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Deprecate the APIs that we think are unused. #191

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merged 2 commits into from
Dec 20, 2023
Merged

Deprecate the APIs that we think are unused. #191

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f6830b9
Deprecate the APIs that we think are unused.
clalancette Dec 8, 2023
4827632
Properly export parsePoseInternal to make Windows happy.
clalancette Dec 20, 2023
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14 changes: 14 additions & 0 deletions urdf_parser/include/urdf_parser/urdf_parser.h
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Original file line number Diff line number Diff line change
Expand Up @@ -149,12 +149,26 @@ namespace urdf{

URDFDOM_DLLAPI ModelInterfaceSharedPtr parseURDF(const std::string &xml_string);
URDFDOM_DLLAPI ModelInterfaceSharedPtr parseURDFFile(const std::string &path);

[[deprecated("File an issue at https://github.com/ros/urdfdom if you rely on this")]]
URDFDOM_DLLAPI tinyxml2::XMLDocument* exportURDF(ModelInterfaceSharedPtr &model);

[[deprecated("File an issue at https://github.com/ros/urdfdom if you rely on this")]]
URDFDOM_DLLAPI tinyxml2::XMLDocument* exportURDF(const ModelInterface &model);

[[deprecated("File an issue at https://github.com/ros/urdfdom if you rely on this")]]
URDFDOM_DLLAPI bool parsePose(Pose&, tinyxml2::XMLElement*);

[[deprecated("File an issue at https://github.com/ros/urdfdom if you rely on this")]]
URDFDOM_DLLAPI bool parseCamera(Camera&, tinyxml2::XMLElement*);

[[deprecated("File an issue at https://github.com/ros/urdfdom if you rely on this")]]
URDFDOM_DLLAPI bool parseRay(Ray&, tinyxml2::XMLElement*);

[[deprecated("File an issue at https://github.com/ros/urdfdom if you rely on this")]]
URDFDOM_DLLAPI bool parseSensor(Sensor&, tinyxml2::XMLElement*);

[[deprecated("File an issue at https://github.com/ros/urdfdom if you rely on this")]]
URDFDOM_DLLAPI bool parseModelState(ModelState&, tinyxml2::XMLElement*);
}

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4 changes: 2 additions & 2 deletions urdf_parser/src/joint.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@

namespace urdf{

bool parsePose(Pose &pose, tinyxml2::XMLElement* xml);
bool parsePoseInternal(Pose &pose, tinyxml2::XMLElement* xml);

bool parseJointDynamics(JointDynamics &jd, tinyxml2::XMLElement* config)
{
Expand Down Expand Up @@ -356,7 +356,7 @@ bool parseJoint(Joint &joint, tinyxml2::XMLElement* config)
}
else
{
if (!parsePose(joint.parent_to_joint_origin_transform, origin_xml))
if (!parsePoseInternal(joint.parent_to_joint_origin_transform, origin_xml))
{
joint.parent_to_joint_origin_transform.clear();
CONSOLE_BRIDGE_logError("Malformed parent origin element for joint [%s]", joint.name.c_str());
Expand Down
8 changes: 4 additions & 4 deletions urdf_parser/src/link.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,7 @@

namespace urdf{

bool parsePose(Pose &pose, tinyxml2::XMLElement* xml);
bool parsePoseInternal(Pose &pose, tinyxml2::XMLElement* xml);

bool parseMaterial(Material &material, tinyxml2::XMLElement *config, bool only_name_is_ok)
{
Expand Down Expand Up @@ -274,7 +274,7 @@ bool parseInertial(Inertial &i, tinyxml2::XMLElement *config)
tinyxml2::XMLElement *o = config->FirstChildElement("origin");
if (o)
{
if (!parsePose(i.origin, o))
if (!parsePoseInternal(i.origin, o))
return false;
}

Expand Down Expand Up @@ -353,7 +353,7 @@ bool parseVisual(Visual &vis, tinyxml2::XMLElement *config)
// Origin
tinyxml2::XMLElement *o = config->FirstChildElement("origin");
if (o) {
if (!parsePose(vis.origin, o))
if (!parsePoseInternal(vis.origin, o))
return false;
}

Expand Down Expand Up @@ -395,7 +395,7 @@ bool parseCollision(Collision &col, tinyxml2::XMLElement* config)
// Origin
tinyxml2::XMLElement *o = config->FirstChildElement("origin");
if (o) {
if (!parsePose(col.origin, o))
if (!parsePoseInternal(col.origin, o))
return false;
}

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10 changes: 8 additions & 2 deletions urdf_parser/src/model.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -273,7 +273,8 @@ ModelInterfaceSharedPtr parseURDF(const std::string &xml_string)
bool exportMaterial(Material &material, tinyxml2::XMLElement *config);
bool exportLink(Link &link, tinyxml2::XMLElement *config);
bool exportJoint(Joint &joint, tinyxml2::XMLElement *config);
tinyxml2::XMLDocument* exportURDF(const ModelInterface &model)

tinyxml2::XMLDocument* exportURDFInternal(const ModelInterface &model)
{
tinyxml2::XMLDocument *doc = new tinyxml2::XMLDocument();

Expand Down Expand Up @@ -303,9 +304,14 @@ tinyxml2::XMLDocument* exportURDF(const ModelInterface &model)
return doc;
}

tinyxml2::XMLDocument* exportURDF(const ModelInterface &model)
{
return exportURDFInternal(model);
}

tinyxml2::XMLDocument* exportURDF(ModelInterfaceSharedPtr &model)
{
return exportURDF(*model);
return exportURDFInternal(*model);
}


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7 changes: 6 additions & 1 deletion urdf_parser/src/pose.cpp
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Expand Up @@ -87,7 +87,7 @@ std::string values2str(double d)

namespace urdf{

bool parsePose(Pose &pose, tinyxml2::XMLElement* xml)
bool parsePoseInternal(Pose &pose, tinyxml2::XMLElement* xml)
{
pose.clear();
if (xml)
Expand Down Expand Up @@ -119,6 +119,11 @@ bool parsePose(Pose &pose, tinyxml2::XMLElement* xml)
return true;
}

bool parsePose(Pose &pose, tinyxml2::XMLElement* xml)
{
return parsePoseInternal(pose, xml);
}

bool exportPose(Pose &pose, tinyxml2::XMLElement* xml)
{
tinyxml2::XMLElement* origin = xml->GetDocument()->NewElement("origin");
Expand Down
22 changes: 16 additions & 6 deletions urdf_parser/src/urdf_sensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,9 +49,9 @@

namespace urdf{

bool parsePose(Pose &pose, tinyxml2::XMLElement* xml);
bool parsePoseInternal(Pose &pose, tinyxml2::XMLElement* xml);

bool parseCamera(Camera &camera, tinyxml2::XMLElement* config)
bool parseCameraInternal(Camera &camera, tinyxml2::XMLElement* config)
{
camera.clear();
camera.type = VisualSensor::CAMERA;
Expand Down Expand Up @@ -173,7 +173,12 @@ bool parseCamera(Camera &camera, tinyxml2::XMLElement* config)
return true;
}

bool parseRay(Ray &ray, tinyxml2::XMLElement* config)
bool parseCamera(Camera &camera, tinyxml2::XMLElement* config)
{
return parseCameraInternal(camera, config);
}

bool parseRayInternal(Ray &ray, tinyxml2::XMLElement* config)
{
ray.clear();
ray.type = VisualSensor::RAY;
Expand Down Expand Up @@ -292,6 +297,11 @@ bool parseRay(Ray &ray, tinyxml2::XMLElement* config)
return false;
}

bool parseRay(Ray &ray, tinyxml2::XMLElement* config)
{
return parseRayInternal(ray, config);
}

VisualSensorSharedPtr parseVisualSensor(tinyxml2::XMLElement *g)
{
VisualSensorSharedPtr visual_sensor;
Expand All @@ -303,15 +313,15 @@ VisualSensorSharedPtr parseVisualSensor(tinyxml2::XMLElement *g)
Camera *camera = new Camera();
visual_sensor.reset(camera);
sensor_xml = g->FirstChildElement("camera");
if (!parseCamera(*camera, sensor_xml))
if (!parseCameraInternal(*camera, sensor_xml))
visual_sensor.reset();
}
else if (g->FirstChildElement("ray"))
{
Ray *ray = new Ray();
visual_sensor.reset(ray);
sensor_xml = g->FirstChildElement("ray");
if (!parseRay(*ray, sensor_xml))
if (!parseRayInternal(*ray, sensor_xml))
visual_sensor.reset();
}
else
Expand Down Expand Up @@ -347,7 +357,7 @@ bool parseSensor(Sensor &sensor, tinyxml2::XMLElement* config)
tinyxml2::XMLElement *o = config->FirstChildElement("origin");
if (o)
{
if (!parsePose(sensor.origin, o))
if (!parsePoseInternal(sensor.origin, o))
return false;
}

Expand Down
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