Verified Commit 6ea12e45 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

collision: remove deprecated fields

parent fb517960
// //
// Copyright (c) 2015-2020 CNRS INRIA // Copyright (c) 2015-2021 CNRS INRIA
// //
#ifndef __pinocchio_multibody_geometry_hpp__ #ifndef __pinocchio_multibody_geometry_hpp__
...@@ -189,19 +189,6 @@ namespace pinocchio ...@@ -189,19 +189,6 @@ namespace pinocchio
std::vector<bool> activeCollisionPairs; std::vector<bool> activeCollisionPairs;
#ifdef PINOCCHIO_WITH_HPP_FCL #ifdef PINOCCHIO_WITH_HPP_FCL
///
/// \brief Collision objects (ie a fcl placed geometry).
///
/// The object contains a pointer on the collision geometries contained in geomModel.geometryObjects.
/// \sa GeometryModel::geometryObjects and GeometryObjects
///
PINOCCHIO_DEPRECATED std::vector<fcl::CollisionObject> collisionObjects;
///
/// \brief Defines what information should be computed by distance computation.
///
/// \deprecated use \ref distanceRequests instead
PINOCCHIO_DEPRECATED fcl::DistanceRequest distanceRequest;
/// ///
/// \brief Defines what information should be computed by distance computation. /// \brief Defines what information should be computed by distance computation.
...@@ -213,12 +200,6 @@ namespace pinocchio ...@@ -213,12 +200,6 @@ namespace pinocchio
/// ///
std::vector<fcl::DistanceResult> distanceResults; std::vector<fcl::DistanceResult> distanceResults;
///
/// \brief Defines what information should be computed by collision test.
///
/// \deprecated use \ref collisionRequests instead
PINOCCHIO_DEPRECATED fcl::CollisionRequest collisionRequest;
/// ///
/// \brief Defines what information should be computed by collision test. /// \brief Defines what information should be computed by collision test.
/// There is one request per pair of geometries. /// There is one request per pair of geometries.
......
// //
// Copyright (c) 2015-2020 CNRS INRIA // Copyright (c) 2015-2021 CNRS INRIA
// //
#ifndef __pinocchio_multibody_geometry_hxx__ #ifndef __pinocchio_multibody_geometry_hxx__
...@@ -18,17 +18,13 @@ ...@@ -18,17 +18,13 @@
namespace pinocchio namespace pinocchio
{ {
// Avoid deprecated warning of collisionObjects
PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
inline GeometryData::GeometryData(const GeometryModel & geom_model) inline GeometryData::GeometryData(const GeometryModel & geom_model)
: oMg(geom_model.ngeoms) : oMg(geom_model.ngeoms)
, activeCollisionPairs(geom_model.collisionPairs.size(), true) , activeCollisionPairs(geom_model.collisionPairs.size(), true)
#ifdef PINOCCHIO_WITH_HPP_FCL #ifdef PINOCCHIO_WITH_HPP_FCL
, distanceRequest(true)
, distanceRequests(geom_model.collisionPairs.size(), hpp::fcl::DistanceRequest(true)) , distanceRequests(geom_model.collisionPairs.size(), hpp::fcl::DistanceRequest(true))
, distanceResults(geom_model.collisionPairs.size()) , distanceResults(geom_model.collisionPairs.size())
, collisionRequest(::hpp::fcl::NO_REQUEST,1)
, collisionRequests(geom_model.collisionPairs.size(), hpp::fcl::CollisionRequest(::hpp::fcl::NO_REQUEST,1)) , collisionRequests(geom_model.collisionPairs.size(), hpp::fcl::CollisionRequest(::hpp::fcl::NO_REQUEST,1))
, collisionResults(geom_model.collisionPairs.size()) , collisionResults(geom_model.collisionPairs.size())
, radius() , radius()
...@@ -38,11 +34,6 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS ...@@ -38,11 +34,6 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
, outerObjects() , outerObjects()
{ {
#ifdef PINOCCHIO_WITH_HPP_FCL #ifdef PINOCCHIO_WITH_HPP_FCL
collisionObjects.reserve(geom_model.geometryObjects.size());
BOOST_FOREACH(const GeometryObject & geom_object, geom_model.geometryObjects)
{
collisionObjects.push_back(fcl::CollisionObject(geom_object.geometry));
}
BOOST_FOREACH(hpp::fcl::CollisionRequest & creq, collisionRequests) BOOST_FOREACH(hpp::fcl::CollisionRequest & creq, collisionRequests)
{ {
creq.enable_cached_gjk_guess = true; creq.enable_cached_gjk_guess = true;
...@@ -61,11 +52,8 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS ...@@ -61,11 +52,8 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
: oMg (other.oMg) : oMg (other.oMg)
, activeCollisionPairs (other.activeCollisionPairs) , activeCollisionPairs (other.activeCollisionPairs)
#ifdef PINOCCHIO_WITH_HPP_FCL #ifdef PINOCCHIO_WITH_HPP_FCL
, collisionObjects (other.collisionObjects)
, distanceRequest (other.distanceRequest)
, distanceRequests (other.distanceRequests) , distanceRequests (other.distanceRequests)
, distanceResults (other.distanceResults) , distanceResults (other.distanceResults)
, collisionRequest (other.collisionRequest)
, collisionRequests (other.collisionRequests) , collisionRequests (other.collisionRequests)
, collisionResults (other.collisionResults) , collisionResults (other.collisionResults)
, radius (other.radius) , radius (other.radius)
...@@ -76,7 +64,6 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS ...@@ -76,7 +64,6 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
{} {}
inline GeometryData::~GeometryData() {} inline GeometryData::~GeometryData() {}
PINOCCHIO_COMPILER_DIAGNOSTIC_POP
template<typename S2, int O2, template<typename,int> class JointCollectionTpl> template<typename S2, int O2, template<typename,int> class JointCollectionTpl>
GeomIndex GeometryModel::addGeometryObject(const GeometryObject & object, GeomIndex GeometryModel::addGeometryObject(const GeometryObject & object,
......
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