diff --git a/include/hpp/manipulation/graph/edge.hh b/include/hpp/manipulation/graph/edge.hh
index 5ea948be020cb87421d7e12b684c2337606651db..989be3ab753e0a0a68e5ac9bae82a4e2417cb099 100644
--- a/include/hpp/manipulation/graph/edge.hh
+++ b/include/hpp/manipulation/graph/edge.hh
@@ -555,18 +555,14 @@ namespace hpp {
/// Insert a constraints parameterizing the target state foliation
/// \param nm the numerical constraint,
- /// \param passiveDofs the passive degrees of freedom of the
- /// constraint.
- void insertParamConstraint (const ImplicitPtr_t& nm,
- const segments_t& passiveDofs = segments_t ());
+ void insertParamConstraint (const ImplicitPtr_t& nm);
/// Get constraints parameterizing the target state foliation
const NumericalConstraints_t& paramConstraints() const;
/// Insert a condition constraint
/// \sa LevelSetEdge::histogram
- void insertConditionConstraint (const ImplicitPtr_t& nm,
- const segments_t& passiveDofs = segments_t ());
+ void insertConditionConstraint (const ImplicitPtr_t& nm);
/// Get constraints parameterizing the target state foliation
/// \sa LevelSetEdge::histogram
@@ -595,12 +591,10 @@ namespace hpp {
// Parametrizer
// NumericalConstraints_t
NumericalConstraints_t paramNumericalConstraints_;
- IntervalsContainer_t paramPassiveDofs_;
// Condition
// NumericalConstraints_t
NumericalConstraints_t condNumericalConstraints_;
- IntervalsContainer_t condPassiveDofs_;
/// This histogram will be used to find a good level set.
LeafHistogramPtr_t hist_;
diff --git a/include/hpp/manipulation/graph/graph-component.hh b/include/hpp/manipulation/graph/graph-component.hh
index f0c9c45586c6e1ca87a99bb28d02aefb4738375a..890ea10b1b00ee856ad87f291aad893a58a10e00 100644
--- a/include/hpp/manipulation/graph/graph-component.hh
+++ b/include/hpp/manipulation/graph/graph-component.hh
@@ -51,11 +51,8 @@ namespace hpp {
}
/// Add Implicit to the component.
- /// \param passiveDofs see ConfigProjector::addNumericalConstraint
- // for more information.
virtual void addNumericalConstraint (
- const ImplicitPtr_t& numConstraint,
- const segments_t& passiveDofs = segments_t ());
+ const ImplicitPtr_t& numConstraint);
/// Add a cost function Implicit to the component.
virtual void addNumericalCost (const ImplicitPtr_t& numCost);
@@ -63,43 +60,16 @@ namespace hpp {
/// Reset the numerical constraints stored in the component.
virtual void resetNumericalConstraints ();
- /// Add core::LockedJoint constraint to the component.
- /// \deprecated LockedJoint are handled as classical explicit
- /// constraint
- virtual void addLockedJointConstraint
- (const LockedJointPtr_t& constraint) HPP_MANIPULATION_DEPRECATED;
-
- /// \deprecated LockedJoint are handled as classical explicit
- /// constraint
- /// Reset the locked joint in the component.
- virtual void resetLockedJoints () HPP_MANIPULATION_DEPRECATED;
-
/// Insert the numerical constraints in a ConfigProjector
/// \return true is at least one ImplicitPtr_t was inserted.
bool insertNumericalConstraints (ConfigProjectorPtr_t& proj) const;
- /// Insert the LockedJoint constraints in a ConstraintSet
- /// \return true is at least one LockedJointPtr_t was inserted.
- /// \deprecated LockedJoint are handled as classical explicit
- /// constraint
- bool insertLockedJoints (ConfigProjectorPtr_t& cs) const
- HPP_MANIPULATION_DEPRECATED;
-
/// Get a reference to the NumericalConstraints_t
const NumericalConstraints_t& numericalConstraints() const;
/// Get a reference to the NumericalConstraints_t
const NumericalConstraints_t& numericalCosts() const;
- /// Get a reference to the NumericalConstraints_t
- const IntervalsContainer_t& passiveDofs() const;
-
- /// Get a reference to the LockedJoints_t
- /// \deprecated LockedJoint are handled as classical explicit
- /// constraint
- const LockedJoints_t& lockedJoints () const
- HPP_MANIPULATION_DEPRECATED;
-
/// Set the parent graph.
void parentGraph(const GraphWkPtr_t& parent);
@@ -131,12 +101,8 @@ namespace hpp {
/// Stores the numerical constraints.
NumericalConstraints_t numericalConstraints_;
- /// Stores the passive dofs for each numerical constraints.
- IntervalsContainer_t passiveDofs_;
/// Stores the numerical costs.
NumericalConstraints_t numericalCosts_;
- /// List of LockedJoint constraints: \todo to be removed
- const LockedJoints_t lockedJoints_;
/// A weak pointer to the parent graph.
GraphWkPtr_t graph_;
diff --git a/include/hpp/manipulation/graph/state.hh b/include/hpp/manipulation/graph/state.hh
index 7970bf67da22ed3c8409372c5fc3b06dfa89b120..52f230d2be3567bc78757903f1e359523f5580e0 100644
--- a/include/hpp/manipulation/graph/state.hh
+++ b/include/hpp/manipulation/graph/state.hh
@@ -127,12 +127,10 @@ namespace hpp {
}
/// Add constraints::Implicit to the component.
- virtual void addNumericalConstraintForPath (const ImplicitPtr_t& nm,
- const segments_t& passiveDofs = segments_t ())
+ virtual void addNumericalConstraintForPath (const ImplicitPtr_t& nm)
{
invalidate();
numericalConstraintsForPath_.push_back (nm);
- passiveDofsForPath_.push_back (passiveDofs);
}
/// Insert the numerical constraints in a ConfigProjector
@@ -178,7 +176,6 @@ namespace hpp {
/// Stores the numerical constraints for path.
NumericalConstraints_t numericalConstraintsForPath_;
- IntervalsContainer_t passiveDofsForPath_;
/// A selector that will implement the selection of the next state.
StateSelectorWkPtr_t selector_;
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index 7d84052147e70831140434580954a54a74d9f23d..aec79e65dc648b0303325d1ce560f61ce12aec0f 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -803,12 +803,10 @@ namespace hpp {
}
void LevelSetEdge::insertParamConstraint
- (const constraints::ImplicitPtr_t& nm,
- const segments_t& passiveDofs)
+ (const constraints::ImplicitPtr_t& nm)
{
invalidate ();
paramNumericalConstraints_.push_back (nm);
- paramPassiveDofs_.push_back (passiveDofs);
}
const NumericalConstraints_t& LevelSetEdge::paramConstraints() const
@@ -817,12 +815,10 @@ namespace hpp {
}
void LevelSetEdge::insertConditionConstraint
- (const constraints::ImplicitPtr_t& nm,
- const segments_t& passiveDofs)
+ (const constraints::ImplicitPtr_t& nm)
{
invalidate ();
condNumericalConstraints_.push_back (nm);
- condPassiveDofs_.push_back (passiveDofs);
}
const NumericalConstraints_t& LevelSetEdge::conditionConstraints() const
diff --git a/src/graph/graph-component.cc b/src/graph/graph-component.cc
index 50ef1a791a6d7a7ffe6aca796ba705303bdb1043..ec63fa05dd6755e7d460202c8aed0ad516812dff 100644
--- a/src/graph/graph-component.cc
+++ b/src/graph/graph-component.cc
@@ -18,7 +18,6 @@
#include <hpp/core/config-projector.hh>
#include <hpp/core/constraint-set.hh>
-#include <hpp/constraints/locked-joint.hh>
#include <hpp/constraints/implicit.hh>
#include <hpp/constraints/differentiable-function.hh>
@@ -51,12 +50,10 @@ namespace hpp {
invalidate();
}
- void GraphComponent::addNumericalConstraint (const ImplicitPtr_t& nm,
- const segments_t& passiveDofs)
+ void GraphComponent::addNumericalConstraint (const ImplicitPtr_t& nm)
{
invalidate();
numericalConstraints_.push_back(nm);
- passiveDofs_.push_back (passiveDofs);
}
void GraphComponent::addNumericalCost (const ImplicitPtr_t& cost)
@@ -69,20 +66,9 @@ namespace hpp {
{
invalidate();
numericalConstraints_.clear();
- passiveDofs_.clear();
numericalCosts_.clear();
}
- void GraphComponent::addLockedJointConstraint
- (const LockedJointPtr_t& constraint)
- {
- addNumericalConstraint (constraint);
- }
-
- void GraphComponent::resetLockedJoints ()
- {
- }
-
bool GraphComponent::insertNumericalConstraints (ConfigProjectorPtr_t& proj) const
{
for (const auto& nc : numericalConstraints_)
@@ -102,16 +88,6 @@ namespace hpp {
return numericalCosts_;
}
- const std::vector <segments_t>& GraphComponent::passiveDofs() const
- {
- return passiveDofs_;
- }
-
- const LockedJoints_t& GraphComponent::lockedJoints () const
- {
- return lockedJoints_;
- }
-
GraphPtr_t GraphComponent::parentGraph() const
{
return graph_.lock ();