diff --git a/CMakeLists.txt b/CMakeLists.txt
index a57a561cf4f28ccfa273995888ad1ca4d4d10884..a52b2ea0099bfc576bd80565d54164059c5f556d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -77,12 +77,9 @@ SET (${PROJECT_NAME}_HEADERS
include/hpp/manipulation/manipulation-planner.hh
include/hpp/manipulation/graph-path-validation.hh
include/hpp/manipulation/graph-optimizer.hh
- include/hpp/manipulation/graph/node.hh
include/hpp/manipulation/graph/state.hh
include/hpp/manipulation/graph/edge.hh
- include/hpp/manipulation/graph/node-selector.hh
include/hpp/manipulation/graph/state-selector.hh
- include/hpp/manipulation/graph/guided-node-selector.hh
include/hpp/manipulation/graph/guided-state-selector.hh
include/hpp/manipulation/graph/graph.hh
include/hpp/manipulation/graph/statistics.hh
diff --git a/include/hpp/manipulation/graph/edge.hh b/include/hpp/manipulation/graph/edge.hh
index 926708f0a079f64b716543cf8c5d3956e74b23f5..ca229eed15173aed4a1118b3ec8f53abd9abdf72 100644
--- a/include/hpp/manipulation/graph/edge.hh
+++ b/include/hpp/manipulation/graph/edge.hh
@@ -310,9 +310,6 @@ namespace hpp {
void insertParamConstraint (const ImplicitPtr_t& nm,
const segments_t& passiveDofs = segments_t ());
- void insertParamConstraint (const DifferentiableFunctionPtr_t function, const ComparisonTypes_t ineq)
- HPP_MANIPULATION_DEPRECATED;
-
/// Insert a LockedJoint that parametrizes the foliation
void insertParamConstraint (const LockedJointPtr_t lockedJoint);
diff --git a/include/hpp/manipulation/graph/graph-component.hh b/include/hpp/manipulation/graph/graph-component.hh
index 493164a33465cde122f4184f9a4c19cc216f27b3..20f82104dd6b22d4848128a766fe58940ad7a509 100644
--- a/include/hpp/manipulation/graph/graph-component.hh
+++ b/include/hpp/manipulation/graph/graph-component.hh
@@ -22,7 +22,6 @@
# include <hpp/util/exception.hh>
# include "hpp/manipulation/config.hh"
-# include "hpp/manipulation/deprecated.hh"
# include "hpp/manipulation/fwd.hh"
# include "hpp/manipulation/graph/fwd.hh"
# include "hpp/manipulation/graph/dot.hh"
@@ -60,11 +59,6 @@ namespace hpp {
const ImplicitPtr_t& numConstraint,
const segments_t& passiveDofs = segments_t ());
- /// Add core::DifferentiableFunction to the component.
- virtual void addNumericalConstraint
- (const DifferentiableFunctionPtr_t& function, const ComparisonTypes_t& ineq)
- HPP_MANIPULATION_DEPRECATED;
-
/// Reset the numerical constraints stored in the component.
virtual void resetNumericalConstraints ();
diff --git a/include/hpp/manipulation/graph/graph.hh b/include/hpp/manipulation/graph/graph.hh
index fb61be8f15100e6f35ea8fe4c9addc157eb12f0a..c3c597ff0c8689796bd4915fcc9134cf00f88bb6 100644
--- a/include/hpp/manipulation/graph/graph.hh
+++ b/include/hpp/manipulation/graph/graph.hh
@@ -52,52 +52,24 @@ namespace hpp {
static GraphPtr_t create(const std::string& name, DevicePtr_t robot,
const ProblemPtr_t& problem);
- /// Create and insert a state selector inside the graph.
- /// \deprecated use createStateSelector instead
- StateSelectorPtr_t createNodeSelector (const std::string& name)
- HPP_MANIPULATION_DEPRECATED;
-
/// Create and insert a state selector inside the graph.
StateSelectorPtr_t createStateSelector (const std::string& name);
- /// Set the state selector
- /// \warning This should be done before adding nodes to the node
- /// selector otherwise the pointer to the parent graph will NOT be
- /// valid.
- /// \deprecated use stateSelector instead
- void nodeSelector (StateSelectorPtr_t ns) HPP_MANIPULATION_DEPRECATED;
-
/// Set the state selector
/// \warning This should be done before adding nodes to the node
/// selector otherwise the pointer to the parent graph will NOT be
/// valid.
void stateSelector (StateSelectorPtr_t ns);
- /// Get the state selector
- /// \deprecated use stateSelector instead
- StateSelectorPtr_t nodeSelector () const HPP_MANIPULATION_DEPRECATED
- {
- return stateSelector_;
- }
-
/// Get the state selector
StateSelectorPtr_t stateSelector () const
{
return stateSelector_;
}
- /// Returns the states of a configuration.
- /// \deprecated use getState instead
- StatePtr_t getNode (ConfigurationIn_t config) const
- HPP_MANIPULATION_DEPRECATED;
-
/// Returns the state of a configuration.
StatePtr_t getState (ConfigurationIn_t config) const;
- /// Returns the state of a roadmap node
- /// \deprecated use getState instead
- StatePtr_t getNode(RoadmapNodePtr_t node) const;
-
/// Returns the state of a roadmap node
StatePtr_t getState (RoadmapNodePtr_t node) const;
@@ -155,20 +127,6 @@ namespace hpp {
/// \return The constraint.
ConstraintSetPtr_t configConstraint (const EdgePtr_t& edge) const;
- /// Get error of a config with respect to a state constraint
- ///
- /// \param config Configuration,
- /// \param state state containing the constraint to check config against
- /// \retval error the error of the state constraint for the
- /// configuration
- /// \return whether the configuration belongs to the state.
- /// Call method core::ConstraintSet::isSatisfied for the state
- /// constraints.
- /// \deprecated use getConfigErrorForState instead
- bool getConfigErrorForNode (ConfigurationIn_t config,
- const StatePtr_t& state, vector_t& error) const
- HPP_MANIPULATION_DEPRECATED;
-
/// Get error of a config with respect to a state constraint
///
/// \param config Configuration,
diff --git a/include/hpp/manipulation/graph/guided-node-selector.hh b/include/hpp/manipulation/graph/guided-node-selector.hh
deleted file mode 100644
index 7d424640b152fab9a2d418b1aa90a5f1b6f9d771..0000000000000000000000000000000000000000
--- a/include/hpp/manipulation/graph/guided-node-selector.hh
+++ /dev/null
@@ -1,32 +0,0 @@
-// Copyright (c) 2014, LAAS-CNRS
-// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
-//
-// 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_GRAPH_GUIDED_NODE_SELECTOR_HH
-# define HPP_MANIPULATION_GRAPH_GUIDED_NODE_SELECTOR_HH
-
-#include "hpp/manipulation/graph/guided-state-selector.hh"
-
-namespace hpp {
- namespace manipulation {
- namespace graph {
- typedef GuidedStateSelector GuidedNodeSelector
- HPP_MANIPULATION_DEPRECATED;
- typedef boost::shared_ptr < GuidedNodeSelector > GuidedNodeSelectorPtr_t;
- } // namespace graph
- } // namespace manipulation
-} // namespace hpp
-
-#endif // HPP_MANIPULATION_GRAPH_GUIDED_NODE_SELECTOR_HH
diff --git a/include/hpp/manipulation/graph/node-selector.hh b/include/hpp/manipulation/graph/node-selector.hh
deleted file mode 100644
index 5d99087aa4d1938eba0744758d68a994ab122f9e..0000000000000000000000000000000000000000
--- a/include/hpp/manipulation/graph/node-selector.hh
+++ /dev/null
@@ -1,32 +0,0 @@
-// Copyright (c) 2014, LAAS-CNRS
-// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
-//
-// 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_GRAPH_NODE_SELECTOR_HH
-# define HPP_MANIPULATION_GRAPH_NODE_SELECTOR_HH
-
-#include "hpp/manipulation/graph/state-selector.hh"
-
-namespace hpp {
- namespace manipulation {
- namespace graph {
- typedef StateSelector NodeSelector HPP_MANIPULATION_DEPRECATED;
- typedef boost::shared_ptr < NodeSelector > NodeSelectorPtr_t;
- typedef std::vector < NodeSelectorPtr_t > NodeSelectors_t;
- } // namespace graph
- } // namespace manipulation
-} // namespace hpp
-
-#endif // HPP_MANIPULATION_GRAPH_NODE_SELECTOR_HH
diff --git a/include/hpp/manipulation/graph/node.hh b/include/hpp/manipulation/graph/node.hh
deleted file mode 100644
index 2a9421ef4693125a8bb4dbf3686b662bc81446bb..0000000000000000000000000000000000000000
--- a/include/hpp/manipulation/graph/node.hh
+++ /dev/null
@@ -1,32 +0,0 @@
-// Copyright (c) 2014, LAAS-CNRS
-// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
-//
-// 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_GRAPH_NODE_HH
-# define HPP_MANIPULATION_GRAPH_NODE_HH
-
-# include <hpp/manipulation/graph/state.hh>
-
-namespace hpp {
- namespace manipulation {
- namespace graph {
- typedef State Node HPP_MANIPULATION_DEPRECATED;
- typedef boost::shared_ptr < Node > NodePtr_t;
- typedef std::vector < NodePtr_t > Nodes_t;
- } // namespace graph
- } // namespace manipulation
-} // namespace hpp
-
-#endif // HPP_MANIPULATION_GRAPH_NODE_HH
diff --git a/include/hpp/manipulation/graph/state.hh b/include/hpp/manipulation/graph/state.hh
index 6e0a5008857e8e2c34246c20b9ace33e80e13372..96f166301164e00b340453c5c70e521803d91eec 100644
--- a/include/hpp/manipulation/graph/state.hh
+++ b/include/hpp/manipulation/graph/state.hh
@@ -24,7 +24,6 @@
#include <hpp/constraints/implicit.hh>
#include "hpp/manipulation/config.hh"
-#include "hpp/manipulation/deprecated.hh"
#include "hpp/manipulation/fwd.hh"
#include "hpp/manipulation/graph/fwd.hh"
#include "hpp/manipulation/graph/edge.hh"
@@ -134,15 +133,6 @@ namespace hpp {
passiveDofsForPath_.push_back (passiveDofs);
}
- /// Add core::DifferentiableFunction to the component.
- virtual void addNumericalConstraintForPath (const DifferentiableFunctionPtr_t& function, const ComparisonTypes_t& ineq)
- HPP_MANIPULATION_DEPRECATED
- {
- isInit_ = false;
- numericalConstraintsForPath_.push_back
- (Implicit::create (function,ineq));
- }
-
/// Insert the numerical constraints in a ConfigProjector
/// \return true is at least one ImplicitPtr_t was inserted.
bool insertNumericalConstraintsForPath (ConfigProjectorPtr_t& proj) const
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index 61373e3a6d893719944e3c3132005b81f6ebd045..ed590f1d8a357985867bb455327d0452fd1c8014 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -772,12 +772,6 @@ namespace hpp {
paramPassiveDofs_.push_back (passiveDofs);
}
- void LevelSetEdge::insertParamConstraint (const DifferentiableFunctionPtr_t function, const ComparisonTypes_t ineq)
- {
- isInit_ = false;
- insertParamConstraint (constraints::Implicit::create (function, ineq));
- }
-
void LevelSetEdge::insertParamConstraint (const LockedJointPtr_t lockedJoint)
{
isInit_ = false;
diff --git a/src/graph/graph-component.cc b/src/graph/graph-component.cc
index 2d58b330406234bc3e4f5b4e8a74b76ae8af5fa0..485e3f4e9bb7e2a0573e5e97e3b43e72963eb93c 100644
--- a/src/graph/graph-component.cc
+++ b/src/graph/graph-component.cc
@@ -59,11 +59,6 @@ namespace hpp {
passiveDofs_.push_back (passiveDofs);
}
- void GraphComponent::addNumericalConstraint (const DifferentiableFunctionPtr_t& function, const ComparisonTypes_t& ineq)
- {
- addNumericalConstraint (Implicit::create (function,ineq));
- }
-
void GraphComponent::resetNumericalConstraints ()
{
isInit_ = false;
diff --git a/src/graph/graph.cc b/src/graph/graph.cc
index 6ee5c30c31649b60aec9a05d7411f212f5b77452..84d6f9a3052c4fde49574b310911cac5ddad1ae3 100644
--- a/src/graph/graph.cc
+++ b/src/graph/graph.cc
@@ -59,11 +59,6 @@ namespace hpp {
isInit_ = true;
}
- StateSelectorPtr_t Graph::createNodeSelector (const std::string& name)
- {
- return createStateSelector (name);
- }
-
StateSelectorPtr_t Graph::createStateSelector (const std::string& name)
{
isInit_ = false;
@@ -72,11 +67,6 @@ namespace hpp {
return stateSelector_;
}
- void Graph::nodeSelector (StateSelectorPtr_t ns)
- {
- stateSelector (ns);
- }
-
void Graph::stateSelector (StateSelectorPtr_t ns)
{
isInit_ = false;
@@ -124,22 +114,12 @@ namespace hpp {
return problem_;
}
- StatePtr_t Graph::getNode (ConfigurationIn_t config) const
- {
- return getState (config);
- }
-
StatePtr_t Graph::getState (ConfigurationIn_t config) const
{
if (!stateSelector_) throw std::runtime_error ("No StateSelector in Constraint Graph.");
return stateSelector_->getState (config);
}
- StatePtr_t Graph::getNode(RoadmapNodePtr_t coreNode) const
- {
- return stateSelector_->getState (coreNode);
- }
-
StatePtr_t Graph::getState(RoadmapNodePtr_t coreNode) const
{
return stateSelector_->getState (coreNode);
@@ -204,13 +184,6 @@ namespace hpp {
return state->configConstraint ();
}
- bool Graph::getConfigErrorForNode (ConfigurationIn_t config,
- const StatePtr_t& state,
- vector_t& error) const
- {
- return getConfigErrorForState (config, state, error);
- }
-
bool Graph::getConfigErrorForState (ConfigurationIn_t config,
const StatePtr_t& state,
vector_t& error) const
diff --git a/src/weighed-distance.cc b/src/weighed-distance.cc
index 756e0f11cc44c0d784bc955d1e125e40d4c86b3e..66fe914513194bad6f54b0d5ed7b154a919ad7f9 100644
--- a/src/weighed-distance.cc
+++ b/src/weighed-distance.cc
@@ -88,8 +88,8 @@ namespace hpp {
value_type d = core::WeighedDistance::impl_distance (q1, q2);
graph::Edges_t pes = graph_->getEdges (
- graph_->getNode (static_cast <RoadmapNodePtr_t>(n1)),
- graph_->getNode (static_cast <RoadmapNodePtr_t>(n2)));
+ graph_->getState (static_cast <RoadmapNodePtr_t>(n1)),
+ graph_->getState (static_cast <RoadmapNodePtr_t>(n2)));
while (!pes.empty ()) {
if (pes.back ()->canConnect (q1, q2))
return d;