Merged in deprecate_joint_initial_position (pull request #683)

Deprecate //joint/axis/initial_position Approved-by: Eric Cousineau <[email protected]> Approved-by: Steve Peters <[email protected]>
gazebosim · Apr 9, 2020 · 30a6692 · 30a6692
2 parents ad274cb + b430a5c
commit 30a6692
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diff --git a/Changelog.md b/Changelog.md
@@ -10,6 +10,9 @@
 1. Initial version of sdformat 1.8 specification.
     * [Pull request 682](https://bitbucket.org/osrf/sdformat/pull-requests/682)
 
+1. sdf 1.8: Deprecate //joint/axis/initial_position.
+    * [Pull request 683](https://bitbucket.org/osrf/sdformat/pull-requests/683)
+
 ## SDFormat 9.X
 
 ### SDFormat 9.X.X (202X-XX-XX)

diff --git a/Migration.md b/Migration.md
@@ -187,6 +187,12 @@ but with improved human-readability..
     + Changed to `_fixed_joint_lump__` to avoid confusion with scoped names
     + [Pull request 245](https://bitbucket.org/osrf/sdformat/pull-request/245)
 
+## SDF protocol 1.7 to 1.8
+
+### Deprecations
+
+1. **joint.sdf** `initial_position` element in `<joint><axis>` and `<joint><axis2>` is deprecated
+
 ## SDF protocol 1.6 to 1.7
 
 ### Additions

diff --git a/include/sdf/JointAxis.hh b/include/sdf/JointAxis.hh
@@ -75,12 +75,12 @@ namespace sdf
     /// default value is zero (0.0).
     /// \return The initial joint position.
     /// \sa void SetInitialPosition(const double _pos)
-    public: double InitialPosition() const;
+    public: double InitialPosition() const SDF_DEPRECATED(10.0);
 
     /// \brief Set the initial joint position for this joint axis.
     /// \param[in] _pos The initial joint position.
     /// \sa double InitialPosition() const
-    public: void SetInitialPosition(const double _pos);
+    public: void SetInitialPosition(const double _pos) SDF_DEPRECATED(10.0);
 
     /// \brief Get the x,y,z components of the axis unit vector.
     /// The axis is expressed in the joint frame unless UseParentModelFrame

diff --git a/sdf/1.8/joint.sdf b/sdf/1.8/joint.sdf
@@ -45,9 +45,9 @@
       Parameters related to the axis of rotation for revolute joints,
       the axis of translation for prismatic joints.
     </description>
-    <element name="initial_position" type="double" default="0" required="0">
+    <element name="initial_position" type="double" default="0" required="-1">
       <description>
-        Default joint position for this joint axis.
+        (DEPRECATION WARNING: This tag has no known implementation. It is deprecated SDFormat 1.8 and will be removed in SDFormat 1.9) Default joint position for this joint axis.
       </description>
     </element>
     <element name="xyz" type="vector3" default="0 0 1" required="1">
@@ -107,9 +107,9 @@
     <description>
       Parameters related to the second axis of rotation for revolute2 joints and universal joints.
     </description>
-    <element name="initial_position" type="double" default="0" required="0">
+    <element name="initial_position" type="double" default="0" required="-1">
       <description>
-        Default joint position for this joint axis.
+        (DEPRECATION WARNING: This tag has no known implementation. It is deprecated SDFormat 1.8 and will be removed in SDFormat 1.9) Default joint position for this joint axis.
       </description>
     </element>
     <element name="xyz" type="vector3" default="0 0 1" required="1">

diff --git a/src/JointAxis_TEST.cc b/src/JointAxis_TEST.cc
@@ -23,7 +23,9 @@ TEST(DOMJointAxis, Construction)
 {
   sdf::JointAxis axis;
   EXPECT_EQ(nullptr, axis.Element());
+  SDF_SUPPRESS_DEPRECATED_BEGIN
   EXPECT_DOUBLE_EQ(0.0, axis.InitialPosition());
+  SDF_SUPPRESS_DEPRECATED_END
   EXPECT_EQ(ignition::math::Vector3d::UnitZ, axis.Xyz());
   EXPECT_TRUE(axis.XyzExpressedIn().empty());
   EXPECT_DOUBLE_EQ(0.0, axis.Damping());
@@ -37,8 +39,10 @@ TEST(DOMJointAxis, Construction)
   EXPECT_DOUBLE_EQ(1e8, axis.Stiffness());
   EXPECT_DOUBLE_EQ(1.0, axis.Dissipation());
 
+  SDF_SUPPRESS_DEPRECATED_BEGIN
   axis.SetInitialPosition(1.2);
   EXPECT_DOUBLE_EQ(1.2, axis.InitialPosition());
+  SDF_SUPPRESS_DEPRECATED_END
 
   axis.SetXyz(ignition::math::Vector3d(0, 1, 0));
   EXPECT_EQ(ignition::math::Vector3d::UnitY, axis.Xyz());

diff --git a/src/parser.cc b/src/parser.cc
@@ -790,9 +790,7 @@ bool readXml(TiXmlElement *_xml, ElementPtr _sdf, Errors &_errors)
   // Check if the element pointer is deprecated.
   if (_sdf->GetRequired() == "-1")
   {
-    _errors.push_back({ErrorCode::ELEMENT_DEPRECATED,
-        "SDF Element[" + _sdf->GetName() + "] is deprecated"});
-    return true;
+    sdfwarn << "SDF Element[" + _sdf->GetName() + "] is deprecated\n";
   }
 
   if (!_xml)

diff --git a/test/integration/joint_axis_dom.cc b/test/integration/joint_axis_dom.cc
@@ -86,6 +86,11 @@ TEST(DOMJointAxis, Complete)
   EXPECT_EQ("__model__", axis->XyzExpressedIn());
   EXPECT_TRUE(axis2->XyzExpressedIn().empty());
 
+  SDF_SUPPRESS_DEPRECATED_BEGIN
+  EXPECT_DOUBLE_EQ(0.5, axis->InitialPosition());
+  EXPECT_DOUBLE_EQ(1.5, axis2->InitialPosition());
+  SDF_SUPPRESS_DEPRECATED_END
+
   EXPECT_DOUBLE_EQ(-0.5, axis->Lower());
   EXPECT_DOUBLE_EQ(0.5, axis->Upper());
   EXPECT_DOUBLE_EQ(-1.0, axis2->Lower());

diff --git a/test/sdf/joint_complete.sdf b/test/sdf/joint_complete.sdf
@@ -28,6 +28,7 @@
       <parent>link2</parent>
       <axis>
         <xyz>0 0 1</xyz>
+        <initial_position>0.5</initial_position>
         <use_parent_model_frame>true</use_parent_model_frame>
         <limit>
           <lower>-0.5</lower>
@@ -44,6 +45,7 @@
       </axis>
       <axis2>
         <xyz>0 1 0</xyz>
+        <initial_position>1.5</initial_position>
         <use_parent_model_frame>false</use_parent_model_frame>
         <limit>
           <lower>-1</lower>