Verified Commit 24ce4f52 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

parsers/sample: remove deprecated definition

parent 10983b16
......@@ -192,7 +192,6 @@ namespace pinocchio
details::addManipulator(model);
}
#ifdef PINOCCHIO_WITH_HPP_FCL
template<typename Scalar, int Options,
template<typename,int> class JointCollectionTpl>
......@@ -200,43 +199,6 @@ namespace pinocchio
GeometryModel & geom)
{ details::addManipulatorGeometries(model,geom); }
#endif
// Deprecated
inline void humanoid2d(Model & model)
{
using details::addJointAndBody;
static const Model::SE3 Id = Model::SE3::Identity();
// root
addJointAndBody(model, JointModelRX(), "universe", "ff1", Id, false);
addJointAndBody(model, JointModelRY(), "ff1_joint", "root", Id, false);
// lleg
addJointAndBody(model, JointModelRZ(), "root_joint", "lleg1", Id, false);
addJointAndBody(model, JointModelRY(), "lleg1_joint", "lleg2", Id, false);
// rlgg
addJointAndBody(model, JointModelRZ(), "root_joint", "rleg1", Id, false);
addJointAndBody(model, JointModelRY(), "lleg1_joint", "rleg2", Id, false);
// torso
addJointAndBody(model, JointModelRY(), "root_joint", "torso1", Id, false);
addJointAndBody(model, JointModelRZ(), "torso1_joint", "chest", Id, false);
// rarm
addJointAndBody(model, JointModelRX(), "chest_joint", "rarm1", Id, false);
addJointAndBody(model, JointModelRZ(), "rarm1_joint", "rarm2", Id, false);
// larm
addJointAndBody(model, JointModelRX(), "root_joint", "larm1", Id, false);
addJointAndBody(model, JointModelRZ(), "larm1_joint", "larm2", Id, false);
}
template<typename Scalar, int Options,
template<typename,int> class JointCollectionTpl>
inline void humanoidSimple(ModelTpl<Scalar,Options,JointCollectionTpl> & model,
bool usingFF)
{ humanoidRandom(model,usingFF); }
template<typename Scalar, int Options,
template<typename,int> class JointCollectionTpl>
......
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