransformation HPP_CORE_DEPRECATED;
typedef ContinuousValidation ContinuousCollisionChecking HPP_CORE_DEPRECATED;
namespace continuousCollisionChecking = continuousValidation;
} // namespace core
......
......@@ -52,9 +52,6 @@ namespace hpp {
/// Users can implement themselves the loop to avoid being trapped
/// in an infinite loop when no solution is found.
virtual PathVectorPtr_t solve ();
/// Try to make direct connection between init and goal
/// configurations, in order to avoid a random shoot.
virtual void tryDirectPath() HPP_CORE_DEPRECATED;
/// Try to connect initial and goal configurations to existing roadmap
virtual void tryConnectInitAndGoals ();
......
......@@ -248,19 +248,6 @@ namespace hpp {
(const std::string& configProjName, const std::string& constraintName,
const std::size_t priority = 0);
/// Add locked joint to the config projector
/// \param configProjName Name given to config projector if created by
/// this method.
/// \param lockedJointName name of the locked joint as stored in internal
/// map.
/// Build the config projector if not yet constructed.
/// \deprecated LockedJoint instances are now handled as other numerical
/// constraints. Call addNumericalConstraintToConfigProjector
/// instead.
virtual void addLockedJointToConfigProjector
(const std::string& configProjName, const std::string& lockedJointName)
HPP_CORE_DEPRECATED;
/// Add a a numerical constraint in local map.
/// \param name name of the numerical constraint as stored in local map,
/// \param constraint numerical constraint
......
......@@ -40,10 +40,6 @@ namespace hpp {
HPP_PREDEF_CLASS (Hermite);
typedef shared_ptr <Hermite> HermitePtr_t;
} // namespace steeringMethod
/// \deprecated use steeringMethod::Straight instead
typedef steeringMethod::Straight SteeringMethodStraight;
typedef steeringMethod::StraightPtr_t SteeringMethodStraightPtr_t;
} // namespace core
} // namespace hpp
......
......@@ -119,10 +119,9 @@ namespace hpp {
}
bool ConfigProjector::add (const constraints::ImplicitPtr_t& nm,
const segments_t& passiveDofs,
const std::size_t priority)
{
return solver_->add (nm, passiveDofs, priority);
return solver_->add (nm, priority);
}
void ConfigProjector::computeValueAndJacobian
......@@ -209,14 +208,6 @@ namespace hpp {
return false;
}
bool ConfigProjector::oneStep (ConfigurationOut_t configuration,
vectorOut_t dq, const value_type&)
{
bool ret = solverOneStep (configuration);
dq = solver_->lastStep ();
return ret;
}
bool ConfigProjector::optimize (ConfigurationOut_t configuration,
std::size_t maxIter)
{
......@@ -399,11 +390,6 @@ namespace hpp {
return solver_->numberFreeVariables ();
}
size_type ConfigProjector::numberNonLockedDof () const
{
return numberFreeVariables ();
}
size_type ConfigProjector::dimension () const
{
return solver_->reducedDimension();
......
......@@ -187,37 +187,6 @@ namespace hpp {
return path;
}
void PathPlanner::tryDirectPath ()
{
// call steering method here to build a direct conexion
const SteeringMethodPtr_t& sm (problem()->steeringMethod ());
PathValidationPtr_t pathValidation (problem()->pathValidation ());
PathProjectorPtr_t pathProjector (problem()->pathProjector ());
PathPtr_t validPath, projPath, path;
NodePtr_t initNode = roadmap ()->initNode();
for (NodeVector_t::const_iterator itn = roadmap ()->goalNodes ().begin();
itn != roadmap ()->goalNodes ().end (); ++itn) {
ConfigurationPtr_t q1 ((initNode)->configuration ());
ConfigurationPtr_t q2 ((*itn)->configuration ());
path = (*sm) (*q1, *q2);
if (!path) continue;
if (pathProjector) {
if (!pathProjector->apply (path, projPath)) continue;
} else {
projPath = path;
}
if (projPath) {
PathValidationReportPtr_t report;
bool pathValid = pathValidation->validate (projPath, false, validPath,
report);
if (pathValid && validPath->length() > 0) {
roadmap ()->addEdge (initNode, *itn, projPath);
roadmap ()->addEdge (*itn, initNode, projPath->reverse());
}
}
}
}
void PathPlanner::tryConnectInitAndGoals ()
{
// call steering method here to build a direct conexion
......
......@@ -65,7 +65,7 @@ namespace hpp {
thresholdMin_ (thresholdMin),
hessianBound_ (hessianBound), withHessianBound_ (hessianBound > 0)
{
SteeringMethodStraightPtr_t sm
steeringMethod::StraightPtr_t sm
(HPP_DYNAMIC_PTR_CAST (steeringMethod::Straight, steeringMethod));
if (!sm) throw std::logic_error ("The steering method should be of type"
" Straight.");
......
......@@ -572,14 +572,7 @@ namespace hpp {
" does not exists";
throw std::invalid_argument (ss.str());
}
configProjector->add (numericalConstraints.get(constraintName),
segments_t (0), priority);
}
void ProblemSolver::addLockedJointToConfigProjector
(const std::string& configProjName, const std::string& lockedJointName)
{
addNumericalConstraintToConfigProjector (configProjName, lockedJointName);
configProjector->add (numericalConstraints.get(constraintName), priority);
}
void ProblemSolver::comparisonType (const std::string& name,
......
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