Unverified Commit b8e37461 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by GitHub
Browse files

Merge pull request #184 from florent-lamiraux/devel

[ProblemSolver] Remove deprecated method.
parents ca274349 83d81c9f
......@@ -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
{
......
......@@ -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_) {
......
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