From 5f651f0686da7d3daf579323053c7fa8a424e78e Mon Sep 17 00:00:00 2001 From: Shobuj Paul <72087882+Shobuj-Paul@users.noreply.github.com> Date: Fri, 18 Aug 2023 14:52:16 +0530 Subject: [PATCH] Replaced deprecated functions to reduce warnings during build (#726) * Replaced deprecated functions to reduce warnings during build * updated .rst file in docs * GitHub issue --------- Co-authored-by: Sebastian Jahr --- .../pick_and_place_with_moveit_task_constructor.rst | 8 ++++---- .../src/minimal.cpp | 4 ++-- .../src/mtc_node.cpp | 4 ++-- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst b/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst index 0738577e92..3e4a36b9ec 100644 --- a/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst +++ b/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst @@ -233,8 +233,8 @@ Open ``mtc_node.cpp`` in your editor of choice, and paste in the following code. auto interpolation_planner = std::make_shared(); auto cartesian_planner = std::make_shared(); - cartesian_planner->setMaxVelocityScaling(1.0); - cartesian_planner->setMaxAccelerationScaling(1.0); + cartesian_planner->setMaxVelocityScalingFactor(1.0); + cartesian_planner->setMaxAccelerationScalingFactor(1.0); cartesian_planner->setStepSize(.01); auto stage_open_hand = @@ -459,8 +459,8 @@ Feel free to try out the different solvers and see how the robot motion changes. .. code-block:: c++ auto cartesian_planner = std::make_shared(); - cartesian_planner->setMaxVelocityScaling(1.0); - cartesian_planner->setMaxAccelerationScaling(1.0); + cartesian_planner->setMaxVelocityScalingFactor(1.0); + cartesian_planner->setMaxAccelerationScalingFactor(1.0); cartesian_planner->setStepSize(.01); Now that we added in the planners, we can add a stage that will move the robot. diff --git a/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/minimal.cpp b/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/minimal.cpp index 17c4092179..8d53d0e8eb 100644 --- a/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/minimal.cpp +++ b/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/minimal.cpp @@ -124,8 +124,8 @@ mtc::Task MTCTaskNode::createTask() auto interpolation_planner = std::make_shared(); auto cartesian_planner = std::make_shared(); - cartesian_planner->setMaxVelocityScaling(1.0); - cartesian_planner->setMaxAccelerationScaling(1.0); + cartesian_planner->setMaxVelocityScalingFactor(1.0); + cartesian_planner->setMaxAccelerationScalingFactor(1.0); cartesian_planner->setStepSize(.01); // clang-format off diff --git a/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp b/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp index 8d0e2e76e3..c214b11617 100644 --- a/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp +++ b/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp @@ -120,8 +120,8 @@ mtc::Task MTCTaskNode::createTask() auto interpolation_planner = std::make_shared(); auto cartesian_planner = std::make_shared(); - cartesian_planner->setMaxVelocityScaling(1.0); - cartesian_planner->setMaxAccelerationScaling(1.0); + cartesian_planner->setMaxVelocityScalingFactor(1.0); + cartesian_planner->setMaxAccelerationScalingFactor(1.0); cartesian_planner->setStepSize(.01); // clang-format off