Commit 2606911e authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Remove deprecated members of Body

parent ed85ed55
......@@ -69,7 +69,7 @@ namespace hpp {
/// \{
/// \deprecated Use nbInnerObjects and innerObjectAt instead
const ObjectVector_t& innerObjects () const HPP_PINOCCHIO_DEPRECATED { return innerObjects_; }
ObjectVector_t innerObjects () const HPP_PINOCCHIO_DEPRECATED;
/// Number of inner objects.
size_type nbInnerObjects () const;
......@@ -84,7 +84,7 @@ namespace hpp {
value_type radius () const;
/// \deprecated Use nbOuterObjects and outerObjectAt instead
const ObjectVector_t& outerObjects () const HPP_PINOCCHIO_DEPRECATED { return outerObjects_; }
ObjectVector_t outerObjects () const HPP_PINOCCHIO_DEPRECATED;
/// Number of outer objects.
size_type nbOuterObjects () const;
......@@ -118,7 +118,6 @@ namespace hpp {
JointIndex jointIndex;
mutable FrameIndex frameIndex; // In pinocchio, bodies are stored as frames of type BODY.
mutable bool frameIndexSet;
ObjectVector innerObjects_,outerObjects_;
}; // class Body
} // namespace pinocchio
} // namespace hpp
......
......@@ -35,8 +35,6 @@ namespace hpp {
Body::
Body (DeviceWkPtr_t device, JointIndex joint)
: devicePtr(device),jointIndex(joint) ,frameIndexSet(false)
, innerObjects_(device,joint,INNER)
, outerObjects_(device,joint,OUTER)
{
selfAssert();
}
......@@ -123,6 +121,11 @@ namespace hpp {
device->geomData().innerObjects[jointIndex][i]));
}
ObjectVector_t Body::innerObjects () const
{
return ObjectVector_t (devicePtr, jointIndex, INNER);
}
value_type Body::radius () const
{
selfAssert();
......@@ -147,6 +150,11 @@ namespace hpp {
return CollisionObjectPtr_t(new CollisionObject(device,
device->geomData().outerObjects[jointIndex][i]));
}
ObjectVector_t Body::outerObjects () const
{
return ObjectVector_t (devicePtr, jointIndex, OUTER);
}
} // namespace pinocchio
} // namespace hpp
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