From 7fa6ab2d2d0c7eecc039722e8f405e85aab77b73 Mon Sep 17 00:00:00 2001
From: Steven Peters <scpeters@openrobotics.org>
Date: Tue, 13 Jul 2021 22:10:40 -0700
Subject: [PATCH] Remove RelativeGravityType GetGravity API

Signed-off-by: Steven Peters <scpeters@openrobotics.org>
---
 dartsim/src/LinkFeatures_TEST.cc         |  2 +-
 include/ignition/physics/World.hh        |  6 ------
 include/ignition/physics/detail/World.hh | 11 -----------
 3 files changed, 1 insertion(+), 18 deletions(-)

diff --git a/dartsim/src/LinkFeatures_TEST.cc b/dartsim/src/LinkFeatures_TEST.cc
index 52cc1802e..b2f0a3516 100644
--- a/dartsim/src/LinkFeatures_TEST.cc
+++ b/dartsim/src/LinkFeatures_TEST.cc
@@ -125,7 +125,7 @@ TEST_F(LinkFeaturesFixture, LinkForceTorque)
   {
     AssertVectorApprox vectorPredicate(1e-10);
     EXPECT_PRED_FORMAT2(vectorPredicate, Eigen::Vector3d::Zero(),
-                        world->GetGravity(physics::FrameID::World()));
+                        world->GetGravity());
   }
 
   // Add a sphere
diff --git a/include/ignition/physics/World.hh b/include/ignition/physics/World.hh
index f3e54047b..19ca59d23 100644
--- a/include/ignition/physics/World.hh
+++ b/include/ignition/physics/World.hh
@@ -98,12 +98,6 @@ namespace ignition
             const LinearVectorType &_gravity,
             const FrameID &_forceInCoordinatesOf = FrameID::World());
 
-        /// \brief Get the World gravity vector as a Relative Gravity
-        /// (a quantity that contains information about the coordinates
-        /// in which it is expressed).
-        /// \return Relative Gravity vector.
-        public: RelativeGravityType GetGravity() const;
-
         /// \brief Get the World gravity vector. Optionally, you may specify
         /// the frame whose coordinates are used to express the gravity vector.
         /// The World frame is used as a default if no frame is specified.
diff --git a/include/ignition/physics/detail/World.hh b/include/ignition/physics/detail/World.hh
index 8570a90f7..d4b890c65 100644
--- a/include/ignition/physics/detail/World.hh
+++ b/include/ignition/physics/detail/World.hh
@@ -78,17 +78,6 @@ void Gravity::World<PolicyT, FeaturesT>::SetGravity(
   }
 }
 
-/////////////////////////////////////////////////
-template <typename PolicyT, typename FeaturesT>
-auto Gravity::World<PolicyT, FeaturesT>::GetGravity() const
-    -> RelativeGravityType
-{
-  return RelativeGravityType(
-      FrameID::World(),
-      this->template Interface<Gravity>()
-          ->GetWorldGravity(this->identity));
-}
-
 /////////////////////////////////////////////////
 template <typename PolicyT, typename FeaturesT>
 auto Gravity::World<PolicyT, FeaturesT>::GetGravity(