Merge pull request #1114 from robotology/cleanupraw

Merge ***Raw classes in the non-Raw equivalents, and deprecate Raw classes
robotology · Oct 14, 2023 · 60c9d8f · 60c9d8f
2 parents 129156e + 0e146f6
commit 60c9d8f
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -27,6 +27,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Linking `iDynTree::idyntree-sensors` is deprecated, you can just link `iDynTree::idyntree-model` instead, or just search and replace `iDynTree::idyntree-sensors` with an empty string if you are already linking `iDynTree::idyntree-model` (https://github.com/robotology/idyntree/pull/1104).
 - Including `<iDynTree/Core/@headername@.h>`, `<iDynTree/Model/@headername@.h>`, `<iDynTree/Sensors/@headername@.h>`, `<iDynTree/ModelIO/@headername@.h>`, `<iDynTree/Estimation/@headername@.h>`, `<iDynTree/yarp/@headername@.h>` is deprecated, just include `<iDynTree/@headername@.h>` . To perform this migration, just search and replace `<iDynTree/Core/` with `<iDynTree/`, `<iDynTree/Model/` with `<iDynTree/`, `<iDynTree/Sensors/` with `<iDynTree/`, `<iDynTree/ModelIO/` with `<iDynTree/`, `<iDynTree/Estimation/` with `<iDynTree/`, `<iDynTree/yarp/` with `<iDynTree/` (https://github.com/robotology/idyntree/pull/1104).
 - Several methods that take in input both a `iDynTree::Model` and a `iDynTree::SensorsList` have been deprecated, users are suggested to call the variant that takes in input only the `iDynTree::Model`, if necessary by populating correctly the sensors of the `iDynTree::Model` via the `iDynTree::Model::sensors` method (https://github.com/robotology/idyntree/pull/1106).
+- Several classes that ended in `Raw` are deprecated, and in their place their non-Raw counterpart should be used. In particular, the pair "deprecated"/"replacement"  is : `iDynTree::PositionRaw`/`iDynTree::Position`, `iDynTree::RotationRaw`/`iDynTree::Rotation`, `iDynTree::RotationalInertiaRaw`/`iDynTree::RotationalInertia` and   `iDynTree::SpatialInertiaRaw`/`iDynTree::SpatialInertia` (https://github.com/robotology/idyntree/pull/1114).
 
 
 ## [9.1.0] - 2023-05-25

diff --git a/bindings/iDynTree.i b/bindings/iDynTree.i
@@ -50,7 +50,6 @@
 #include "iDynTree/VectorFixSize.h"
 
 // Basic Vectors: Point Vectors and Spatial Vectors
-#include "iDynTree/PositionRaw.h"
 #include "iDynTree/Position.h"
 #include "iDynTree/SpatialForceVector.h"
 #include "iDynTree/SpatialMotionVector.h"
@@ -63,14 +62,13 @@
 #include "iDynTree/Axis.h"
 
 // Inertias
-#include "iDynTree/RotationalInertiaRaw.h"
-#include "iDynTree/SpatialInertiaRaw.h"
+#include "iDynTree/RotationalInertia.h"
+#include "iDynTree/SpatialInertia.h"
 #include "iDynTree/SpatialInertia.h"
 #include "iDynTree/ArticulatedBodyInertia.h"
 #include "iDynTree/InertiaNonLinearParametrization.h"
 
 // Transformations: Rotation and Transform
-#include "iDynTree/RotationRaw.h"
 #include "iDynTree/Rotation.h"
 #include "iDynTree/Transform.h"
 #include "iDynTree/TransformDerivative.h"
@@ -204,7 +202,6 @@ namespace std {
 %template(Vector16) iDynTree::VectorFixSize<16>;
 
 // Basic Vectors: Point Vectors and Spatial Vectors
-%include "iDynTree/PositionRaw.h"
 %include "iDynTree/Position.h"
 
 %include "iDynTree/GeomVector3.h"
@@ -236,14 +233,12 @@ namespace std {
 %include "iDynTree/Axis.h"
 
 // Inertias
-%include "iDynTree/RotationalInertiaRaw.h"
-%include "iDynTree/SpatialInertiaRaw.h"
+%include "iDynTree/RotationalInertia.h"
 %include "iDynTree/SpatialInertia.h"
 %include "iDynTree/ArticulatedBodyInertia.h"
 %include "iDynTree/InertiaNonLinearParametrization.h"
 
 // Transformations: Rotation and Transform
-%include "iDynTree/RotationRaw.h"
 %include "iDynTree/Rotation.h"
 %include "iDynTree/Transform.h"
 %include "iDynTree/TransformDerivative.h"

diff --git a/bindings/matlab/autogenerated/+iDynTree/ACCELEROMETER.m b/bindings/matlab/autogenerated/+iDynTree/ACCELEROMETER.m
@@ -1,7 +1,7 @@
 function v = ACCELEROMETER()
   persistent vInitialized;
   if isempty(vInitialized)
-    vInitialized = iDynTreeMEX(0, 6);
+    vInitialized = iDynTreeMEX(0, 5);
   end
   v = vInitialized;
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ACCELEROMETER_SENSOR.m b/bindings/matlab/autogenerated/+iDynTree/ACCELEROMETER_SENSOR.m
@@ -1,7 +1,7 @@
 function v = ACCELEROMETER_SENSOR()
   persistent vInitialized;
   if isempty(vInitialized)
-    vInitialized = iDynTreeMEX(0, 25);
+    vInitialized = iDynTreeMEX(0, 27);
   end
   v = vInitialized;
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/AccelerometerSensor.m b/bindings/matlab/autogenerated/+iDynTree/AccelerometerSensor.m
@@ -7,55 +7,55 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1376, varargin{:});
+        tmp = iDynTreeMEX(1340, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1377, self);
+        iDynTreeMEX(1341, self);
         self.SwigClear();
       end
     end
     function varargout = setName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1378, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1342, self, varargin{:});
     end
     function varargout = setLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1379, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1343, self, varargin{:});
     end
     function varargout = setParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1380, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1344, self, varargin{:});
     end
     function varargout = setParentLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1381, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1345, self, varargin{:});
     end
     function varargout = getName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1382, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1346, self, varargin{:});
     end
     function varargout = getSensorType(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1383, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1347, self, varargin{:});
     end
     function varargout = getParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1384, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1348, self, varargin{:});
     end
     function varargout = getParentLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1385, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1349, self, varargin{:});
     end
     function varargout = getLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1386, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1350, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1387, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1351, self, varargin{:});
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1388, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1352, self, varargin{:});
     end
     function varargout = updateIndices(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1389, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1353, self, varargin{:});
     end
     function varargout = predictMeasurement(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1390, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1354, self, varargin{:});
     end
   end
   methods(Static)

diff --git a/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithm.m b/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithm.m
@@ -1,3 +1,3 @@
 function varargout = ArticulatedBodyAlgorithm(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1262, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1487, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithmInternalBuffers.m b/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithmInternalBuffers.m
@@ -9,110 +9,110 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1240, varargin{:});
+        tmp = iDynTreeMEX(1465, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1241, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1466, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1242, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1467, self, varargin{:});
     end
     function varargout = S(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1243, self);
+        varargout{1} = iDynTreeMEX(1468, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1244, self, varargin{1});
+        iDynTreeMEX(1469, self, varargin{1});
       end
     end
     function varargout = U(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1245, self);
+        varargout{1} = iDynTreeMEX(1470, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1246, self, varargin{1});
+        iDynTreeMEX(1471, self, varargin{1});
       end
     end
     function varargout = D(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1247, self);
+        varargout{1} = iDynTreeMEX(1472, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1248, self, varargin{1});
+        iDynTreeMEX(1473, self, varargin{1});
       end
     end
     function varargout = u(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1249, self);
+        varargout{1} = iDynTreeMEX(1474, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1250, self, varargin{1});
+        iDynTreeMEX(1475, self, varargin{1});
       end
     end
     function varargout = linksVel(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1251, self);
+        varargout{1} = iDynTreeMEX(1476, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1252, self, varargin{1});
+        iDynTreeMEX(1477, self, varargin{1});
       end
     end
     function varargout = linksBiasAcceleration(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1253, self);
+        varargout{1} = iDynTreeMEX(1478, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1254, self, varargin{1});
+        iDynTreeMEX(1479, self, varargin{1});
       end
     end
     function varargout = linksAccelerations(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1255, self);
+        varargout{1} = iDynTreeMEX(1480, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1256, self, varargin{1});
+        iDynTreeMEX(1481, self, varargin{1});
       end
     end
     function varargout = linkABIs(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1257, self);
+        varargout{1} = iDynTreeMEX(1482, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1258, self, varargin{1});
+        iDynTreeMEX(1483, self, varargin{1});
       end
     end
     function varargout = linksBiasWrench(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1259, self);
+        varargout{1} = iDynTreeMEX(1484, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1260, self, varargin{1});
+        iDynTreeMEX(1485, self, varargin{1});
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1261, self);
+        iDynTreeMEX(1486, self);
         self.SwigClear();
       end
     end

diff --git a/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyInertia.m b/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyInertia.m
@@ -9,57 +9,57 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(585, varargin{:});
+        tmp = iDynTreeMEX(648, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = getLinearLinearSubmatrix(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(586, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(649, self, varargin{:});
     end
     function varargout = getLinearAngularSubmatrix(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(587, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(650, self, varargin{:});
     end
     function varargout = getAngularAngularSubmatrix(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(588, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(651, self, varargin{:});
     end
     function varargout = applyInverse(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(590, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(653, self, varargin{:});
     end
     function varargout = asMatrix(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(591, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(654, self, varargin{:});
     end
     function varargout = getInverse(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(592, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(655, self, varargin{:});
     end
     function varargout = plus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(593, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(656, self, varargin{:});
     end
     function varargout = minus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(594, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(657, self, varargin{:});
     end
     function varargout = mtimes(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(595, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(658, self, varargin{:});
     end
     function varargout = zero(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(596, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(659, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(599, self);
+        iDynTreeMEX(662, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = combine(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(589, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(652, varargin{:});
     end
     function varargout = ABADyadHelper(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(597, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(660, varargin{:});
     end
     function varargout = ABADyadHelperLin(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(598, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(661, varargin{:});
     end
   end
 end