Remove deprecated methods and fix compilation warnings.

include/hpp/manipulation/graph/edge.hh

@@ -81,30 +81,6 @@ class HPP_MANIPULATION_DLLAPI Edge : public GraphComponent {
   static EdgePtr_t create(const std::string& name, const GraphWkPtr_t& graph,
                           const StateWkPtr_t& from, const StateWkPtr_t& to);
 
-  /// Generate a reachable configuration in the target state
-  ///
-  /// \param nStart node containing the configuration defining the right
-  ///        hand side of the edge constraint,
-  /// \param[in,out] q input configuration used to initialize the
-  ///                numerical solver and output configuration lying
-  ///                in the target state and reachable along the edge
-  ///                from nnear
-  /// \deprecated Use generateTargetConfig instead.
-  virtual bool applyConstraints(core::NodePtr_t nStart, ConfigurationOut_t q)
-      const HPP_MANIPULATION_DEPRECATED;
-
-  /// Generate a reachable configuration in the target state
-  ///
-  /// \param qStart node containing the configuration defining the right
-  ///        hand side of the edge path constraint,
-  /// \param[in,out] q input configuration used to initialize the
-  ///                numerical solver and output configuration lying
-  ///                in the target state and reachable along the edge
-  ///                from nnear.
-  /// \deprecated Use generateTargetConfig instead.
-  virtual bool applyConstraints(ConfigurationIn_t qStart, ConfigurationOut_t q)
-      const HPP_MANIPULATION_DEPRECATED;
-
   /// Generate a reachable configuration in the target state
   ///
   /// \param nStart node containing the configuration defining the right
@@ -188,10 +164,6 @@ class HPP_MANIPULATION_DLLAPI Edge : public GraphComponent {
       std::ostream& os,
       dot::DrawingAttributes da = dot::DrawingAttributes()) const;
 
-  /// Constraint of the destination state and of the path
-  /// \deprecated Use targetConstraint instead
-  ConstraintSetPtr_t configConstraint() const HPP_MANIPULATION_DEPRECATED;
-
   /// Constraint of the destination state and of the path
   ConstraintSetPtr_t targetConstraint() const;
 
@@ -210,9 +182,6 @@ class HPP_MANIPULATION_DLLAPI Edge : public GraphComponent {
   /// Constructor
   Edge(const std::string& name);
 
-  virtual ConstraintSetPtr_t buildConfigConstraint()
-      HPP_MANIPULATION_DEPRECATED;
-
   /// Build path and target state constraint set.
   virtual ConstraintSetPtr_t buildTargetConstraint();
 
@@ -303,18 +272,6 @@ class HPP_MANIPULATION_DLLAPI WaypointEdge : public Edge {
   virtual bool build(core::PathPtr_t& path, ConfigurationIn_t q1,
                      ConfigurationIn_t q2) const;
 
-  /// Generate a reachable configuration in the target state
-  ///
-  /// \param qStart node containing the configuration defining the right
-  ///        hand side of the edge path constraint,
-  /// \param[in,out] q input configuration used to initialize the
-  ///                numerical solver and output configuration lying
-  ///                in the target state and reachable along the edge
-  ///                from nnear.
-  /// deprecated Used generateTargetConfig instead.
-  virtual bool applyConstraints(ConfigurationIn_t qStart, ConfigurationOut_t q)
-      const HPP_MANIPULATION_DEPRECATED;
-
   /// Generate a reachable configuration in the target state
   ///
   /// \param qStart node containing the configuration defining the right
@@ -448,30 +405,6 @@ class HPP_MANIPULATION_DLLAPI LevelSetEdge : public Edge {
                                   const StateWkPtr_t& from,
                                   const StateWkPtr_t& to);
 
-  /// Generate a reachable configuration in the target state
-  ///
-  /// \param nStart node containing the configuration defining the right
-  ///        hand side of the edge constraint,
-  /// \param[in,out] q input configuration used to initialize the
-  ///                numerical solver and output configuration lying
-  ///                in the target state and reachable along the edge
-  ///                from nnear
-  /// \deprecated Use generateTargetConfig instead.
-  virtual bool applyConstraints(core::NodePtr_t nStart, ConfigurationOut_t q)
-      const HPP_MANIPULATION_DEPRECATED;
-
-  /// Generate a reachable configuration in the target state
-  ///
-  /// \param qStart node containing the configuration defining the right
-  ///        hand side of the edge path constraint,
-  /// \param[in,out] q input configuration used to initialize the
-  ///                numerical solver and output configuration lying
-  ///                in the target state and reachable along the edge
-  ///                from nnear.
-  /// \deprecated Use generateTargetConfig instead.
-  virtual bool applyConstraints(ConfigurationIn_t qStart, ConfigurationOut_t q)
-      const HPP_MANIPULATION_DEPRECATED;
-
   /// Generate a reachable configuration in the target state
   ///
   /// \param nStart node containing the configuration defining the right
@@ -505,10 +438,6 @@ class HPP_MANIPULATION_DLLAPI LevelSetEdge : public Edge {
                                   ConfigurationIn_t qLeaf,
                                   ConfigurationOut_t q) const;
 
-  /// \deprecated Use buildTargetConstraint instead
-  virtual ConstraintSetPtr_t buildConfigConstraint()
-      HPP_MANIPULATION_DEPRECATED;
-
   /// Build path and target state constraints
   virtual ConstraintSetPtr_t buildTargetConstraint();
 

include/hpp/manipulation/graph/graph-component.hh

@@ -92,10 +92,6 @@ class HPP_MANIPULATION_DLLAPI GraphComponent {
   /// The component needs to be initialized again.
   virtual void invalidate() { isInit_ = false; }
 
-  /// Declare a component as dirty
-  /// \deprecated call invalidate instead
-  void setDirty() HPP_MANIPULATION_DEPRECATED;
-
   /// Set whether hierachical constraints are solved level by level
   /// \sa hpp::constraints::solver::HierarchicalIterative
   void solveLevelByLevel(bool solveLevelByLevel) {

include/hpp/manipulation/graph/graph.hh

@@ -46,8 +46,7 @@ namespace graph {
 
 /// Description of the constraint graph.
 ///
-/// This class contains a graph representing a robot with several
-/// end-effectors.
+/// This class contains a graph representing a a manipulation problem
 ///
 /// One must make sure not to create loop with shared pointers.
 /// To ensure that, the classes are defined as follow:
@@ -55,6 +54,10 @@ namespace graph {
 /// - A StateSelector owns the Node s related to one gripper.
 /// - A State owns its outgoing Edge s.
 /// - An Edge does not own anything.
+///
+/// \note The graph and all its components have a unique index starting
+///       at 0 for the graph itself. The index of a component can be retrieved
+///       using method GraphComponent::id.
 class HPP_MANIPULATION_DLLAPI Graph : public GraphComponent {
  public:
   /// Create a new Graph.
@@ -137,11 +140,6 @@ class HPP_MANIPULATION_DLLAPI Graph : public GraphComponent {
   /// \return The initialized projector.
   ConstraintSetPtr_t configConstraint(const StatePtr_t& state) const;
 
-  /// Constraints of path and target state of an edge
-  /// \deprecated Use tagetConstraint instead.
-  ConstraintSetPtr_t configConstraint(const EdgePtr_t& edge) const
-      HPP_MANIPULATION_DEPRECATED;
-
   /// Constraints a configuration in target state should satisfy
   /// \param edge a transition
   /// \return The set of constraints a configuration lying in the
@@ -260,7 +258,7 @@ class HPP_MANIPULATION_DLLAPI Graph : public GraphComponent {
   void init(const GraphWkPtr_t& weak, DevicePtr_t robot);
 
   /// Constructor
-  /// \param sm a steering method to create paths from edges
+  /// \param problem a pointer to the problem
   Graph(const std::string& name, const ProblemPtr_t& problem);
 
   /// Print the object in a stream.

include/hpp/manipulation/graph/statistics.hh

@@ -203,7 +203,6 @@ class HPP_MANIPULATION_DLLLOCAL StateHistogram
   /// The constraint graph
   graph::GraphPtr_t graph_;
 };
-typedef StateHistogram NodeHistogram HPP_MANIPULATION_DEPRECATED;
 typedef shared_ptr<StateHistogram> NodeHistogramPtr_t;
 }  // namespace graph
 }  // namespace manipulation

include/hpp/manipulation/roadmap.hh

@@ -72,10 +72,6 @@ class HPP_MANIPULATION_DLLAPI Roadmap : public core::Roadmap {
       const ConnectedComponentPtr_t& connectedComponent,
       const graph::StatePtr_t& state, value_type& minDistance) const;
 
-  /// Get graph state corresponding to given roadmap node
-  /// \deprecated use getState instead
-  graph::StatePtr_t getNode(RoadmapNodePtr_t node) HPP_MANIPULATION_DEPRECATED;
-
   /// Update the graph of connected components after new connection
   /// \param cc1, cc2 the two connected components that have just been
   /// connected.

src/connected-component.cc

@@ -92,7 +92,7 @@ void ConnectedComponent::merge(const core::ConnectedComponentPtr_t& otherCC) {
 void ConnectedComponent::addNode(const core::NodePtr_t& node) {
   core::ConnectedComponent::addNode(node);
   // Find right graph state in map and add roadmap node to corresponding vector
-  const RoadmapNodePtr_t& n = static_cast<const RoadmapNodePtr_t>(node);
+  const RoadmapNodePtr_t& n = static_cast<RoadmapNodePtr_t>(node);
   RoadmapPtr_t roadmap = roadmap_.lock();
   if (!roadmap)
     throw std::logic_error(

src/graph/edge.cc

@@ -192,11 +192,6 @@ ConstraintSetPtr_t Edge::targetConstraint() const {
   return targetConstraints_;
 }
 
-ConstraintSetPtr_t Edge::configConstraint() const {
-  throwIfNotInitialized();
-  return targetConstraints_;
-}
-
 // Merge constraints of several graph components into a config projector
 // Replace constraints and complement by combination of both when
 // necessary.
@@ -244,10 +239,6 @@ static void mergeConstraintsIntoConfigProjector(
   for (const auto& _nc : nc) proj->add(_nc, 1);
 }
 
-ConstraintSetPtr_t Edge::buildConfigConstraint() {
-  return buildTargetConstraint();
-}
-
 ConstraintSetPtr_t Edge::buildTargetConstraint() {
   std::string n = "(" + name() + ")";
   GraphPtr_t g = graph_.lock();
@@ -366,16 +357,6 @@ bool Edge::build(core::PathPtr_t& path, ConfigurationIn_t q1,
   }
 }
 
-bool Edge::applyConstraints(core::NodePtr_t nStart,
-                            ConfigurationOut_t q) const {
-  return generateTargetConfig(*(nStart->configuration()), q);
-}
-
-bool Edge::applyConstraints(ConfigurationIn_t qoffset,
-                            ConfigurationOut_t q) const {
-  return generateTargetConfig(qoffset, q);
-}
-
 bool Edge::generateTargetConfig(core::NodePtr_t nStart,
                                 ConfigurationOut_t q) const {
   return generateTargetConfig(*(nStart->configuration()), q);
@@ -489,11 +470,6 @@ bool WaypointEdge::build(core::PathPtr_t& path, ConfigurationIn_t q1,
   return true;
 }
 
-bool WaypointEdge::applyConstraints(ConfigurationIn_t qStart,
-                                    ConfigurationOut_t q) const {
-  return generateTargetConfig(qStart, q);
-}
-
 bool WaypointEdge::generateTargetConfig(ConfigurationIn_t qStart,
                                         ConfigurationOut_t q) const {
   assert(configs_.cols() == size_type(edges_.size() + 1));
@@ -592,11 +568,6 @@ void LevelSetEdge::populateTooltip(dot::Tooltip& tp) const {
   }
 }
 
-bool LevelSetEdge::applyConstraints(ConfigurationIn_t qStart,
-                                    ConfigurationOut_t q) const {
-  return generateTargetConfig(qStart, q);
-}
-
 bool LevelSetEdge::generateTargetConfig(ConfigurationIn_t qStart,
                                         ConfigurationOut_t q) const {
   // First, get an offset from the histogram
@@ -611,11 +582,6 @@ bool LevelSetEdge::generateTargetConfig(ConfigurationIn_t qStart,
   return generateTargetConfigOnLeaf(qStart, qLeaf, q);
 }
 
-bool LevelSetEdge::applyConstraints(core::NodePtr_t nStart,
-                                    ConfigurationOut_t q) const {
-  return generateTargetConfig(nStart, q);
-}
-
 bool LevelSetEdge::generateTargetConfig(core::NodePtr_t nStart,
                                         ConfigurationOut_t q) const {
   // First, get an offset from the histogram that is not in the same connected
@@ -738,10 +704,6 @@ void LevelSetEdge::initialize() {
   }
 }
 
-ConstraintSetPtr_t LevelSetEdge::buildConfigConstraint() {
-  return buildTargetConstraint();
-}
-
 ConstraintSetPtr_t LevelSetEdge::buildTargetConstraint() {
   std::string n = "(" + name() + ")";
   GraphPtr_t g = graph_.lock();

src/graph/graph-component.cc

@@ -52,8 +52,6 @@ std::ostream& GraphComponent::dotPrint(std::ostream& os,
   return os;
 }
 
-void GraphComponent::setDirty() { invalidate(); }
-
 void GraphComponent::addNumericalConstraint(const ImplicitPtr_t& nm) {
   invalidate();
   numericalConstraints_.push_back(nm);

src/graph/graph.cc

@@ -210,10 +210,6 @@ bool Graph::getConfigErrorForEdgeLeaf(ConfigurationIn_t leafConfig,
   return cs->isSatisfied(config, error);
 }
 
-ConstraintSetPtr_t Graph::configConstraint(const EdgePtr_t& edge) const {
-  return edge->targetConstraint();
-}
-
 ConstraintSetPtr_t Graph::targetConstraint(const EdgePtr_t& edge) const {
   return edge->targetConstraint();
 }

src/roadmap.cc

@@ -62,7 +62,7 @@ void Roadmap::clear() {
 
 void Roadmap::push_node(const core::NodePtr_t& n) {
   Parent::push_node(n);
-  const RoadmapNodePtr_t& node = static_cast<const RoadmapNodePtr_t>(n);
+  const RoadmapNodePtr_t& node = static_cast<RoadmapNodePtr_t>(n);
   statInsert(node);
   leafCCs_.insert(node->leafConnectedComponent());
 }
@@ -80,7 +80,7 @@ void Roadmap::insertHistogram(const graph::HistogramPtr_t hist) {
   histograms_.push_back(hist);
   core::Nodes_t::const_iterator _node;
   for (_node = nodes().begin(); _node != nodes().end(); ++_node)
-    hist->add(static_cast<const RoadmapNodePtr_t>(*_node));
+    hist->add(static_cast<RoadmapNodePtr_t>(*_node));
 }
 
 void Roadmap::constraintGraph(const graph::GraphPtr_t& graph) {
@@ -154,8 +154,8 @@ void Roadmap::merge(const LeafConnectedCompPtr_t& cc1,
 
 void Roadmap::impl_addEdge(const core::EdgePtr_t& edge) {
   Parent::impl_addEdge(edge);
-  const RoadmapNodePtr_t& f = static_cast<const RoadmapNodePtr_t>(edge->from());
-  const RoadmapNodePtr_t& t = static_cast<const RoadmapNodePtr_t>(edge->to());
+  const RoadmapNodePtr_t& f = static_cast<RoadmapNodePtr_t>(edge->from());
+  const RoadmapNodePtr_t& t = static_cast<RoadmapNodePtr_t>(edge->to());
   if (f->graphState() == t->graphState()) {
     LeafConnectedCompPtr_t cc1(f->leafConnectedComponent());
     LeafConnectedCompPtr_t cc2(t->leafConnectedComponent());

src/serialization.cc

@@ -73,7 +73,7 @@ inline void ConnectedComponent::serialize(Archive& ar,
   if (!Archive::is_saving::value) {
     RoadmapPtr_t roadmap = roadmap_.lock();
     for (const core::NodePtr_t& node : nodes()) {
-      const RoadmapNodePtr_t& n = static_cast<const RoadmapNodePtr_t>(node);
+      const RoadmapNodePtr_t& n = static_cast<RoadmapNodePtr_t>(node);
       graphStateMap_[roadmap->getState(n)].push_back(n);
     }
   }