Remove deprecated typedefs and some methods.

include/hpp/core/config-projector.hh

@@ -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;
 

include/hpp/core/fwd.hh

@@ -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

include/hpp/core/path-planner.hh

@@ -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 ();
 

include/hpp/core/problem-solver.hh

@@ -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

include/hpp/core/steering-method/fwd.hh

@@ -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
 

src/config-projector.cc

@@ -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();

src/path-planner.cc

@@ -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

src/path-projector/progressive.cc

@@ -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.");

src/problem-solver.cc

@@ -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,