all: suppress some warnings coming from deprecated Model::neutralConfiguration

bindings/python/multibody/model.hpp

@@ -83,11 +83,17 @@ namespace pinocchio
         .add_property("parents",&Model::parents)
         .add_property("names",&Model::names)
         .add_property("name",&Model::name)
-        .add_property("referenceConfigurations", &Model::referenceConfigurations)
+        .add_property("referenceConfigurations", &Model::referenceConfigurations);
+        /// TODO: remove this pragma when neutralConfiguration will be removed
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+        cl
         .add_property("neutralConfiguration",
                       make_getter(&Model::neutralConfiguration, bp::return_value_policy<bp::return_by_value>()),
                       make_setter(&Model::neutralConfiguration, bp::return_value_policy<bp::return_by_value>()),
-                      "Joint's neutral configurations.")
+                      "Joint's neutral configurations.");
+#pragma GCC diagnostic pop
+        cl
         .add_property("rotorInertia",
                       make_getter(&Model::rotorInertia, bp::return_value_policy<bp::return_by_value>()),
                       make_setter(&Model::rotorInertia, bp::return_value_policy<bp::return_by_value>()),

src/multibody/model.hpp

@@ -183,7 +183,11 @@ namespace pinocchio
       res.name = name;
       
       /// Eigen Vectors
+      /// TODO: remove this pragma when neutralConfiguration will be removed
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
       res.neutralConfiguration = neutralConfiguration.template cast<NewScalar>();
+#pragma GCC diagnostic pop
       res.rotorInertia = rotorInertia.template cast<NewScalar>();
       res.rotorGearRatio = rotorGearRatio.template cast<NewScalar>();
       res.effortLimit = effortLimit.template cast<NewScalar>();
@@ -220,7 +224,11 @@ namespace pinocchio
         res.frames[k] = frames[k].template cast<NewScalar>();
       }
       
+      /// TODO: remove this pragma when neutralConfiguration will be removed
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
       return res;
+#pragma GCC diagnostic pop
     }
     
     ///
@@ -240,10 +248,14 @@ namespace pinocchio
       && other.names == names
       && other.subtrees == subtrees
       && other.gravity == gravity
-      && other.name == name
-
-      && other.neutralConfiguration == neutralConfiguration
-      && other.referenceConfigurations == referenceConfigurations
+      && other.name == name;
+
+      /// TODO: remove this pragma when neutralConfiguration will be removed
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+      res &= other.neutralConfiguration == neutralConfiguration;
+#pragma GCC diagnostic pop
+      res &= other.referenceConfigurations == referenceConfigurations
       && other.rotorInertia == rotorInertia
       && other.rotorGearRatio == rotorGearRatio
       && other.effortLimit == effortLimit

src/multibody/model.hxx

@@ -101,9 +101,13 @@ namespace pinocchio
     upperPositionLimit.conservativeResize(nq);
     jmodel.jointConfigSelector(upperPositionLimit) = max_config;
     
+    /// TODO: remove this pragma when neutralConfiguration will be removed
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
     neutralConfiguration.conservativeResize(nq);
     typedef NeutralStep<LieGroupMap,ConfigVectorType> NeutralVisitor;
     NeutralStepAlgo<NeutralVisitor,JointModelDerived>::run(jmodel,neutralConfiguration);
+#pragma GCC diagnostic pop
 
     rotorInertia.conservativeResize(nv);
     jmodel.jointVelocitySelector(rotorInertia).setZero();

unittest/joint-configurations.cpp

@@ -193,8 +193,8 @@ BOOST_AUTO_TEST_CASE ( distance_configuration_test )
 {
   Model model; buildModel(model);
   
-  Eigen::VectorXd q0 = neutral(model);
-  Eigen::VectorXd q1(integrate (model, q0, Eigen::VectorXd::Ones(model.nv)));
+  Model::ConfigVectorType q0 = neutral(model);
+  Model::ConfigVectorType q1(integrate (model, q0, Model::TangentVectorType::Ones(model.nv)));
 
   double dist = distance(model,q0,q1);