From 26ca737ab49b1f456d1dca512cf97edbb5b9f218 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 7 Sep 2016 13:19:03 +0200
Subject: [PATCH] [C++] In Model, remove accessors of frame attribute using
frame name
---
src/multibody/model.hpp | 27 ---------------------------
src/multibody/model.hxx | 36 ------------------------------------
2 files changed, 63 deletions(-)
diff --git a/src/multibody/model.hpp b/src/multibody/model.hpp
index ab2c71da1..efdd15699 100644
--- a/src/multibody/model.hpp
+++ b/src/multibody/model.hpp
@@ -298,15 +298,6 @@ namespace se3
///
PINOCCHIO_DEPRECATED const std::string & getFrameName (const FrameIndex index) const;
- ///
- /// \brief Get the index of the joint supporting the frame given by its name.
- ///
- /// \param[in] name Name of the frame.
- ///
- /// \return
- ///
- PINOCCHIO_DEPRECATED JointIndex getFrameParent(const std::string & name) const;
-
///
/// \brief Get the index of the joint supporting the frame given by its index.
///
@@ -315,15 +306,6 @@ namespace se3
/// \return
///
PINOCCHIO_DEPRECATED JointIndex getFrameParent(const FrameIndex index) const;
-
- ///
- /// \brief Get the type of the frame given by its index.
- ///
- /// \param[in] name Name of the frame.
- ///
- /// \return
- ///
- PINOCCHIO_DEPRECATED FrameType getFrameType(const std::string & name) const;
///
/// \brief Get the type of the frame given by its index.
@@ -334,15 +316,6 @@ namespace se3
///
PINOCCHIO_DEPRECATED FrameType getFrameType(const FrameIndex index) const;
- ///
- /// \brief Return the relative placement between a frame and its supporting joint.
- ///
- /// \param[in] name Name of the frame.
- ///
- /// \return The frame placement regarding the supporing joint.
- ///
- PINOCCHIO_DEPRECATED const SE3 & getFramePlacement(const std::string & name) const;
-
///
/// \brief Return the relative placement between a frame and its supporting joint.
///
diff --git a/src/multibody/model.hxx b/src/multibody/model.hxx
index 3dada82b4..10ca4422f 100644
--- a/src/multibody/model.hxx
+++ b/src/multibody/model.hxx
@@ -175,52 +175,16 @@ namespace se3
return frames[index].name;
}
- inline Model::JointIndex Model::getFrameParent( const std::string & name ) const
- {
- assert(existFrame(name) && "The Frame you requested does not exist");
- std::vector<Frame>::const_iterator it = std::find_if( frames.begin()
- , frames.end()
- , boost::bind(&Frame::name, _1) == name
- );
-
- std::vector<Frame>::iterator::difference_type it_diff = it - frames.begin();
- return getFrameParent(Model::JointIndex(it_diff));
- }
-
inline Model::JointIndex Model::getFrameParent( const FrameIndex index ) const
{
return frames[index].parent;
}
- inline FrameType Model::getFrameType( const std::string & name ) const
- {
- assert(existFrame(name) && "The Frame you requested does not exist");
- std::vector<Frame>::const_iterator it = std::find_if( frames.begin()
- , frames.end()
- , boost::bind(&Frame::name, _1) == name
- );
-
- std::vector<Frame>::iterator::difference_type it_diff = it - frames.begin();
- return getFrameType(Model::JointIndex(it_diff));
- }
-
inline FrameType Model::getFrameType( const FrameIndex index ) const
{
return frames[index].type;
}
- inline const SE3 & Model::getFramePlacement( const std::string & name) const
- {
- assert(existFrame(name) && "The Frame you requested does not exist");
- std::vector<Frame>::const_iterator it = std::find_if( frames.begin()
- , frames.end()
- , boost::bind(&Frame::name, _1) == name
- );
-
- std::vector<Frame>::iterator::difference_type it_diff = it - frames.begin();
- return getFramePlacement(Model::Index(it_diff));
- }
-
inline const SE3 & Model::getFramePlacement( const FrameIndex index ) const
{
return frames[index].placement;
--
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