From 8cbb0948039df35d8dcf9f3d3c3ef36135daa9c4 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Sat, 25 Nov 2017 11:47:25 +0100
Subject: [PATCH] Make class AxialHandle deprecated.
---
include/hpp/manipulation/axial-handle.hh | 36 ++++++++++++------------
src/axial-handle.cc | 17 +++++++++++
2 files changed, 35 insertions(+), 18 deletions(-)
diff --git a/include/hpp/manipulation/axial-handle.hh b/include/hpp/manipulation/axial-handle.hh
index 5cd03689..6a947de3 100644
--- a/include/hpp/manipulation/axial-handle.hh
+++ b/include/hpp/manipulation/axial-handle.hh
@@ -21,11 +21,14 @@
# define HPP_MANIPULATION_AXIAL_HANDLE_HH
# include <hpp/manipulation/handle.hh>
+# include <hpp/manipulation/deprecated.hh>
namespace hpp {
namespace manipulation {
/// Handle symmetric around its z-axis. The constraint defined for a grasp
/// by a gripper is free to rotate around z-axis.
+ /// \deprecated This class is deprecated. Use class Handle with appropriate
+ /// mask
class HPP_MANIPULATION_DLLAPI AxialHandle : public Handle
{
public:
@@ -34,30 +37,29 @@ namespace hpp {
/// \param grasp object containing the grasp information
/// \return the constraint of relative position between the handle and
/// the gripper. The rotation around x is not constrained.
+ /// \deprecated This class is deprecated. The method creates an instance
+ /// of Handle with appropriate mask
static AxialHandlePtr_t create (const std::string& name,
const Transform3f& localPosition,
const JointPtr_t& joint)
- {
- AxialHandle* ptr = new AxialHandle (name, localPosition, joint);
- AxialHandlePtr_t shPtr (ptr);
- ptr->init (shPtr);
- return shPtr;
- }
+ HPP_MANIPULATION_DEPRECATED;
+
/// Return a pointer to the copy of this
virtual HandlePtr_t clone () const;
- /// Create constraint corresponding to a gripper grasping this object
- /// \param grasp object containing the grasp information
- /// \return the constraint of relative transformation between the handle and
- /// the gripper. The rotation around x is not constrained.
+ /// Create constraint corresponding to a gripper grasping this handle
+ /// \param gripper object containing the gripper information
+ /// \return the constraint of relative transformation between the handle
+ /// and the gripper.
+ /// \note 5 degrees of freedom are constrained. Rotation around z is free.
virtual NumericalConstraintPtr_t createGrasp
(const GripperPtr_t& gripper, std::string name) const;
- /// Create constraint that acts on the non-constrained axis of the
- /// constraint generated by Handle::createGrasp.
+ /// Create complement constraint of gripper grasping this handle
/// \param gripper object containing the gripper information
- /// \return a relative orientation constraint between the handle and
- /// the gripper. Only the rotation around the x-axis is constrained.
+ /// \return trivial constraint
+ /// \note 1 degree of freedom is constrained: rotation around z.
+ /// \note the constraint is parameterizable: non constant right hand side.
virtual NumericalConstraintPtr_t createGraspComplement
(const GripperPtr_t& gripper, std::string name) const;
@@ -91,10 +93,8 @@ namespace hpp {
/// \return the constraint of relative position between the handle and
/// the gripper. The rotation around x is not constrained.
AxialHandle (const std::string& name, const Transform3f& localPosition,
- const JointPtr_t& joint) : Handle (name, localPosition,
- joint), weakPtr_ ()
- {
- }
+ const JointPtr_t& joint) HPP_MANIPULATION_DEPRECATED;
+
void init (const AxialHandleWkPtr_t& weakPtr)
{
Handle::init (weakPtr);
diff --git a/src/axial-handle.cc b/src/axial-handle.cc
index 0cf828f3..ee652d88 100644
--- a/src/axial-handle.cc
+++ b/src/axial-handle.cc
@@ -32,6 +32,16 @@ namespace hpp {
namespace manipulation {
static const matrix3_t I3 = matrix3_t::Identity();
+ AxialHandlePtr_t AxialHandle::create (const std::string& name,
+ const Transform3f& localPosition,
+ const JointPtr_t& joint)
+ {
+ AxialHandle* ptr = new AxialHandle (name, localPosition, joint);
+ AxialHandlePtr_t shPtr (ptr);
+ ptr->init (shPtr);
+ return shPtr;
+ }
+
NumericalConstraintPtr_t AxialHandle::createGrasp
(const GripperPtr_t& gripper, std::string n) const
{
@@ -119,5 +129,12 @@ namespace hpp {
os << "joint :" << joint ()->name () << std::endl;
return os;
}
+
+ AxialHandle::AxialHandle (const std::string& name,
+ const Transform3f& localPosition,
+ const JointPtr_t& joint) :
+ Handle (name, localPosition, joint), weakPtr_ ()
+ {
+ }
} // namespace manipulation
} // namespace hpp
--
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