diff --git a/include/hpp/manipulation/graph/edge.hh b/include/hpp/manipulation/graph/edge.hh
index 25b0b95a32b5064a821e14c8946443f942bd7c90..bfe54800572eea1d11dd416d88e55398af78a54c 100644
--- a/include/hpp/manipulation/graph/edge.hh
+++ b/include/hpp/manipulation/graph/edge.hh
@@ -138,33 +138,6 @@ namespace hpp {
state_ = state;
}
- /// Get the state in which path is.
- /// \deprecated use StatePtr_t state () const instead
- StatePtr_t node () const
- {
- return state_.lock();
- }
-
- /// Set state
- /// \deprecated use void state (StatePtr_t state) instead
- void node (StatePtr_t state)
- {
- state_ = state;
- }
-
- /// \deprecated use state(StatePtr_t) instead.
- void isInNodeFrom (bool iinf) HPP_MANIPULATION_DEPRECATED
- {
- if (iinf) state_ = from_;
- else state_ = to_;
- }
-
- /// \deprecated see StatePtr_t state() const
- bool isInNodeFrom () const HPP_MANIPULATION_DEPRECATED
- {
- return state_.lock() == from_.lock();
- }
-
/// Get steering method associated to the edge.
const core::SteeringMethodPtr_t& steeringMethod () const
{
@@ -320,13 +293,6 @@ namespace hpp {
/// \param wTo is the destination state of wEdge
void setWaypoint (const std::size_t index, const EdgePtr_t wEdge, const StatePtr_t wTo);
- /// Get the state in which path after the waypoint is.
- /// \deprecated use StatePtr_t state () const instead
- StatePtr_t node () const;
-
- /// Get the state in which path after the waypoint is.
- StatePtr_t state () const;
-
protected:
WaypointEdge (const std::string& name) :
Edge (name)
diff --git a/src/graph-optimizer.cc b/src/graph-optimizer.cc
index af60207740e913204e6531e476cdde576efe98c3..fa31e7f8aa604b8ee37abf3e7aa15b47600e0160 100644
--- a/src/graph-optimizer.cc
+++ b/src/graph-optimizer.cc
@@ -59,7 +59,7 @@ namespace hpp {
hppDout(info, "No manipulation::ConstraintSet");
break;
}
- if (c && edge->node() != c->edge ()->node()) break;
+ if (c && edge->state() != c->edge ()->state()) break;
if (isShort != c->edge()->isShort()) // We do not optimize edges marked as short
break;
toOpt->appendPath (current);
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index ee6453a33932ff7eca1b85ad8f41bc96546c4930..9741be1afcd400835a07ceedf41803dec713aa3e 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -436,12 +436,6 @@ namespace hpp {
waypoints_[index] = Waypoint_t (wEdge, wTo);
}
- StatePtr_t WaypointEdge::state () const
- {
- if (isInNodeFrom ()) return waypoints_.back().second;
- else return to ();
- }
-
template <>
EdgePtr_t WaypointEdge::waypoint <Edge> (const std::size_t index) const
{
diff --git a/src/path-optimization/keypoints.cc b/src/path-optimization/keypoints.cc
index f0b167136808a6d42b5fab82f2a7717a697b60fd..384750c16389c4c7d43ea9d96e117a7bbefca9f2 100644
--- a/src/path-optimization/keypoints.cc
+++ b/src/path-optimization/keypoints.cc
@@ -62,7 +62,7 @@ namespace hpp {
PathVectorPtr_t output = PathVector::create (path->outputSize (),
path->outputDerivativeSize ());
for (std::size_t j = 0; j < paths.size(); ++j)
- output->concatenate (*paths[j].path);
+ output->concatenate (paths[j].path);
}
return output;
}
@@ -89,7 +89,7 @@ namespace hpp {
hppDout(info, "No manipulation::ConstraintSet");
break;
}
- if (c && ikpp.edge->node() != c->edge ()->node()) break;
+ if (c && ikpp.edge->state() != c->edge ()->state()) break;
if (ikpp.isShort != c->edge()->isShort()) // We do not optimize edges marked as short
break;
ikpp.path->appendPath (current);
@@ -120,7 +120,7 @@ namespace hpp {
graph::Edges_t edges;
graph::Graph& graph = *problem_.constraintGraph ();
try {
- edges = graph.getEdges (ikpp1.edge->node(), ikpp2.edge->node());
+ edges = graph.getEdges (ikpp1.edge->state(), ikpp2.edge->state());
} catch (const std::logic_error& e) {
hppDout (error, e.what ());
return PathVectorPtr_t ();
@@ -169,12 +169,12 @@ namespace hpp {
PathVectorPtr_t tmp = PathVector::create (ikpp1.path->outputSize (),
ikpp1.path->outputDerivativeSize ());
- tmp->concatenate (*(ikpp1.path->extract
- (make_pair (t0, t1))-> as <PathVector> ()));
+ tmp->concatenate (ikpp1.path->extract
+ (make_pair (t0, t1))-> as <PathVector> ());
tmp->appendPath (short1);
tmp->appendPath (short2);
- tmp->concatenate (*(ikpp2.path->extract
- (make_pair (t4, t5))-> as <PathVector> ()));
+ tmp->concatenate (ikpp2.path->extract
+ (make_pair (t4, t5))-> as <PathVector> ());
if (cur_length >= tmp->length()) {
cur_length = tmp->length();
@@ -199,10 +199,10 @@ namespace hpp {
PathVectorPtr_t output = PathVector::create (shortcut->outputSize (),
shortcut->outputDerivativeSize ());
for (std::size_t j = 0; j < i1; ++j)
- output->concatenate (*input[j].path);
- output->concatenate (*flat);
+ output->concatenate (input[j].path);
+ output->concatenate (flat);
for (std::size_t j = i2 + 1; j < input.size(); ++j)
- output->concatenate (*input[j].path);
+ output->concatenate (input[j].path);
return split (output);
}
diff --git a/src/path-optimization/small-steps.cc b/src/path-optimization/small-steps.cc
index 1ebf1ff14244249917ed0a57e817de1d53a7ecd1..0ae7baef2ce4dccda1550dfa3c4fcced52a5e404 100644
--- a/src/path-optimization/small-steps.cc
+++ b/src/path-optimization/small-steps.cc
@@ -61,12 +61,12 @@ namespace hpp {
current = flat->pathAtRank (i_e);
c = HPP_DYNAMIC_PTR_CAST (ConstraintSet, current->constraints ());
if (!c && edge) break;
- if (c && edge->node() != c->edge ()->node()) break;
+ if (c && edge->state() != c->edge ()->state()) break;
toOpt->appendPath (current);
}
toConcat = step.optimize (toOpt);
i_s = i_e;
- opted->concatenate (*toConcat);
+ opted->concatenate (toConcat);
}
const_cast <core::Problem&>(this->problem ()).pathValidation (gpv);