From 2e5bab171eac7cc2c3d0d7146eaa812a0013c1da Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Fri, 9 Feb 2018 14:56:50 +0100
Subject: [PATCH] [contact-generation] remove deprecated method addState, you
should use State.createState now
---
idl/hpp/corbaserver/rbprm/rbprmbuilder.idl | 6 ------
src/hpp/corbaserver/rbprm/rbprmfullbody.py | 7 -------
src/rbprmbuilder.impl.cc | 17 -----------------
src/rbprmbuilder.impl.hh | 1 -
4 files changed, 31 deletions(-)
diff --git a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
index 804504d..01b6ae8 100755
--- a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
+++ b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
@@ -279,12 +279,6 @@ module hpp
/// \param contactLimbs ids of the limb in contact for the state
void setStartState(in floatSeq dofArray, in Names_t contactLimbs) raises (Error);
- /// Add a state to fullBody, defined by it's configuration and contacts
- /// \param dofArray configuration of the robot
- /// \param contactLimbs ids of the limb in contact for the state
- short addState(in floatSeq dofArray, in Names_t contactLimbs) raises (Error);
-
-
/// Compute effector contact points and normals for a given configuration
/// in local coordinates
/// \param dofArray configuration of the robot
diff --git a/src/hpp/corbaserver/rbprm/rbprmfullbody.py b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
index b05bd52..72f54a6 100755
--- a/src/hpp/corbaserver/rbprm/rbprmfullbody.py
+++ b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
@@ -291,13 +291,6 @@ class FullBody (object):
def setStartState(self, configuration, contacts):
return self.client.rbprm.rbprm.setStartState(configuration, contacts)
- ## Add a state to fullBody, defined by it's configurations and contacts
- #
- # \param configuration the desired state configuration
- # \param contacts the array of limbs in contact
- def addState(self, configuration, contacts):
- return self.client.rbprm.rbprm.addState(configuration, contacts)
-
## Create a state given a configuration and contacts
#
# \param configuration the desired start configuration
diff --git a/src/rbprmbuilder.impl.cc b/src/rbprmbuilder.impl.cc
index 32cd19e..80410c0 100755
--- a/src/rbprmbuilder.impl.cc
+++ b/src/rbprmbuilder.impl.cc
@@ -1260,23 +1260,6 @@ namespace hpp {
}
}
- CORBA::Short RbprmBuilder::addState(const hpp::floatSeq& configuration, const hpp::Names_t& contactLimbs) throw (hpp::Error)
- {
- try
- {
- State state;
- std::vector<std::string> names = stringConversion(contactLimbs);
- SetPositionAndNormal(state,fullBody(), configuration, names);
- lastStatesComputed_.push_back(state);
- lastStatesComputedTime_.push_back(std::make_pair(0.,state));
- }
- catch(std::runtime_error& e)
- {
- throw Error(e.what());
- }
- return lastStatesComputed_.size()-1;
- }
-
double RbprmBuilder::getTimeAtState(unsigned short stateId)throw (hpp::Error){
try
diff --git a/src/rbprmbuilder.impl.hh b/src/rbprmbuilder.impl.hh
index d699a9a..836b073 100755
--- a/src/rbprmbuilder.impl.hh
+++ b/src/rbprmbuilder.impl.hh
@@ -248,7 +248,6 @@ namespace hpp {
virtual void setStartState(const hpp::floatSeq& configuration, const hpp::Names_t& contactLimbs) throw (hpp::Error);
virtual void setEndState(const hpp::floatSeq& configuration, const hpp::Names_t& contactLimbs) throw (hpp::Error);
- virtual CORBA::Short addState(const hpp::floatSeq& configuration, const hpp::Names_t& contactLimbs) throw (hpp::Error);
virtual hpp::floatSeq* computeContactForConfig(const hpp::floatSeq& configuration, const char* limbNam) throw (hpp::Error);
virtual hpp::floatSeqSeq* computeContactPoints(unsigned short cId) throw (hpp::Error);
virtual hpp::floatSeqSeq* computeContactPointsAtState(unsigned short cId, unsigned short isIntermediate) throw (hpp::Error);
--
GitLab