Removed deprecated code

CMakeLists.txt

@@ -66,7 +66,7 @@ string(REGEX REPLACE "[^/]+" ".." RELATIVE_PATH_LIBDIR_TO_PREFIX "${CMAKE_INSTAL
 add_subdirectory(urdf_parser)
 
 set(PKG_NAME ${PROJECT_NAME})
-set(PKG_LIBRARIES urdfdom_sensor urdfdom_model_state urdfdom_model urdfdom_world)
+set(PKG_LIBRARIES urdfdom_sensor urdfdom_model urdfdom_world)
 set(PKG_DEPENDS urdfdom_headers)
 set(PKG_EXPORTS urdfdom)
 set(cmake_conf_file "cmake/urdfdom-config")
@@ -91,7 +91,7 @@ install(FILES package.xml DESTINATION share/${PROJECT_NAME})
 # Make the package config file
 set(PKG_DESC "Unified Robot Description Format")
 set(PKG_DEPENDS "urdfdom_headers") # make the list separated by spaces instead of ;
-set(PKG_URDF_LIBS "-lurdfdom_sensor -lurdfdom_model_state -lurdfdom_model -lurdfdom_world")
+set(PKG_URDF_LIBS "-lurdfdom_sensor -lurdfdom_model -lurdfdom_world")
 set(pkg_conf_file "cmake/pkgconfig/urdfdom.pc")
 configure_file("${CMAKE_CURRENT_SOURCE_DIR}/${pkg_conf_file}.in" "${CMAKE_BINARY_DIR}/${pkg_conf_file}" @ONLY)
 install(FILES ${CMAKE_BINARY_DIR}/${pkg_conf_file}

urdf_parser/CMakeLists.txt

@@ -64,13 +64,6 @@ add_urdfdom_library(
   LINK
     urdfdom_model)
 
-add_urdfdom_library(
-  LIBNAME
-    urdfdom_model_state
-  SOURCES
-    src/urdf_model_state.cpp
-    src/twist.cpp)
-
 add_library(urdf_parser INTERFACE)
 target_include_directories(urdf_parser INTERFACE
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
@@ -86,10 +79,6 @@ add_executable(check_urdf src/check_urdf.cpp)
 target_include_directories(check_urdf PUBLIC include)
 target_link_libraries(check_urdf urdfdom_model urdfdom_world)
 
-# Deprecated executable
-add_executable(urdf_to_graphiz src/urdf_to_graphviz.cpp)
-target_link_libraries(urdf_to_graphiz urdfdom_model)
-
 add_executable(urdf_to_graphviz src/urdf_to_graphviz.cpp)
 target_include_directories(urdf_to_graphviz PUBLIC include)
 target_link_libraries(urdf_to_graphviz urdfdom_model)
@@ -108,7 +97,6 @@ endif()
 INSTALL(
   TARGETS
   check_urdf
-  urdf_to_graphiz
   urdf_to_graphviz
   urdf_mem_test
   RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
@@ -120,7 +108,6 @@ INSTALL(
   urdfdom_model
   urdfdom_world
   urdfdom_sensor
-  urdfdom_model_state
   urdf_parser
   EXPORT
   urdfdom

urdf_parser/include/urdf_parser/urdf_parser.h

@@ -45,7 +45,6 @@
 #include <urdf_model/model.h>
 #include <urdf_model/color.h>
 #include <urdf_model/utils.h>
-#include <urdf_model_state/model_state.h>
 #include <urdf_sensor/sensor.h>
 #include <urdf_world/types.h>
 
@@ -147,30 +146,8 @@ class URDFVersion final
 }
 
 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*);
 }
 
 #endif

urdf_parser/src/model.cpp

@@ -303,16 +303,4 @@ tinyxml2::XMLDocument*  exportURDFInternal(const ModelInterface &model)
 
   return doc;
 }
-
-tinyxml2::XMLDocument*  exportURDF(const ModelInterface &model)
-{
-  return exportURDFInternal(model);
-}
-
-tinyxml2::XMLDocument*  exportURDF(ModelInterfaceSharedPtr &model)
-{
-  return exportURDFInternal(*model);
-}
-
-
 }

urdf_parser/src/pose.cpp

@@ -121,11 +121,6 @@ bool parsePoseInternal(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");

urdf_parser/src/urdf_sensor.cpp

@@ -48,6 +48,7 @@
 #include <urdf_parser/urdf_parser.h>
 
 #include "./pose.hpp"
+#include "./urdf_sensor.hpp"
 
 namespace urdf{
 
@@ -173,11 +174,6 @@ bool parseCameraInternal(Camera &camera, tinyxml2::XMLElement* config)
   return true;
 }
 
-bool parseCamera(Camera &camera, tinyxml2::XMLElement* config)
-{
-  return parseCameraInternal(camera, config);
-}
-
 bool parseRayInternal(Ray &ray, tinyxml2::XMLElement* config)
 {
   ray.clear();
@@ -297,11 +293,6 @@ bool parseRayInternal(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;
@@ -331,40 +322,4 @@ VisualSensorSharedPtr parseVisualSensor(tinyxml2::XMLElement *g)
   return visual_sensor;
 }
 
-
-bool parseSensor(Sensor &sensor, tinyxml2::XMLElement* config)
-{
-  sensor.clear();
-
-  const char *name_char = config->Attribute("name");
-  if (!name_char)
-  {
-    CONSOLE_BRIDGE_logError("No name given for the sensor.");
-    return false;
-  }
-  sensor.name = std::string(name_char);
-
-  // parse parent_link_name
-  const char *parent_link_name_char = config->Attribute("parent_link_name");
-  if (!parent_link_name_char)
-  {
-    CONSOLE_BRIDGE_logError("No parent_link_name given for the sensor.");
-    return false;
-  }
-  sensor.parent_link_name = std::string(parent_link_name_char);
-
-  // parse origin
-  tinyxml2::XMLElement *o = config->FirstChildElement("origin");
-  if (o)
-  {
-    if (!parsePoseInternal(sensor.origin, o))
-      return false;
-  }
-
-  // parse sensor
-  sensor.sensor = parseVisualSensor(config);
-  return true;
-}
-
-
 }