diff --git a/include/hpp/manipulation/graph/edge.hh b/include/hpp/manipulation/graph/edge.hh
index f5bacb62138881a432ea5709940d4cbfd001880c..d3325fe740ee4125e9cb9c166932bcd03c5c56ea 100644
--- a/include/hpp/manipulation/graph/edge.hh
+++ b/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();
diff --git a/include/hpp/manipulation/graph/graph-component.hh b/include/hpp/manipulation/graph/graph-component.hh
index 55b32161c842a37139d2dcd06471bc4b0d6768a0..11be055cfdec15b1785a224784f565b67f71c6c5 100644
--- a/include/hpp/manipulation/graph/graph-component.hh
+++ b/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) {
diff --git a/include/hpp/manipulation/graph/graph.hh b/include/hpp/manipulation/graph/graph.hh
index a51dc274affdf443567e85edd6b23949f412776a..6af9337682d3a51c990a5b2e5860bca4ea4d7576 100644
--- a/include/hpp/manipulation/graph/graph.hh
+++ b/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.
diff --git a/include/hpp/manipulation/graph/statistics.hh b/include/hpp/manipulation/graph/statistics.hh
index 24e62da631ef19f6eb6209a05ecbb128121e54a8..84a1f5f80e86276f470f0e3359614d0567cca6bc 100644
--- a/include/hpp/manipulation/graph/statistics.hh
+++ b/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
diff --git a/include/hpp/manipulation/roadmap.hh b/include/hpp/manipulation/roadmap.hh
index cc95360f88f4c247e6c29a82c42063352ae639fc..de34c4c14aa670389c74d997b6731d7e08eeb3be 100644
--- a/include/hpp/manipulation/roadmap.hh
+++ b/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.
diff --git a/src/connected-component.cc b/src/connected-component.cc
index 8efe8444c36ce2788f75efd292e01d42531fbfe9..6610d8070ef442a4be6e28e79aadf66e65e61f74 100644
--- a/src/connected-component.cc
+++ b/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(
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index 253c682fd6fe28b11f9a55cf6581e31e702d79af..c4c5409bdfffafb6b9a775c1024e1b5d0a7317e8 100644
--- a/src/graph/edge.cc
+++ b/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();
diff --git a/src/graph/graph-component.cc b/src/graph/graph-component.cc
index 7faebc7db5ca8acca8526dcd06463366b8f8d5aa..f0a8152e9f56ae4b6ec7e405935087cc27e8bfa8 100644
--- a/src/graph/graph-component.cc
+++ b/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);
diff --git a/src/graph/graph.cc b/src/graph/graph.cc
index 28e04620974775830b8e856e35c68321a7ec914b..39977b04319b9d1b958956f994bbe6959bccf014 100644
--- a/src/graph/graph.cc
+++ b/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();
}
diff --git a/src/roadmap.cc b/src/roadmap.cc
index ed24ad7e0be22c9782aece5a99ccd6cc11c0b3dc..26e4fd50c5fe00d963e1b48e9cdd8f882154cbfa 100644
--- a/src/roadmap.cc
+++ b/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());
diff --git a/src/serialization.cc b/src/serialization.cc
index f008aa90f01bdf3e7ca6588431c68325c77c3dfe..490963ece488e538b0319fadfa430d5b0c726d91 100644
--- a/src/serialization.cc
+++ b/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);
}
}