diff --git a/CMakeLists.txt b/CMakeLists.txt
index 80195df552a26b3e359a87678a1c03f23ba9e611..52942a00705eb126393a79ed9e9601020b8cdcf4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -71,7 +71,6 @@ CONFIG_FILES (doc/main.hh
SET (${PROJECT_NAME}_HEADERS
${CMAKE_BINARY_DIR}/include/hpp/manipulation/package-config.hh
include/hpp/manipulation/fwd.hh
- include/hpp/manipulation/axial-handle.hh
include/hpp/manipulation/handle.hh
include/hpp/manipulation/problem.hh
include/hpp/manipulation/problem-solver.hh
diff --git a/include/hpp/manipulation/axial-handle.hh b/include/hpp/manipulation/axial-handle.hh
deleted file mode 100644
index 77dbb4d51fe9e9480815b6505da7040b5370987b..0000000000000000000000000000000000000000
--- a/include/hpp/manipulation/axial-handle.hh
+++ /dev/null
@@ -1,98 +0,0 @@
-///
-/// Copyright (c) 2014 CNRS
-/// Authors: Florent Lamiraux
-///
-///
-// This file is part of hpp-manipulation.
-// hpp-manipulation is free software: you can redistribute it
-// and/or modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation, either version
-// 3 of the License, or (at your option) any later version.
-//
-// hpp-manipulation is distributed in the hope that it will be
-// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
-// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-// General Lesser Public License for more details. You should have
-// received a copy of the GNU Lesser General Public License along with
-// hpp-manipulation. If not, see
-// <http://www.gnu.org/licenses/>.
-
-#ifndef HPP_MANIPULATION_AXIAL_HANDLE_HH
-# define HPP_MANIPULATION_AXIAL_HANDLE_HH
-
-# include <hpp/manipulation/handle.hh>
-# include <hpp/manipulation/deprecated.hh>
-
-namespace hpp {
- namespace manipulation {
- /// Handle symmetric around its z-axis. The constraint defined for a grasp
- /// by a gripper is free to rotate around z-axis.
- /// \deprecated This class is deprecated. Use class Handle with appropriate
- /// mask
- class HPP_MANIPULATION_DLLAPI AxialHandle : public Handle
- {
- public:
- static std::string className;
- /// Create constraint corresponding to a gripper grasping this object
- /// \param robot the robot that grasps the handle,
- /// \param grasp object containing the grasp information
- /// \return the constraint of relative position between the handle and
- /// the gripper. The rotation around x is not constrained.
- /// \deprecated This class is deprecated. The method creates an instance
- /// of Handle with appropriate mask
- static AxialHandlePtr_t create (const std::string& name,
- const Transform3f& localPosition,
- const JointPtr_t& joint)
- HPP_MANIPULATION_DEPRECATED;
-
- /// Return a pointer to the copy of this
- virtual HandlePtr_t clone () const;
-
- /// Create constraint corresponding to a gripper grasping this handle
- /// \param gripper object containing the gripper information
- /// \return the constraint of relative transformation between the handle
- /// and the gripper.
- /// \note 5 degrees of freedom are constrained. Rotation around z is free.
- virtual NumericalConstraintPtr_t createGrasp
- (const GripperPtr_t& gripper, std::string name) const;
-
- /// Create complement constraint of gripper grasping this handle
- /// \param gripper object containing the gripper information
- /// \return trivial constraint
- /// \note 1 degree of freedom is constrained: rotation around z.
- /// \note the constraint is parameterizable: non constant right hand side.
- virtual NumericalConstraintPtr_t createGraspComplement
- (const GripperPtr_t& gripper, std::string name) const;
-
- /// Create constraint corresponding to a pregrasping task.
- /// \param gripper object containing the gripper information
- /// \return the constraint of relative transformation between the handle and
- /// the gripper.
- /// \note The translation along x-axis and the rotation around z-axis are not constrained.
- /// \todo this function is never called. It should follow changes of
- /// Handle::createPreGrasp prototype.
- virtual NumericalConstraintPtr_t createPreGrasp
- (const GripperPtr_t& gripper, const value_type& shift, std::string name) const;
-
- virtual std::ostream& print (std::ostream& os) const;
- protected:
- /// Constructor
- /// \param robot the robot that grasps the handle,
- /// \param grasp object containing the grasp information
- /// \return the constraint of relative position between the handle and
- /// the gripper. The rotation around x is not constrained.
- AxialHandle (const std::string& name, const Transform3f& localPosition,
- const JointPtr_t& joint) HPP_MANIPULATION_DEPRECATED;
-
- void init (const AxialHandleWkPtr_t& weakPtr)
- {
- Handle::init (weakPtr);
- weakPtr_ = weakPtr;
- }
- /// Weak pointer to itself
- AxialHandleWkPtr_t weakPtr_;
- }; // class AxialHandle
- } // namespace manipulation
-} // namespace hpp
-
-#endif // HPP_MANIPULATION_AXIAL_HANDLE_HH
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 445be2a074c546d95fd70b07aa74a5c4429a4401..05380d4c067e0c66a71aef6fc2d83224d75b39c3 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -20,7 +20,6 @@
SET(LIBRARY_NAME ${PROJECT_NAME})
SET(SOURCES
- axial-handle.cc
handle.cc
symbolic-planner.cc
manipulation-planner.cc
diff --git a/src/axial-handle.cc b/src/axial-handle.cc
deleted file mode 100644
index 8dcaae9d773241e393c03bf01c12a6f702a7cb7f..0000000000000000000000000000000000000000
--- a/src/axial-handle.cc
+++ /dev/null
@@ -1,118 +0,0 @@
-///
-/// Copyright (c) 2014 CNRS
-/// Authors: Florent Lamiraux
-///
-///
-// This file is part of hpp-manipulation.
-// hpp-manipulation is free software: you can redistribute it
-// and/or modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation, either version
-// 3 of the License, or (at your option) any later version.
-//
-// hpp-manipulation is distributed in the hope that it will be
-// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
-// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-// General Lesser Public License for more details. You should have
-// received a copy of the GNU Lesser General Public License along with
-// hpp-manipulation. If not, see
-// <http://www.gnu.org/licenses/>.
-
-#include <hpp/manipulation/axial-handle.hh>
-
-#include <boost/assign/list_of.hpp>
-
-#include <hpp/pinocchio/joint.hh>
-#include <hpp/pinocchio/gripper.hh>
-
-#include <hpp/constraints/generic-transformation.hh>
-
-#include <hpp/core/numerical-constraint.hh>
-
-namespace hpp {
- namespace manipulation {
- std::string AxialHandle::className ("AxialHandle");
- static const matrix3_t I3 = matrix3_t::Identity();
-
- AxialHandlePtr_t AxialHandle::create (const std::string& name,
- const Transform3f& localPosition,
- const JointPtr_t& joint)
- {
- AxialHandle* ptr = new AxialHandle (name, localPosition, joint);
- AxialHandlePtr_t shPtr (ptr);
- ptr->init (shPtr);
- return shPtr;
- }
-
- NumericalConstraintPtr_t AxialHandle::createGrasp
- (const GripperPtr_t& gripper, std::string n) const
- {
- using boost::assign::list_of;
- std::vector <bool> mask = list_of (true)(true)(true)(true)(true)(false);
- if (n.empty())
- n = "Transformation_(1,1,1,1,1,0)_" + name() + "_" + gripper->name();
- return NumericalConstraintPtr_t
- (NumericalConstraint::create (RelativeTransformation::create
- (n,
- gripper->joint()->robot(),
- gripper->joint (), joint (),
- gripper->objectPositionInJoint (),
- localPosition(), mask)));
- }
-
- NumericalConstraintPtr_t AxialHandle::createGraspComplement
- (const GripperPtr_t& gripper, std::string n) const
- {
- using boost::assign::list_of;
- std::vector <bool> mask = list_of (false)(false)(false)(false)(false)
- (true);
- if (n.empty())
- n = "Transformation_(0,0,0,0,0,1)_" + name() + "_" + gripper->name();
- return NumericalConstraint::create (RelativeTransformation::create
- (n, gripper->joint()->robot(),
- gripper->joint (), joint (),
- gripper->objectPositionInJoint (),
- localPosition(), mask),
- ComparisonTypes_t (1, constraints::Equality));
- }
-
- NumericalConstraintPtr_t AxialHandle::createPreGrasp
- (const GripperPtr_t& gripper, const value_type& shift, std::string n) const
- {
- using boost::assign::list_of;
- std::vector <bool> mask = list_of (true)(true)(true)(true)(true)(false);
- Transform3f transform = gripper->objectPositionInJoint ()
- * Transform3f (I3, vector3_t (shift,0,0));
- if (n.empty())
- n = "Transformation_(1,1,1,1,1,0)_" + name () + "_" + gripper->name ();
- return NumericalConstraintPtr_t
- (NumericalConstraint::create (RelativeTransformation::create
- (n,
- gripper->joint()->robot(),
- gripper->joint (), joint (),
- transform,
- localPosition(), mask)));
- }
-
- HandlePtr_t AxialHandle::clone () const
- {
- AxialHandlePtr_t self = weakPtr_.lock ();
- return AxialHandle::create (self->name (), self->localPosition (),
- self->joint ());
- }
-
- std::ostream& AxialHandle::print (std::ostream& os) const
- {
- os << "name :" << name () << " (axial)" << std::endl;
- os << "local position :" << localPosition () << std::endl;
- os << "joint :" << joint ()->name () << std::endl;
- return os;
- }
-
- AxialHandle::AxialHandle (const std::string& name,
- const Transform3f& localPosition,
- const JointPtr_t& joint) :
- Handle (name, localPosition, joint), weakPtr_ ()
- {
- }
- } // namespace manipulation
-} // namespace hpp