Remove deprecated Pose(), PoseFrame() functions from sdf10 (#308)

* Remove all deprecated *PoseFrame() APIs * Remove deprecated Pose(), SetPose() APIs * Migration guide: update per #244, #276 * Changelog for #308. Signed-off-by: Steve Peters <[email protected]>
gazebosim · Jun 30, 2020 · 50406fd · 50406fd
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diff --git a/Changelog.md b/Changelog.md
@@ -4,15 +4,18 @@
 
 ### libsdformat 10.0.0 (202X-XX-XX)
 
-1. Enforce minimum/maximum values specified in SDFormat description files
+1. Enforce minimum/maximum values specified in SDFormat description files.
     * [Pull request 303](https://github.com/osrf/sdformat/pull/303)
 
-1. Make parsing of values syntactically more strict with bad values generating an error
+1. Make parsing of values syntactically more strict with bad values generating an error.
     * [Pull request 244](https://github.com/osrf/sdformat/pull/244)
 
 1. Don't install deprecated parser_urdf.hh header file, fix cmake warning about newline file, fix cmake warning about newlines.
     * [Pull request 276](https://github.com/osrf/sdformat/pull/276)
 
+1. Remove deprecated Pose(), PoseFrame() functions from DOM objects.
+    * [Pull request 308](https://github.com/osrf/sdformat/pull/308)
+
 1. Changed the default radius of a Cylinder from 1.0 to 0.5 meters.
     * [BitBucket pull request 643](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/643)
 

diff --git a/Migration.md b/Migration.md
@@ -19,6 +19,20 @@ but with improved human-readability..
 1. + Minimum/maximum values specified in SDFormat description files are now enforced
    + [Pull request 303](https://github.com/osrf/sdformat/pull/303)
 
+1. + Parsing of bad values generates an error
+   + [Pull request 244](https://github.com/osrf/sdformat/pull/244)
+
+### Deletions
+
+1. + Removed the `parser_urdf.hh` header file and its `URDF2SDF` class
+   + [Pull request 276](https://github.com/osrf/sdformat/pull/276)
+
+1. + Removed the deprecated `Pose()`, `SetPose(), and `*PoseFrame()` API's in all DOM classes:
+   + const ignition::math::Pose3d &Pose()
+   + void SetPose(const ignition::math::Pose3d &)
+   + const std::string &PoseFrame()
+   + void SetPoseFrame(const std::string &)
+
 ### Additions
 
 1. **sdf/Element.hh**

diff --git a/include/sdf/Actor.hh b/include/sdf/Actor.hh
@@ -320,22 +320,6 @@ namespace sdf
     /// \param[in] _name Name of the actor.
     public: void SetName(const std::string &_name);
 
-    /// \brief Get the pose of the actor. This is the pose of the actor
-    /// as specified in SDF (<actor> <pose> ... </pose></actor>), and is
-    /// typically used to express the position and rotation of an actor in a
-    /// global coordinate frame.
-    /// \return The pose of the actor.
-    /// \deprecated See RawPose.
-    public: const ignition::math::Pose3d &Pose() const
-        SDF_DEPRECATED(9.0);
-
-    /// \brief Set the pose of the actor.
-    /// \sa const ignition::math::Pose3d &Pose() const
-    /// \param[in] _pose The new actor pose.
-    /// \deprecated See SetRawPose.
-    public: void SetPose(const ignition::math::Pose3d &_pose)
-        SDF_DEPRECATED(9.0);
-
     /// \brief Get the pose of the actor. This is the pose of the actor
     /// as specified in SDF (<actor> <pose> ... </pose></actor>), and is
     /// typically used to express the position and rotation of an actor in a
@@ -360,22 +344,6 @@ namespace sdf
     /// \param[in] _frame The name of the pose relative-to frame.
     public: void SetPoseRelativeTo(const std::string &_frame);
 
-    /// \brief Get the name of the coordinate frame in which this actor's
-    /// pose is expressed. A empty value indicates that the frame is the
-    /// global/world coordinate frame.
-    /// \return The name of the pose frame.
-    /// \deprecated See PoseRelativeTo.
-    public: const std::string &PoseFrame() const
-        SDF_DEPRECATED(9.0);
-
-    /// \brief Set the name of the coordinate frame in which this actor's
-    /// pose is expressed. A empty value indicates that the frame is the
-    /// global/world coordinate frame.
-    /// \param[in] _frame The name of the pose frame.
-    /// \deprecated See SetPoseRelativeTo.
-    public: void SetPoseFrame(const std::string &_frame)
-        SDF_DEPRECATED(9.0);
-
     /// \brief The path to the file where this element was loaded from.
     /// \return Full path to the file on disk.
     public: const std::string &FilePath() const;

diff --git a/include/sdf/Camera.hh b/include/sdf/Camera.hh
@@ -293,20 +293,6 @@ namespace sdf
     public: void SetDistortionCenter(
                 const ignition::math::Vector2d &_center) const;
 
-    /// \brief Get the pose of the camer. This is the pose of the camera
-    /// as specified in SDF (<camera> <pose> ... </pose></camera>).
-    /// \return The pose of the link.
-    /// \deprecated See RawPose.
-    public: const ignition::math::Pose3d &Pose() const
-        SDF_DEPRECATED(9.0);
-
-    /// \brief Set the pose of the camera.
-    /// \sa const ignition::math::Pose3d &Pose() const
-    /// \param[in] _pose The new camera pose.
-    /// \deprecated See SetRawPose.
-    public: void SetPose(const ignition::math::Pose3d &_pose)
-        SDF_DEPRECATED(9.0);
-
     /// \brief Get the pose of the camer. This is the pose of the camera
     /// as specified in SDF (<camera> <pose> ... </pose></camera>).
     /// \return The pose of the link.
@@ -329,22 +315,6 @@ namespace sdf
     /// \param[in] _frame The name of the pose relative-to frame.
     public: void SetPoseRelativeTo(const std::string &_frame);
 
-    /// \brief Get the name of the coordinate frame in which this camera's
-    /// pose is expressed. A empty value indicates that the frame is the
-    /// parent link.
-    /// \return The name of the pose frame.
-    /// \deprecated See PoseRelativeTo.
-    public: const std::string &PoseFrame() const
-        SDF_DEPRECATED(9.0);
-
-    /// \brief Set the name of the coordinate frame in which this camera's
-    /// pose is expressed. A empty value indicates that the frame is the
-    /// parent link.
-    /// \param[in] _frame The name of the pose frame.
-    /// \deprecated See SetPoseRelativeTo.
-    public: void SetPoseFrame(const std::string &_frame)
-        SDF_DEPRECATED(9.0);
-
     /// \brief Get the lens type. This is the type of the lens mapping.
     /// Supported values are gnomonical, stereographic, equidistant,
     /// equisolid_angle, orthographic, custom. For gnomonical (perspective)

diff --git a/include/sdf/Collision.hh b/include/sdf/Collision.hh
@@ -101,21 +101,6 @@ namespace sdf
     /// \param[in] _surface The surface parameters of the collision object
     public: void SetSurface(const sdf::Surface &_surface);
 
-    /// \brief Get the pose of the collision object. This is the pose of the
-    /// collision as specified in SDF
-    /// (<collision><pose> ... </pose></collision>).
-    /// \return The pose of the collision object.
-    /// \deprecated See RawPose.
-    public: const ignition::math::Pose3d &Pose() const
-        SDF_DEPRECATED(9.0);
-
-    /// \brief Set the pose of the collision object.
-    /// \sa const ignition::math::Pose3d &Pose() const
-    /// \param[in] _pose The pose of the collision object.
-    /// \deprecated See SetRawPose.
-    public: void SetPose(const ignition::math::Pose3d &_pose)
-        SDF_DEPRECATED(9.0);
-
     /// \brief Get the pose of the collision object. This is the pose of the
     /// collison as specified in SDF
     /// (<collision><pose> ... </pose></collision>).
@@ -139,22 +124,6 @@ namespace sdf
     /// \param[in] _frame The name of the pose relative-to frame.
     public: void SetPoseRelativeTo(const std::string &_frame);
 
-    /// \brief Get the name of the coordinate frame in which this collision
-    /// object's pose is expressed. A empty value indicates that the frame is
-    /// the parent link.
-    /// \return The name of the pose frame.
-    /// \deprecated See PoseRelativeTo.
-    public: const std::string &PoseFrame() const
-        SDF_DEPRECATED(9.0);
-
-    /// \brief Set the name of the coordinate frame in which this collision
-    /// object's pose is expressed. A empty value indicates that the frame is
-    /// the parent link.
-    /// \param[in] _frame The name of the pose frame.
-    /// \deprecated See SetPoseRelativeTo.
-    public: void SetPoseFrame(const std::string &_frame)
-        SDF_DEPRECATED(9.0);
-
     /// \brief Get SemanticPose object of this object to aid in resolving
     /// poses.
     /// \return SemanticPose object for this link.

diff --git a/include/sdf/Joint.hh b/include/sdf/Joint.hh
@@ -165,22 +165,6 @@ namespace sdf
     /// \param[in] _axis The JointAxis of the joint
     public: void SetAxis(const unsigned int _index, const JointAxis &_axis);
 
-    /// \brief Get the pose of the joint. This is the pose of the joint
-    /// as specified in SDF (<joint> <pose> ... </pose></joint>).
-    /// Transformations have not been applied to the return value.
-    /// \return The pose of the joint. This is the raw pose value, as set in
-    /// the SDF file.
-    /// \deprecated See RawPose.
-    public: const ignition::math::Pose3d &Pose() const
-        SDF_DEPRECATED(9.0);
-
-    /// \brief Set the pose of the joint.
-    /// \sa const ignition::math::Pose3d &Pose() const;
-    /// \param[in] _pose The pose of the joint.
-    /// \deprecated See SetRawPose.
-    public: void SetPose(const ignition::math::Pose3d &_pose)
-        SDF_DEPRECATED(9.0);
-
     /// \brief Get the pose of the joint. This is the pose of the joint
     /// as specified in SDF (<joint> <pose> ... </pose></joint>).
     /// Transformations have not been applied to the return value.
@@ -205,22 +189,6 @@ namespace sdf
     /// \param[in] _frame The name of the pose relative-to frame.
     public: void SetPoseRelativeTo(const std::string &_frame);
 
-    /// \brief Get the name of the coordinate frame in which this joint's
-    /// pose is expressed. A empty value indicates that the frame is the
-    /// child link frame.
-    /// \return The name of the pose frame.
-    /// \deprecated See PoseRelativeTo.
-    public: const std::string &PoseFrame() const
-        SDF_DEPRECATED(9.0);
-
-    /// \brief Set the name of the coordinate frame in which this joint's
-    /// pose is expressed. A empty value indicates that the frame is the
-    /// child link frame.
-    /// \param[in] _frame The name of the pose frame.
-    /// \deprecated See SetPoseRelativeTo.
-    public: void SetPoseFrame(const std::string &_frame)
-        SDF_DEPRECATED(9.0);
-
     /// \brief Get the thread pitch (only valid for screw joints)
     /// \return The thread pitch
     public: double ThreadPitch() const;

diff --git a/include/sdf/Light.hh b/include/sdf/Light.hh
@@ -109,22 +109,6 @@ namespace sdf
     /// \param[in] _name Name of the light.
     public: void SetName(const std::string &_name) const;
 
-    /// \brief Get the pose of the light. This is the pose of the light
-    /// as specified in SDF (<light> <pose> ... </pose></light>), and is
-    /// typically used to express the position and rotation of a light in a
-    /// global coordinate frame.
-    /// \return The pose of the light.
-    /// \deprecated See RawPose.
-    public: const ignition::math::Pose3d &Pose() const
-        SDF_DEPRECATED(9.0);
-
-    /// \brief Set the pose of the light.
-    /// \sa const ignition::math::Pose3d &Pose() const
-    /// \param[in] _pose The new light pose.
-    /// \deprecated See SetRawPose.
-    public: void SetPose(const ignition::math::Pose3d &_pose)
-        SDF_DEPRECATED(9.0);
-
     /// \brief Get the pose of the light. This is the pose of the light
     /// as specified in SDF (<light> <pose> ... </pose></light>), and is
     /// typically used to express the position and rotation of a light in a
@@ -149,22 +133,6 @@ namespace sdf
     /// \param[in] _frame The name of the pose relative-to frame.
     public: void SetPoseRelativeTo(const std::string &_frame);
 
-    /// \brief Get the name of the coordinate frame in which this light's
-    /// pose is expressed. A empty value indicates that the frame is the
-    /// global/world coordinate frame.
-    /// \return The name of the pose frame.
-    /// \deprecated See PoseRelativeTo.
-    public: const std::string &PoseFrame() const
-        SDF_DEPRECATED(9.0);
-
-    /// \brief Set the name of the coordinate frame in which this light's
-    /// pose is expressed. A empty value indicates that the frame is the
-    /// global/world coordinate frame.
-    /// \param[in] _frame The name of the pose frame.
-    /// \deprecated See SetPoseRelativeTo.
-    public: void SetPoseFrame(const std::string &_frame)
-        SDF_DEPRECATED(9.0);
-
     /// \brief Get SemanticPose object of this object to aid in resolving
     /// poses.
     /// \return SemanticPose object for this link.

diff --git a/include/sdf/Link.hh b/include/sdf/Link.hh
@@ -192,20 +192,6 @@ namespace sdf
     /// \sa const ignition::math::Inertiald &Inertial() const
     public: bool SetInertial(const ignition::math::Inertiald &_inertial);
 
-    /// \brief Get the pose of the link. This is the pose of the link
-    /// as specified in SDF (<link> <pose> ... </pose></link>).
-    /// \return The pose of the link.
-    /// \deprecated See RawPose.
-    public: const ignition::math::Pose3d &Pose() const
-        SDF_DEPRECATED(9.0);
-
-    /// \brief Set the pose of the link.
-    /// \sa const ignition::math::Pose3d &Pose() const
-    /// \param[in] _pose The new link pose.
-    /// \deprecated See SetRawPose.
-    public: void SetPose(const ignition::math::Pose3d &_pose)
-        SDF_DEPRECATED(9.0);
-
     /// \brief Get the pose of the link. This is the pose of the link
     /// as specified in SDF (<link> <pose> ... </pose></link>).
     /// \return The pose of the link.
@@ -228,22 +214,6 @@ namespace sdf
     /// \param[in] _frame The name of the pose relative-to frame.
     public: void SetPoseRelativeTo(const std::string &_frame);
 
-    /// \brief Get the name of the coordinate frame in which this link's
-    /// pose is expressed. A empty value indicates that the frame is the
-    /// parent model.
-    /// \return The name of the pose frame.
-    /// \deprecated See PoseRelativeTo.
-    public: const std::string &PoseFrame() const
-        SDF_DEPRECATED(9.0);
-
-    /// \brief Set the name of the coordinate frame in which this link's
-    /// pose is expressed. A empty value indicates that the frame is the
-    /// parent model.
-    /// \param[in] _frame The name of the pose frame.
-    /// \deprecated See SetPoseRelativeTo.
-    public: void SetPoseFrame(const std::string &_frame)
-        SDF_DEPRECATED(9.0);
-
     /// \brief Get a pointer to the SDF element that was used during
     /// load.
     /// \return SDF element pointer. The value will be nullptr if Load has

diff --git a/include/sdf/Model.hh b/include/sdf/Model.hh
@@ -198,22 +198,6 @@ namespace sdf
     /// \return True if there exists an explicit frame with the given name.
     public: bool FrameNameExists(const std::string &_name) const;
 
-    /// \brief Get the pose of the model. This is the pose of the model
-    /// as specified in SDF (<model> <pose> ... </pose></model>), and is
-    /// typically used to express the position and rotation of a model in a
-    /// global coordinate frame.
-    /// \return The pose of the model.
-    /// \deprecated See RawPose.
-    public: const ignition::math::Pose3d &Pose() const
-        SDF_DEPRECATED(9.0);
-
-    /// \brief Set the pose of the model.
-    /// \sa const ignition::math::Pose3d &Pose() const
-    /// \param[in] _pose The new model pose.
-    /// \deprecated See SetRawPose.
-    public: void SetPose(const ignition::math::Pose3d &_pose)
-        SDF_DEPRECATED(9.0);
-
     /// \brief Get the pose of the model. This is the pose of the model
     /// as specified in SDF (<model> <pose> ... </pose></model>), and is
     /// typically used to express the position and rotation of a model in a
@@ -252,22 +236,6 @@ namespace sdf
     /// \param[in] _frame The name of the pose relative-to frame.
     public: void SetPoseRelativeTo(const std::string &_frame);
 
-    /// \brief Get the name of the coordinate frame in which this model's
-    /// pose is expressed. A empty value indicates that the frame is the
-    /// global/world coordinate frame.
-    /// \return The name of the pose frame.
-    /// \deprecated See PoseRelativeTo.
-    public: const std::string &PoseFrame() const
-        SDF_DEPRECATED(9.0);
-
-    /// \brief Set the name of the coordinate frame in which this model's
-    /// pose is expressed. A empty value indicates that the frame is the
-    /// global/world coordinate frame.
-    /// \param[in] _frame The name of the pose frame.
-    /// \deprecated See SetPoseRelativeTo.
-    public: void SetPoseFrame(const std::string &_frame)
-        SDF_DEPRECATED(9.0);
-
     /// \brief Get a pointer to the SDF element that was used during
     /// load.
     /// \return SDF element pointer. The value will be nullptr if Load has