diff --git a/include/hpp/manipulation/axial-handle.hh b/include/hpp/manipulation/axial-handle.hh
index 590eb4404a03237923e29f221cace86ef7e14e87..1f220e31d23e9f98814dd24fda57fa6758405ae5 100644
--- a/include/hpp/manipulation/axial-handle.hh
+++ b/include/hpp/manipulation/axial-handle.hh
@@ -70,28 +70,13 @@ namespace hpp {
/// Create constraint that acts on the non-constrained axis of the
/// constraint generated by Handle::createPreGrasp.
- /// \warning {currently, the only constrained axis is x. The rotation
- /// around the z-axis is not constrained.}
- /// \param gripper object containing the gripper information
- /// \return the constraint of relative position between the handle and
- /// the gripper.
- /// \note The translation along x-axis is constrained.
- virtual DifferentiableFunctionPtr_t createPreGraspComplement
- (const GripperPtr_t& gripper) const;
-
- /// Create constraint that acts on the non-constrained axis of the
- /// constraint generated by Handle::createPreGrasp.
- /// \warning {currently, the only constrained axis is x. The rotation
- /// around the z-axis is not constrained.}
/// \param gripper object containing the gripper information
/// \param shift the target value along the x-axis
/// \return the constraint of relative position between the handle and
/// the gripper.
- /// \note The translation along x-axis is constrained.
- /// \deprecated Use createPreGraspComplement(const GripperPtr_t&) instead.
+ /// \note The translation along x-axis and the rotation around z-axis are constrained.
virtual DifferentiableFunctionPtr_t createPreGraspComplement
- (const GripperPtr_t& gripper, const value_type& shift) const
- HPP_MANIPULATION_DEPRECATED;
+ (const GripperPtr_t& gripper, const value_type& shift) const;
virtual std::ostream& print (std::ostream& os) const;
protected:
diff --git a/include/hpp/manipulation/handle.hh b/include/hpp/manipulation/handle.hh
index 3c7666473136a70f01dc20fbeccaf7999b73e32d..ee1da30b10c7d3568822259af97e7df69db26c1a 100644
--- a/include/hpp/manipulation/handle.hh
+++ b/include/hpp/manipulation/handle.hh
@@ -21,7 +21,6 @@
# define HPP_MANIPULATION_HANDLE_HH
# include <hpp/fcl/math/transform.h>
-# include <hpp/manipulation/deprecated.hh>
# include <hpp/manipulation/config.hh>
# include <hpp/manipulation/fwd.hh>
@@ -108,17 +107,6 @@ namespace hpp {
virtual DifferentiableFunctionPtr_t createPreGrasp
(const GripperPtr_t& gripper) const;
- /// Create constraint that acts on the non-constrained axis of the
- /// constraint generated by Handle::createPreGrasp.
- /// \param gripper object containing the gripper information
- /// \return the constraint of relative position between the handle and
- /// the gripper.
- /// \note Only the x-axis of the relative transformation between the handle and the gripper
- /// is constrained. The centers are shifted of
- /// \f clearance () + gripper->clearance ()\f along the x-axis.
- virtual DifferentiableFunctionPtr_t createPreGraspComplement
- (const GripperPtr_t& gripper) const;
-
/// Create constraint that acts on the non-constrained axis of the
/// constraint generated by Handle::createPreGrasp.
/// \param gripper object containing the gripper information
@@ -127,10 +115,8 @@ namespace hpp {
/// the gripper.
/// \note Only the x-axis of the relative transformation between the handle and the gripper
/// is constrained.
- /// \deprecated Use createPreGraspComplement(const GripperPtr_t&) instead.
virtual DifferentiableFunctionPtr_t createPreGraspComplement
- (const GripperPtr_t& gripper, const value_type& shift) const
- HPP_MANIPULATION_DEPRECATED;
+ (const GripperPtr_t& gripper, const value_type& shift) const;
static DifferentiableFunctionPtr_t createGrasp
(const GripperPtr_t& gripper,const HandlePtr_t& handle)
diff --git a/src/axial-handle.cc b/src/axial-handle.cc
index 42dc75a80ed7e249972b962a2bd01104b4961b0d..e2cd42ad2b2416633fe173d49a780635e36ad5cc 100644
--- a/src/axial-handle.cc
+++ b/src/axial-handle.cc
@@ -66,31 +66,14 @@ namespace hpp {
}
DifferentiableFunctionPtr_t AxialHandle::createPreGraspComplement
- (const GripperPtr_t& gripper) const
- {
- using boost::assign::list_of;
- std::vector <bool> mask = list_of (true)(false)(false)(false)(true)
- (false);
- Transform3f transform (gripper->objectPositionInJoint ().getRotation (),
- gripper->objectPositionInJoint ().getTranslation ()
- + fcl::Vec3f (gripper->clearance () +
- clearance (),0,0));
- return RelativeTransformation::create
- ("Transformation_(1,0,0,0,0,0)_" + name () + "_" + gripper->name (),
- gripper->joint()->robot(), gripper->joint (), joint (),
- transform, localPosition(), mask);
- }
-
- DifferentiableFunctionPtr_t AxialHandle::createPreGraspComplement
- (const GripperPtr_t& gripper, const value_type& shift) const
+ (const GripperPtr_t& gripper, const value_type& shift) const
{
using boost::assign::list_of;
std::vector <bool> mask = list_of (true)(false)(false)(false)(true)
(false);
Transform3f transform (gripper->objectPositionInJoint ().getRotation (),
gripper->objectPositionInJoint ().getTranslation ()
- + fcl::Vec3f (gripper->clearance () +
- clearance () + shift,0,0));
+ + fcl::Vec3f (shift,0,0));
return RelativeTransformation::create
("Transformation_(1,0,0,0,0,0)_" + name () + "_" + gripper->name (),
gripper->joint()->robot(), gripper->joint (), joint (),
diff --git a/src/handle.cc b/src/handle.cc
index 473f7d9895a0f770db5e7da4821de771f1ff4fb5..add5ed091c92a9d986832e63b05adf7bb882e158 100644
--- a/src/handle.cc
+++ b/src/handle.cc
@@ -67,22 +67,6 @@ namespace hpp {
gripper->objectPositionInJoint (), localPosition(), mask);
}
- DifferentiableFunctionPtr_t Handle::createPreGraspComplement
- (const GripperPtr_t& gripper) const
- {
- using boost::assign::list_of;
- std::vector <bool> mask = list_of (true)(false)(false)(false)(false)
- (false);
- Transform3f transform (gripper->objectPositionInJoint ().getRotation (),
- gripper->objectPositionInJoint ().getTranslation ()
- + fcl::Vec3f (gripper->clearance () +
- clearance (),0,0));
- return RelativeTransformation::create
- ("Transformation_(1,0,0,0,0,0)_" + name () + "_" + gripper->name (),
- gripper->joint()->robot(), gripper->joint (), joint (),
- transform, localPosition(), mask);
- }
-
DifferentiableFunctionPtr_t Handle::createPreGraspComplement
(const GripperPtr_t& gripper, const value_type& shift) const
{
@@ -91,8 +75,7 @@ namespace hpp {
(false);
Transform3f transform (gripper->objectPositionInJoint ().getRotation (),
gripper->objectPositionInJoint ().getTranslation ()
- + fcl::Vec3f (gripper->clearance () +
- clearance () + shift,0,0));
+ + fcl::Vec3f (shift,0,0));
return RelativeTransformation::create
("Transformation_(1,0,0,0,0,0)_" + name () + "_" + gripper->name (),
gripper->joint()->robot(), gripper->joint (), joint (),