Verified Commit 00e5b7c3 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

liegroup/base: remove deprecated Jdifference

parent fa0b7827
......@@ -213,13 +213,6 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
const Eigen::MatrixBase<ConfigR_t> & q1,
const Eigen::MatrixBase<Tangent_t> & v) const;
template <class ConfigL_t, class ConfigR_t, class JacobianLOut_t, class JacobianROut_t>
void Jdifference(const Eigen::MatrixBase<ConfigL_t> & q0,
const Eigen::MatrixBase<ConfigR_t> & q1,
const Eigen::MatrixBase<JacobianLOut_t>& J0,
const Eigen::MatrixBase<JacobianROut_t>& J1) const
PINOCCHIO_DEPRECATED;
/**
* @brief Computes the Jacobian of the difference operation with respect to q0 or q1.
*
......
......@@ -155,18 +155,6 @@ namespace pinocchio {
derived().difference_impl(q0, q1, d);
}
template <class Derived>
template <class ConfigL_t, class ConfigR_t, class JacobianLOut_t, class JacobianROut_t>
void LieGroupBase<Derived>::Jdifference(
const Eigen::MatrixBase<ConfigL_t> & q0,
const Eigen::MatrixBase<ConfigR_t> & q1,
const Eigen::MatrixBase<JacobianLOut_t>& J0,
const Eigen::MatrixBase<JacobianROut_t>& J1) const
{
derived().template dDifference<ARG0> (q0, q1, J0);
derived().template dDifference<ARG1> (q0, q1, J1);
}
template <class Derived>
template <ArgumentPosition arg, class ConfigL_t, class ConfigR_t, class JacobianOut_t>
void LieGroupBase<Derived>::dDifference(
......
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