From bff6bd96f432ad8c6b96f09504b90c4e60a0791a Mon Sep 17 00:00:00 2001 From: "Christopher E. Mower" Date: Fri, 11 Aug 2023 09:26:29 +0100 Subject: [PATCH] Remove deprecated functions --- optas/models.py | 127 ------------------------------------------------ 1 file changed, 127 deletions(-) diff --git a/optas/models.py b/optas/models.py index ae372505..78c2a93a 100644 --- a/optas/models.py +++ b/optas/models.py @@ -1,7 +1,5 @@ """! @brief Several Model classes are defined.""" - import os -import warnings import functools import pathlib @@ -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. @@ -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( @@ -1224,7 +1194,6 @@ def get_global_link_geometric_jacobian( jacobian_columns = [] for joint in self.urdf.joints: - if joint.type == "fixed": continue @@ -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] @@ -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, @@ -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( @@ -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, @@ -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( @@ -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, @@ -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( @@ -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, @@ -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( @@ -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, @@ -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( @@ -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: @@ -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( @@ -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, @@ -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( @@ -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, @@ -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( @@ -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, @@ -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( @@ -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,