Remove deprecated method commanline.

src/solver-kine.cpp

@@ -493,33 +493,7 @@ namespace dynamicgraph
 	  os <<"control = "<<controlSOUT.accessCopy() <<std::endl << std::endl;
 	}  catch (dynamicgraph::ExceptionSignal e) {}
 	stack_t::display(os);
-
       }
-
-      void SolverKine::
-      commandLine( const std::string& cmdLine,
-		   std::istringstream& cmdArgs,
-		   std::ostream& os )
-      {
-	if( cmdLine == "help" )
-	  {
-	    os << "SolverKine:\n"
-	       << "\t- debugOnce: open trace-file for next iteration of the solver." << std::endl;
-	    stackCommandLine( cmdLine,cmdArgs,os );
-	    Entity::commandLine( cmdLine,cmdArgs,os );
-	  }
-	else if( cmdLine == "debugOnce" )
-	  {
-	    debugOnce();
-	  }
-	/* TODO: add controlFreeFloating g/setter. */
-	else if( stackCommandLine( cmdLine,cmdArgs,os ) );
-	else
-	  {
-	    Entity::commandLine( cmdLine,cmdArgs,os );
-	  }
-      }
-
     } // namespace dyninv
   } // namespace sot
 } // namespace dynamicgraph

src/solver-kine.h

@@ -77,10 +77,6 @@ namespace dynamicgraph {
 
 	  virtual void display( std::ostream& os ) const;
 
-	  virtual void commandLine( const std::string& cmdLine,
-				    std::istringstream& cmdArgs,
-				    std::ostream& os );
-
 	public:  /* --- SIGNALS --- */
 
 	  DECLARE_SIGNAL_IN(damping,double);

src/solver-op-space.cpp

@@ -755,67 +755,6 @@ namespace dynamicgraph
 	stack_t::display(os);
 	dispContacts(os);
       }
-
-      void SolverOpSpace::
-      commandLine( const std::string& cmdLine,
-		   std::istringstream& cmdArgs,
-		   std::ostream& os )
-      {
-	if( cmdLine == "help" )
-	  {
-	    os << "SolverOpSpace:\n"
-	       << "\t- debugOnce: open trace-file for next iteration of the solver." << std::endl
-	       << "\t- addContact: create the contact signals, unpluged." << std::endl
-	       << "\t- addContactFromTask <taskName>: Add a contact from the named task." << std::endl
-	       << "\t- rmContact <name>: remove a contact." << std::endl
-	       << "\t- dispContacts: guess what?." << std::endl;
-	    stackCommandLine( cmdLine,cmdArgs,os );
-	    Entity::commandLine( cmdLine,cmdArgs,os );
-	  }
-	else if( cmdLine == "debugOnce" )
-	  {
-	    debugOnce();
-	  }
-	else if( cmdLine == "addContact" )
-	  {
-	    if( cmdArgs.good() )
-	      {
-		std::string name; cmdArgs >> name;
-		addContact( name,NULL,NULL,NULL,NULL );
-	      }
-	    else { os << "!! A name must be specified. " << std::endl; }
-	  }
-	else if( cmdLine == "addContactFromTask" )
-	  {
-	    if( cmdArgs.good() )
-	      {
-		std::string name; cmdArgs >> name;
-		addContactFromTask( name,name );
-	      }
-	    else { os << "!! A name must be specified. " << std::endl; }
-	  }
-	else if( cmdLine == "rmContact" )
-	  {
-	    cmdArgs >> std::ws;
-	    if( cmdArgs.good() )
-	      {
-		std::string name; cmdArgs >> name;
-		removeContact( name );
-	      }
-	    else { os << "!! A name must be specified. " << std::endl; }
-	  }
-	else if( cmdLine == "dispContacts" ) { dispContacts( os ); }
-	// TODO: cf sot-v1: else if( cmdLine == "listen" )
-	// 	{
-	// 	  hsolver->notifiorRegistration( sotOpSpaceH::hsolverListener );
-	// 	}
-	else if( stackCommandLine( cmdLine,cmdArgs,os ) );
-	else
-	  {
-	    Entity::commandLine( cmdLine,cmdArgs,os );
-	  }
-      }
-
     } // namespace dyninv
   } // namespace sot
 } // namespace dynamicgraph

src/solver-op-space.h

@@ -77,10 +77,6 @@ namespace dynamicgraph {
 
 	  virtual void display( std::ostream& os ) const;
 
-	  virtual void commandLine( const std::string& cmdLine,
-				    std::istringstream& cmdArgs,
-				    std::ostream& os );
-
 	public:  /* --- SIGNALS --- */
 
 	  DECLARE_SIGNAL_IN(matrixInertia,ml::Matrix);

src/stack-template.h

@@ -145,30 +145,6 @@ namespace dynamicgraph {
 
 	/*! @{ */
 
-	/* To use the macro, the typedef sot::Stack<TaskSpec> stack_t has to be set,
-	 * as well as the EntityClassName. */
-	//#define ADD_COMMANDS_FOR_THE_STACK /// Code in the .t.cpp
-
-
-	/*! \brief This method deals with the command line.
-	  The command given in argument is send to the stack of tasks by the shell.
-	  The command understood by sot are:
-	  <ul>
-	  <li> Tasks
-	  <ul>
-	  <li> push <task> : Push a task in the stack (FILO).
-	  <li> pop : Remove the task push in the stack.
-	  <li> down <task> : Make the task have a higher priority, i.e.
-	  swap with the task immediatly superior in priority.
-	  <li> up <task> : Make the task have a lowest priority, i.e.
-	  swap with the task immediatly inferior in priority.
-	  <li> rm <task> : Remove the task from the stack.
-	  </ul>
-	*/
-	virtual bool stackCommandLine( const std::string& cmdLine,
-				       std::istringstream& cmdArgs,
-				       std::ostream& os );
-
 	void pushByTaskName( const std::string& taskName );
 	void removeByTaskName( const std::string& taskName );
 	void upByTaskName( const std::string& taskName );

src/stack-template.t.cpp

@@ -209,78 +209,6 @@ namespace dynamicgraph
     ACT_BY_TASK_NAME(up)
     ACT_BY_TASK_NAME(down)
 
-    template< typename TaskGeneric >
-    bool Stack<TaskGeneric>::
-    stackCommandLine( const std::string& cmdLine,
-		      std::istringstream& cmdArgs,
-		      std::ostream& os )
-    {
-      sotDEBUGIN(15);
-
-      if( cmdLine == "help")
-	{
-	  os << "Stack of Tasks: "<<std::endl
-	     << " - push <task>"<< std::endl
-	     << " - pop"<< std::endl
-	     << " - down <task>"<< std::endl
-	     << " - up <task>"<< std::endl
-	     << " - rm <task>"<< std::endl
-	     << " - clear"<< std::endl
-	     << " - display"<< std::endl
-
-	     << " - nbDofs <nb> "<<std::endl;
-	}
-      else if( cmdLine == "clear")
-	{
-	  clear();
-	}
-      else if( cmdLine == "push")
-	{
-	  std::string tname; cmdArgs >> tname;
-	  pushByTaskName(tname);
-	}
-      else if( cmdLine == "up")
-	{
-	  std::string tname; cmdArgs >> tname;
-	  upByTaskName(tname);
-	}
-      else if( cmdLine == "down")
-	{
-	  std::string tname; cmdArgs >> tname;
-	  downByTaskName(tname);
-	}
-      else if( cmdLine == "rm")
-	{
-	  std::string tname; cmdArgs >> tname;
-	  removeByTaskName(tname);
-	}
-      else if( cmdLine == "pop")
-	{
-	  TaskGeneric& task = pop();
-	  os << "Remove : "<< task << std::endl;
-	}
-
-      else if( cmdLine == "nbDofs")
-	{
-	  cmdArgs>>std::ws;
-	  if( cmdArgs.good() )
-	    {
-	      unsigned int nbDof;
-	      cmdArgs >> nbDof;
-	      defineNbDof(nbDof);
-	    } else { os << "nbDofs = "<< nbDofs <<std::endl; }
-	}
-      else if( cmdLine == "display")
-	{
-	  display(os);
-	}
-      else return false;
-
-      return true;
-
-      sotDEBUGOUT(15);
-    }
-
     template< typename TaskGeneric >
     std::ostream& Stack<TaskGeneric>::
     writeGraph( const std::string & name, std::ostream& os ) const