From 21bb5b8527d354bb2d7d9aca82a719be440919fd Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Mon, 5 Sep 2016 17:11:31 +0200
Subject: [PATCH] [C++] Remove deprecated Model::addFrame
---
src/multibody/model.hpp | 12 ------------
src/multibody/model.hxx | 13 -------------
2 files changed, 25 deletions(-)
diff --git a/src/multibody/model.hpp b/src/multibody/model.hpp
index ae704091e..93f784fd3 100644
--- a/src/multibody/model.hpp
+++ b/src/multibody/model.hpp
@@ -328,18 +328,6 @@ namespace se3
/// \return Returns true if the frame has been successfully added.
///
bool addFrame(const Frame & frame);
-
- ///
- /// \brief Creates and adds a frame to the kinematic tree.
- ///
- /// \param[in] name Name of the frame.
- /// \param[in] parent Index of the supporting joint.
- /// \param[in] placement Placement of the frame regarding to the joint frame.
- /// \param[in] type The type of the frame
- ///
- /// \return Returns true if the frame has been successfully added.
- ///
- PINOCCHIO_DEPRECATED bool addFrame(const std::string & name, const JointIndex parent, const SE3 & placement, const FrameType type = OP_FRAME);
protected:
diff --git a/src/multibody/model.hxx b/src/multibody/model.hxx
index cee1244d4..d3c827c08 100644
--- a/src/multibody/model.hxx
+++ b/src/multibody/model.hxx
@@ -80,9 +80,6 @@ namespace se3
neutralConfiguration.conservativeResize(nq);
neutralConfiguration.tail(joint_model.nq()) = joint_model.neutralConfiguration();
- // Add a the joint frame attached to itself to the frame vector - redundant information but useful.
- addFrame(names[idx],idx,SE3::Identity(),JOINT);
-
// Init and add joint index to its parent subtrees.
subtrees.push_back(IndexVector(1));
subtrees[idx][0] = idx;
@@ -97,8 +94,6 @@ namespace se3
{
const Inertia & iYf = Y.se3Action(body_placement);
inertias[joint_index] += iYf;
-
- addFrame((body_name!="")?body_name:randomStringGenerator(8), joint_index, body_placement, BODY);
nbody++;
}
@@ -221,14 +216,6 @@ namespace se3
return false;
}
}
-
- inline bool Model::addFrame ( const std::string & name, JointIndex index, const SE3 & placement, const FrameType type)
- {
- if( !existFrame(name) )
- return addFrame(Frame(name, index, placement, type));
- else
- return false;
- }
inline void Model::addJointIndexToParentSubtrees(const JointIndex joint_id)
{
--
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