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Remove deprecated functions
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@cmower
cmower committed Aug 11, 2023
1 parent 98cd1aa commit bff6bd9
Showing 1 changed file with 0 additions and 127 deletions.
127 changes: 0 additions & 127 deletions optas/models.py
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Original file line number Diff line number Diff line change
@@ -1,7 +1,5 @@
"""! @brief Several Model classes are defined."""

import os
import warnings
import functools
import pathlib

Expand Down Expand Up @@ -54,29 +52,6 @@ def listify(*args, **kwargs):
return listify


def deprecation_warning(name_to):
def decorator(function):
def wrapper(*args, **kwargs):
name_from = function.__name__
warn = f"'{name_from}' will be deprecated, please use '{name_to}' instead"
msg = "\033[93m" + warn + "\033[0m" # add
warnings.warn(msg, DeprecationWarning, stacklevel=2)
self_ = args[0]
new_function = getattr(self_, name_to)
while hasattr(new_function, "__wrapped__"):
new_function = new_function.__wrapped__

args_use = list(args)
if function.__name__.endswith("_function"):
args_use = args_use[1:]

return new_function(*args_use, **kwargs)

return wrapper

return decorator


class Model:
"""! The Model base class.
Defines the base class utilized by all models.
Expand Down Expand Up @@ -1197,11 +1172,6 @@ def get_link_rpy_function(
numpy_output=numpy_output,
)

@deprecation_warning("get_global_link_geometric_jacobian")
def get_global_geometric_jacobian(self, link, q):
"""! Deprecated function."""
pass

@arrayify_args
@listify_output
def get_global_link_geometric_jacobian(
Expand All @@ -1224,7 +1194,6 @@ def get_global_link_geometric_jacobian(
jacobian_columns = []

for joint in self.urdf.joints:

if joint.type == "fixed":
continue

Expand Down Expand Up @@ -1260,7 +1229,6 @@ def get_global_link_geometric_jacobian(
jcol = cs.DM.zeros(6)
jacobian_columns.append(jcol)


# Sort columns of jacobian
jacobian_columns_ordered = [jacobian_columns[idx] for idx in joint_index_order]

Expand All @@ -1271,11 +1239,6 @@ def get_global_link_geometric_jacobian(

return J

@deprecation_warning("get_global_link_geometric_jacobian_function")
def get_global_geometric_jacobian_function(self, link, n=1):
"""! Deprecated function."""
pass

def get_global_link_geometric_jacobian_function(
self,
link: str,
Expand All @@ -1293,11 +1256,6 @@ def get_global_link_geometric_jacobian_function(
"J", link, self.get_global_link_geometric_jacobian, n=n
)

@deprecation_warning("get_global_link_analytical_jacobian")
def get_global_analytical_jacobian(self, link, q):
"""! Deprecated function."""
pass

@arrayify_args
@listify_output
def get_global_link_analytical_jacobian(
Expand All @@ -1314,11 +1272,6 @@ def get_global_link_analytical_jacobian(
self.get_global_link_angular_analytical_jacobian(link, q),
)

@deprecation_warning("get_global_link_analytical_jacobian_function")
def get_global_analytical_jacobian_function(self, link):
"""! Deprecated function."""
pass

def get_global_link_analytical_jacobian_function(
self,
link: str,
Expand All @@ -1340,11 +1293,6 @@ def get_global_link_analytical_jacobian_function(
numpy_output=numpy_output,
)

@deprecation_warning("get_link_geometric_jacobian")
def get_geometric_jacobian(self):
"""! Deprecated function."""
pass

@arrayify_args
@listify_output
def get_link_geometric_jacobian(
Expand All @@ -1371,11 +1319,6 @@ def get_link_geometric_jacobian(

return J

@deprecation_warning("get_link_geometric_jacobian_function")
def get_geometric_jacobian_function(self, link, base_link, n=1):
"""! Deprecated function."""
pass

def get_link_geometric_jacobian_function(
self,
link: str,
Expand All @@ -1400,11 +1343,6 @@ def get_link_geometric_jacobian_function(
numpy_output=numpy_output,
)

@deprecation_warning("get_link_analytical_jacobian")
def get_analytical_jacobian(self):
"""! Deprecated function."""
pass

@arrayify_args
@listify_output
def get_link_analytical_jacobian(
Expand All @@ -1422,11 +1360,6 @@ def get_link_analytical_jacobian(
self.get_link_angular_analytical_jacobian(link, q, base_link),
)

@deprecation_warning("get_link_analytical_jacobian_function")
def get_analytical_jacobian_function(self, link, base_link):
"""! Deprecated function."""
pass

def get_link_analytical_jacobian_function(
self,
link: str,
Expand All @@ -1451,11 +1384,6 @@ def get_link_analytical_jacobian_function(
numpy_output=numpy_output,
)

@deprecation_warning("get_global_link_linear_jacobian")
def get_global_linear_jacobian(self, link, q):
"""! Deprecated function."""
pass

@arrayify_args
@listify_output
def get_global_link_linear_jacobian(
Expand All @@ -1470,11 +1398,6 @@ def get_global_link_linear_jacobian(
J = self.get_global_link_geometric_jacobian(link, q)
return J[:3, :]

@deprecation_warning("get_global_link_linear_jacobian_function")
def get_global_linear_jacobian_function(self, link, n=1):
"""! Deprecated function."""
pass

def get_global_link_linear_jacobian_function(
self,
link: str,
Expand All @@ -1496,11 +1419,6 @@ def get_global_link_linear_jacobian_function(
numpy_output=numpy_output,
)

@deprecation_warning("get_link_linear_jacobian")
def get_linear_jacobian(self, link, q, base_link):
"""! Deprecated function."""
pass

@arrayify_args
@listify_output
def get_link_linear_jacobian(
Expand All @@ -1516,11 +1434,6 @@ def get_link_linear_jacobian(
J = self.get_link_geometric_jacobian(link, q, base_link)
return J[:3, :]

@deprecation_warning("get_link_linear_jacobian_function")
def get_linear_jacobian_function(self, link, base_link, n=1):
"""! Deprecated function."""
pass

def get_link_linear_jacobian_function(
self, link: str, base_link: str, n: int = 1, numpy_output: bool = False
) -> cs.Function:
Expand All @@ -1541,11 +1454,6 @@ def get_link_linear_jacobian_function(
numpy_output=numpy_output,
)

@deprecation_warning("get_global_link_angular_geometric_jacobian")
def get_global_angular_geometric_jacobian(self, link, q):
"""! Deprecated function."""
pass

@arrayify_args
@listify_output
def get_global_link_angular_geometric_jacobian(
Expand All @@ -1561,11 +1469,6 @@ def get_global_link_angular_geometric_jacobian(
J = self.get_global_link_geometric_jacobian(link, q)
return J[3:, :]

@deprecation_warning("get_global_link_angular_geometric_jacobian_function")
def get_global_angular_geometric_jacobian_function(self, link, n=1):
"""! Deprecated function."""
pass

def get_global_link_angular_geometric_jacobian_function(
self,
link: str,
Expand All @@ -1587,11 +1490,6 @@ def get_global_link_angular_geometric_jacobian_function(
numpy_output=numpy_output,
)

@deprecation_warning("get_global_link_angular_analytical_jacobian")
def get_global_angular_analytical_jacobian(self, link, q):
"""! Deprecated function."""
pass

@arrayify_args
@listify_output
def get_global_link_angular_analytical_jacobian(
Expand All @@ -1605,11 +1503,6 @@ def get_global_link_angular_analytical_jacobian(
"""
return self.get_link_angular_analytical_jacobian(link, q, self.get_root_link())

@deprecation_warning("get_global_link_angular_analytical_jacobian_function")
def get_global_angular_analytical_jacobian_function(self, link):
"""! Deprecated function."""
pass

def get_global_link_angular_analytical_jacobian_function(
self,
link: str,
Expand All @@ -1631,11 +1524,6 @@ def get_global_link_angular_analytical_jacobian_function(
numpy_output=numpy_output,
)

@deprecation_warning("get_link_angular_geometric_jacobian")
def get_angular_geometric_jacobian(self, link, q, base_link):
"""! Deprecated function."""
pass

@arrayify_args
@listify_output
def get_link_angular_geometric_jacobian(
Expand All @@ -1651,11 +1539,6 @@ def get_link_angular_geometric_jacobian(
J = self.get_link_geometric_jacobian(link, q, base_link)
return J[3:, :]

@deprecation_warning("get_link_angular_geometric_jacobian_function")
def get_angular_geometric_jacobian_function(self, link, base_link, n=1):
"""! Deprecated function."""
pass

def get_link_angular_geometric_jacobian_function(
self,
link: str,
Expand All @@ -1680,11 +1563,6 @@ def get_link_angular_geometric_jacobian_function(
numpy_output=numpy_output,
)

@deprecation_warning("get_link_angular_analytical_jacobian")
def get_angular_analytical_jacobian(self, link, q, base_link):
"""! Deprecated function."""
pass

@arrayify_args
@listify_output
def get_link_angular_analytical_jacobian(
Expand All @@ -1708,11 +1586,6 @@ def get_link_angular_analytical_jacobian(

return Ja(q)

@deprecation_warning("get_link_angular_analytical_jacobian_function")
def get_angular_analytical_jacobian_function(self, link, base_link):
"""! Deprecated function."""
pass

def get_link_angular_analytical_jacobian_function(
self,
link: str,
Expand Down

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