all: remove deprecated Model::neutralConfiguration

bindings/python/multibody/model.hpp

@@ -122,17 +122,7 @@ namespace pinocchio
         .add_property("parents",&Model::parents)
         .add_property("names",&Model::names)
         .add_property("name",&Model::name)
-        .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.");
-#pragma GCC diagnostic pop
-        cl
+        .add_property("referenceConfigurations", &Model::referenceConfigurations)
         .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>()),

bindings/python/pinocchio/deprecated.py

@@ -42,21 +42,6 @@ def _Model__BuildEmptyModel():
 
 pin.Model.BuildEmptyModel = staticmethod(_Model__BuildEmptyModel)
 
-# deprecate Model.neutralConfiguration. Since: 19 feb 2019
-def _Model__neutralConfiguration(self):
-    message = "Using deprecated instance variable Model.neutralConfiguration. Please use Model.referenceConfigurations instead."
-    _warnings.warn(message, DeprecatedWarning, stacklevel=2)
-    return self._neutralConfiguration
-
-pin.Model.neutralConfiguration = property(_Model__neutralConfiguration)
-
-def _Model__set_neutralConfiguration(self,q):
-    message = "Using deprecated instance variable Model.neutralConfiguration. Please use Model.referenceConfigurations instead."
-    _warnings.warn(message, DeprecatedWarning, stacklevel=2)
-    self._neutralConfiguration = q
-
-pin.Model.neutralConfiguration = pin.Model.neutralConfiguration.setter(_Model__set_neutralConfiguration)
-
 @deprecated("This function has been renamed updateFramePlacements when taking two arguments, and framesForwardKinematics when taking three. Please change your code to the appropriate method.")
 def framesKinematics(model,data,q=None):
   if q is None:
@@ -142,13 +127,11 @@ def differentiate(model,q0,q1):
 @deprecated("This function has been renamed loadReferenceConfigurations and will be removed in future releases of Pinocchio. Please change for new loadReferenceConfigurations function.")
 def getNeutralConfigurationFromSrdf(model, filename, verbose):
   pin.loadReferenceConfigurations(model,filename,verbose)
-  model.neutralConfiguration = model.referenceConfigurations["half_sitting"]
   return model.referenceConfigurations["half_sitting"]
 
 @deprecated("This function has been renamed loadReferenceConfigurations and will be removed in future releases of Pinocchio. Please change for new loadReferenceConfigurations function.")
 def getNeutralConfiguration(model, filename, verbose):
   pin.loadReferenceConfigurations(model,filename,verbose)
-  model.neutralConfiguration = model.referenceConfigurations["half_sitting"]
   return model.referenceConfigurations["half_sitting"]
 
 @deprecated("This function has been renamed difference and will be removed in future releases of Pinocchio. Please change for new loadRotorParameters function.")

examples/overview-simple.py

@@ -5,7 +5,7 @@ import pinocchio
 model = pinocchio.buildSampleModelManipulator()
 data = model.createData()
 
-q = model.neutralConfiguration
+q = pinocchio.neutral(model)
 v = pinocchio.utils.zero(model.nv)
 a = pinocchio.utils.zero(model.nv)
 

src/codegen/code-generator-algo.hpp

 //
-// Copyright (c) 2018 CNRS
+// Copyright (c) 2018-2019 CNRS INRIA
 //
 
 #ifndef __pinocchio_utils_code_generator_algo_hpp__
@@ -8,6 +8,8 @@
 #ifdef PINOCCHIO_WITH_CPPADCG_SUPPORT
 
 #include "pinocchio/codegen/code-generator-base.hpp"
+
+#include "pinocchio/algorithm/joint-configuration.hpp"
 #include "pinocchio/algorithm/crba.hpp"
 #include "pinocchio/algorithm/rnea.hpp"
 #include "pinocchio/algorithm/aba.hpp"
@@ -33,7 +35,7 @@ namespace pinocchio
                 const std::string & library_name = "cg_rnea_eval")
     : Base(model,model.nq+2*model.nv,model.nv,function_name,library_name)
     {
-      ad_q = ADCongigVectorType(model.nq); ad_q = ad_model.neutralConfiguration;
+      ad_q = ADCongigVectorType(model.nq); ad_q = neutral(model);
       ad_v = ADTangentVectorType(model.nv); ad_v.setZero();
       ad_a = ADTangentVectorType(model.nv); ad_a.setZero();
       x = VectorXs::Zero(Base::getInputDimension());
@@ -131,7 +133,7 @@ namespace pinocchio
                const std::string & library_name = "cg_aba_eval")
     : Base(model,model.nq+2*model.nv,model.nv,function_name,library_name)
     {
-      ad_q = ADCongigVectorType(model.nq); ad_q = ad_model.neutralConfiguration;
+      ad_q = ADCongigVectorType(model.nq); ad_q = neutral(model);
       ad_v = ADTangentVectorType(model.nv); ad_v.setZero();
       ad_tau = ADTangentVectorType(model.nv); ad_tau.setZero();
       x = VectorXs::Zero(Base::getInputDimension());
@@ -229,7 +231,7 @@ namespace pinocchio
                 const std::string & library_name = "cg_crba_eval")
     : Base(model,model.nq,(model.nv*(model.nv+1))/2,function_name,library_name)
     {
-      ad_q = ADCongigVectorType(model.nq); ad_q = ad_model.neutralConfiguration;
+      ad_q = ADCongigVectorType(model.nq); ad_q = neutral(model);
       x = VectorXs::Zero(Base::getInputDimension());
       res = VectorXs::Zero(Base::getOutputDimension());
       
@@ -317,7 +319,7 @@ namespace pinocchio
                 const std::string & library_name = "cg_minv_eval")
     : Base(model,model.nq,(model.nv*(model.nv+1))/2,function_name,library_name)
     {
-      ad_q = ADCongigVectorType(model.nq); ad_q = ad_model.neutralConfiguration;
+      ad_q = ADCongigVectorType(model.nq); ad_q = neutral(model);
       x = VectorXs::Zero(Base::getInputDimension());
       res = VectorXs::Zero(Base::getOutputDimension());
       
@@ -407,7 +409,7 @@ namespace pinocchio
                            const std::string & library_name = "cg_partial_rnea_eval")
     : Base(model,model.nq+2*model.nv,3*model.nv*model.nv,function_name,library_name)
     {
-      ad_q = ADCongigVectorType(model.nq); ad_q = ad_model.neutralConfiguration;
+      ad_q = ADCongigVectorType(model.nq); ad_q = neutral(model);
       ad_v = ADTangentVectorType(model.nv); ad_v.setZero();
       ad_a = ADTangentVectorType(model.nv); ad_a.setZero();
       
@@ -516,7 +518,7 @@ namespace pinocchio
                           const std::string & library_name = "cg_partial_aba_eval")
     : Base(model,model.nq+2*model.nv,3*model.nv*model.nv,function_name,library_name)
     {
-      ad_q = ADCongigVectorType(model.nq); ad_q = ad_model.neutralConfiguration;
+      ad_q = ADCongigVectorType(model.nq); ad_q = neutral(model);
       ad_v = ADTangentVectorType(model.nv); ad_v.setZero();
       ad_tau = ADTangentVectorType(model.nv); ad_tau.setZero();
       

src/multibody/model.hpp

@@ -111,10 +111,6 @@ namespace pinocchio
 
     /// \brief Name of joint *i*
     std::vector<std::string> names;
-    
-    /// \brief Vector of joint's neutral configurations
-    PINOCCHIO_DEPRECATED
-    ConfigVectorType neutralConfiguration;
 
     /// \brief Map of reference configurations, indexed by user given names.
     ConfigVectorMap referenceConfigurations;
@@ -209,11 +205,6 @@ namespace pinocchio
       res.nvs = nvs;
       
       // 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>();
@@ -276,16 +267,7 @@ namespace pinocchio
       && other.nqs == nqs
       && other.idx_vs == idx_vs
       && other.nvs == nvs;
-      
-      /// TODO: remove this pragma when neutralConfiguration will be removed
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-      if(other.neutralConfiguration.size() != neutralConfiguration.size())
-        return false;
-      res &= other.neutralConfiguration == neutralConfiguration;
-      if(!res) return res;
-#pragma GCC diagnostic pop
-      
+
       if(other.referenceConfigurations.size() != referenceConfigurations.size())
         return false;
       res &= other.referenceConfigurations == referenceConfigurations;

src/multibody/model.hxx

@@ -110,14 +110,6 @@ 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();
       rotorGearRatio.conservativeResize(nv);

src/parsers/srdf.hpp

@@ -70,33 +70,6 @@ namespace pinocchio
     
 #endif // ifdef PINOCCHIO_WITH_HPP_FCL
 
-    ///
-    /// \brief Get the neutral configuration of a given model associated to a SRDF file.
-    ///        It throws if the SRDF file is incorrect.
-    ///
-    /// \param[in] model The Model for which we want the neutral config
-    /// \param[in] filename The complete path to the SRDF file.
-    /// \param[in] verbose Verbosity mode.
-    ///
-    /// \return The neutral configuration as an eigen vector
-    ///
-    template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
-    PINOCCHIO_DEPRECATED
-    typename ModelTpl<Scalar,Options,JointCollectionTpl>::ConfigVectorType
-    getNeutralConfiguration(ModelTpl<Scalar,Options,JointCollectionTpl> & model,
-                            const std::string & filename,
-                            const bool verbose = false);
-    
-    /// \copydoc pinocchio::srdf::getNeutralConfiguration
-    template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
-    PINOCCHIO_DEPRECATED
-    typename ModelTpl<Scalar,Options,JointCollectionTpl>::ConfigVectorType
-    getNeutralConfigurationFromSrdf(ModelTpl<Scalar,Options,JointCollectionTpl> & model,
-                                    const std::string & filename,
-                                    const bool verbose = false)
-    { return getNeutralConfiguration(model,filename,verbose); }
-
-
     ///
     /// \brief Get the reference configurations of a given model associated to a SRDF file.
     ///        It throws if the SRDF file is incorrect. The reference configurations are

src/parsers/srdf.hxx

@@ -201,88 +201,6 @@ namespace pinocchio
       PINOCCHIO_CHECK_INPUT_ARGUMENT(false, "no rotor params found in the SRDF file");  
       return false; // warning : uninitialized vector is returned
     }
-    
-    template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
-    typename ModelTpl<Scalar,Options,JointCollectionTpl>::ConfigVectorType
-    getNeutralConfiguration(ModelTpl<Scalar,Options,JointCollectionTpl> & model,
-                            const std::string & filename,
-                            const bool verbose)
-    {
-      typedef ModelTpl<Scalar,Options,JointCollectionTpl> Model;
-      typedef typename Model::JointModel JointModel;
-
-      // Check extension
-      const std::string extension = filename.substr(filename.find_last_of('.')+1);
-      if (extension != "srdf")
-      {
-        const std::string exception_message (filename + " does not have the right extension.");
-        throw std::invalid_argument(exception_message);
-      }
-      
-      // Open file
-      std::ifstream srdf_stream(filename.c_str());
-      if (! srdf_stream.is_open())
-      {
-        const std::string exception_message (filename + " does not seem to be a valid file.");
-        throw std::invalid_argument(exception_message);
-      }
-      
-      // Read xml stream
-      using boost::property_tree::ptree;
-      ptree pt;
-      read_xml(srdf_stream, pt);
-      
-      // Iterate over all tags directly children of robot
-      BOOST_FOREACH(const ptree::value_type & v, pt.get_child("robot"))
-      {
-        // if we encounter a tag group_state
-        if (v.first == "group_state")
-        {
-          const std::string name = v.second.get<std::string>("<xmlattr>.name");
-          // Ensure that it is the half_sitting tag
-          if( name == "half_sitting")
-          {
-            // Iterate over all the joint tags
-            BOOST_FOREACH(const ptree::value_type & joint_tag, v.second)
-            {
-              if (joint_tag.first == "joint")
-              {
-                std::string joint_name = joint_tag.second.get<std::string>("<xmlattr>.name");
-                typename Model::JointIndex joint_id = model.getJointId(joint_name);
-
-                // Search in model the joint and its config id
-                if (joint_id != model.joints.size()) // != model.njoints
-                {
-                  const JointModel & joint = model.joints[joint_id];
-                  typename Model::ConfigVectorType joint_config(joint.nq());
-                  const std::string joint_val = joint_tag.second.get<std::string>("<xmlattr>.value");
-                  std::istringstream config_string(joint_val);
-                  std::vector<double> config_vec((std::istream_iterator<double>(config_string)), std::istream_iterator<double>());
-                  joint_config = Eigen::Map<typename Model::ConfigVectorType>(config_vec.data(), config_vec.size());
-                  model.neutralConfiguration.segment(joint.idx_q(),joint.nq()) = joint_config;
-                  if (verbose)
-                  {
-                    std::cout << "(" << joint_name << " , " << joint_config.transpose() << ")" << std::endl;
-                  }
-                }
-                else
-                {
-                  if (verbose) std::cout << "The Joint " << joint_name << " was not found in model" << std::endl;
-                }
-
-              }
-            }
-            return model.neutralConfiguration;
-          }
-          
-        }
-      } // BOOST_FOREACH
-      
-      if (verbose) std::cout << "no half_sitting configuration found in the SRDF file"; // Should we throw something here ?  
-      typename Model::ConfigVectorType config (model.nq);
-      neutral (model, config);
-      return config;
-    }
 
     template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
     struct LoadReferenceConfigurationStep

src/serialization/model.hpp

@@ -41,11 +41,6 @@ namespace boost
       ar & make_nvp("gravity",model.gravity);
       ar & make_nvp("name",model.name);
       
-      // TODO: remove this pragma when neutralConfiguration will be removed
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-      ar & make_nvp("neutralConfiguration",model.neutralConfiguration);
-#pragma GCC diagnostic pop
       ar & make_nvp("referenceConfigurations",model.referenceConfigurations);
       ar & make_nvp("rotorInertia",model.rotorInertia);
       ar & make_nvp("rotorGearRatio",model.rotorGearRatio);