From 426e830818c1b700dad4c14853960c818ec08660 Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Mon, 8 Aug 2016 14:59:42 +0200
Subject: [PATCH] [Model] Set some frame methods deprecated
---
src/multibody/model.hpp | 18 ++++++++++--------
1 file changed, 10 insertions(+), 8 deletions(-)
diff --git a/src/multibody/model.hpp b/src/multibody/model.hpp
index effcacb02..4fdebcb73 100644
--- a/src/multibody/model.hpp
+++ b/src/multibody/model.hpp
@@ -27,6 +27,8 @@
#include "pinocchio/multibody/fwd.hpp"
#include "pinocchio/multibody/frame.hpp"
#include "pinocchio/multibody/joint/joint.hpp"
+#include "pinocchio/deprecated.hh"
+
#include <iostream>
#include <Eigen/Cholesky>
@@ -262,7 +264,7 @@ namespace se3
///
/// \return The name of the frame.
///
- const std::string & getFrameName (const FrameIndex index) const;
+ PINOCCHIO_DEPRECATED const std::string & getFrameName (const FrameIndex index) const;
///
/// \brief Get the index of the joint supporting the frame given by its name.
@@ -271,7 +273,7 @@ namespace se3
///
/// \return
///
- JointIndex getFrameParent(const std::string & name) const;
+ PINOCCHIO_DEPRECATED JointIndex getFrameParent(const std::string & name) const;
///
/// \brief Get the index of the joint supporting the frame given by its index.
@@ -280,7 +282,7 @@ namespace se3
///
/// \return
///
- JointIndex getFrameParent(const FrameIndex index) const;
+ PINOCCHIO_DEPRECATED JointIndex getFrameParent(const FrameIndex index) const;
///
/// \brief Get the type of the frame given by its index.
@@ -289,7 +291,7 @@ namespace se3
///
/// \return
///
- FrameType getFrameType(const std::string & name) const;
+ PINOCCHIO_DEPRECATED FrameType getFrameType(const std::string & name) const;
///
/// \brief Get the type of the frame given by its index.
@@ -298,7 +300,7 @@ namespace se3
///
/// \return
///
- FrameType getFrameType(const FrameIndex index) const;
+ PINOCCHIO_DEPRECATED FrameType getFrameType(const FrameIndex index) const;
///
/// \brief Return the relative placement between a frame and its supporting joint.
@@ -307,7 +309,7 @@ namespace se3
///
/// \return The frame placement regarding the supporing joint.
///
- const SE3 & getFramePlacement(const std::string & name) const;
+ PINOCCHIO_DEPRECATED const SE3 & getFramePlacement(const std::string & name) const;
///
/// \brief Return the relative placement between a frame and its supporting joint.
@@ -316,7 +318,7 @@ namespace se3
///
/// \return The frame placement regarding the supporing joint.
///
- const SE3 & getFramePlacement(const FrameIndex index) const;
+ PINOCCHIO_DEPRECATED const SE3 & getFramePlacement(const FrameIndex index) const;
///
/// \brief Adds a frame to the kinematic tree.
@@ -337,7 +339,7 @@ namespace se3
///
/// \return Returns true if the frame has been successfully added.
///
- bool addFrame(const std::string & name, const JointIndex parent, const SE3 & placement, const FrameType type = OP_FRAME);
+ PINOCCHIO_DEPRECATED bool addFrame(const std::string & name, const JointIndex parent, const SE3 & placement, const FrameType type = OP_FRAME);
protected:
--
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