Merge pull request #184 from florent-lamiraux/devel

[ProblemSolver] Remove deprecated method.

include/hpp/core/problem-solver.hh

@@ -223,12 +223,6 @@ namespace hpp {
       /// Add a constraint
       void addConstraint (const ConstraintPtr_t& constraint);
 
-      /// Add a LockedJoint
-      /// \deprecated use lockedJoints.add and addLockedJointToConfigProjector
-      ///             instead
-      void addLockedJoint (const LockedJointPtr_t& lockedJoint)
-        HPP_CORE_DEPRECATED;
-
       /// Get constraint set
       const ConstraintSetPtr_t& constraints () const
       {

src/problem-solver.cc

@@ -532,20 +532,6 @@ namespace hpp {
 	hppDout (error, "Cannot add constraint while robot is not set");
     }
 
-    void ProblemSolver::addLockedJoint (const LockedJointPtr_t& lj)
-    {
-      if (!robot_) {
-	hppDout (error, "Cannot add constraint while robot is not set");
-      }
-      ConfigProjectorPtr_t  configProjector = constraints_->configProjector ();
-      if (!configProjector) {
-	configProjector = ConfigProjector::create
-	  (robot_, "ConfigProjector", errorThreshold_, maxIterProjection_);
-	constraints_->addConstraint (configProjector);
-      }
-      configProjector->add (lj);
-    }
-
     void ProblemSolver::resetConstraints ()
     {
       if (robot_) {