Verified Commit c5a0e4f1 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

python/deprecated: clean deprecated functions

parent 3103db9a
......@@ -22,64 +22,6 @@ StdVect_SE3 = deprecated("Please use StdVec_SE3")(pin.StdVec_SE3)
StdVect_Force = deprecated("Please use StdVec_Force")(pin.StdVec_Force)
StdVect_Motion = deprecated("Please use StdVec_Motion")(pin.StdVec_Motion)
@deprecated("This function has been renamed to impulseDynamics for consistency with the C++ interface. Please change for impulseDynamics.")
def impulseDynamics(model, data, q, v_before, J, r_coeff=0.0, update_kinematics=True):
return pin.impulseDynamics(model, data, q, v_before, J, r_coeff, update_kinematics)
@deprecated("This function has been deprecated. Please use buildSampleModelHumanoid or buildSampleModelHumanoidRandom instead.")
def buildSampleModelHumanoidSimple(usingFF=True):
return pin.buildSampleModelHumanoidRandom(usingFF)
@deprecated("Static method Model.BuildHumanoidSimple has been deprecated. Please use function buildSampleModelHumanoid or buildSampleModelHumanoidRandom instead.")
def _Model__BuildHumanoidSimple(usingFF=True):
return pin.buildSampleModelHumanoidRandom(usingFF)
pin.Model.BuildHumanoidSimple = staticmethod(_Model__BuildHumanoidSimple)
@deprecated("Static method Model.BuildEmptyModel has been deprecated. Please use the empty Model constructor instead.")
def _Model__BuildEmptyModel():
return pin.Model()
pin.Model.BuildEmptyModel = staticmethod(_Model__BuildEmptyModel)
@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:
pin.updateFramePlacements(model,data)
else:
pin.framesForwardKinematics(model,data,q)
@deprecated("This function has been renamed difference and will be removed in future releases of Pinocchio. Please change for new difference function.")
def differentiate(model,q0,q1):
return pin.difference(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)
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)
return model.referenceConfigurations["half_sitting"]
@deprecated("This function will be removed in future releases of Pinocchio. You can use exp or exp6.")
def exp6FromMotion(motion):
return pin.exp6(motion)
@deprecated("This function will be removed in future releases of Pinocchio. You can build a Motion object from a 6D vector and use the standard exp function to recover the same behavior.")
def exp6FromVector(vector6):
v = pin.Motion(vector6)
return pin.exp6(v)
@deprecated("This function will be removed in future releases of Pinocchio. You can use log or log6.")
def log6FromSE3(transform):
return pin.log6(transform)
@deprecated("This function will be removed in future releases of Pinocchio. You can use log or log6.")
def log6FromMatrix(matrix4):
return pin.log6(matrix4)
# This function is only deprecated when using a specific signature. Therefore, it needs special care
# Marked as deprecated on 16 Sept 2019
def impulseDynamics(model, data, *args):
......
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