Deprecate semantics support in core data structures

CHANGELOG.md

@@ -42,6 +42,10 @@ to normalize errors or as initial points of a nonlinear optimization procedure.
 - The changelog has been migrated to the format described in https://keepachangelog.com/en/1.0.0/ .
 - The CMake config files are now installed in ${CMAKE_INSTALL_PREFIX}/lib/cmake/iDynTree also in Windows.
 
+### Deprecated
+- All the classes and methods that end in Semantics are deprecated, and will be removed in iDynTree 2.0, see https://github.com/robotology/idyntree/pull/622 for more info.
+- The CMake option IDYNTREE_USES_KDL and all the classes available when enabling it are deprecated, and will be removed in iDynTree 2.0 .
+
 ### Fixed
 - Fixed missing `DOF_ACCELLERATION` data in dynamic variable cache ordering
 (https://github.com/robotology/idyntree/pull/587)

src/core/include/iDynTree/Core/AngularForceVector3.h

@@ -13,6 +13,7 @@
 
 #include <iDynTree/Core/ForceVector3.h>
 #include <iDynTree/Core/PrivateMotionForceVertorAssociations.h>
+#include <iDynTree/Core/Utils.h>
 
 namespace iDynTree
 {
@@ -24,7 +25,8 @@ namespace iDynTree
     /**
      * Class providing the semantics for any angular force vector (torque or angular momentum).
      */
-    class AngularForceVector3Semantics: public ForceVector3Semantics<AngularForceVector3Semantics>
+    class
+    AngularForceVector3Semantics: public ForceVector3Semantics<AngularForceVector3Semantics>
     {
     protected:
         int point;
@@ -34,17 +36,21 @@ namespace iDynTree
          * Constructors:
          */
         inline AngularForceVector3Semantics() {}
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         AngularForceVector3Semantics(int _point, int _body, int _refBody, int _coordinateFrame);
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         AngularForceVector3Semantics(const AngularForceVector3Semantics & other);
 
         /**
          * Semantics operations
          * Compute the semantics of the result given the semantics of the operands.
          */
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         bool changePoint(const PositionSemantics & newPoint,
                          const LinearForceVector3Semantics & otherLinear,
                          AngularForceVector3Semantics & resultAngular) const;
 
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         static bool compose(const AngularForceVector3Semantics & op1,
                             const AngularForceVector3Semantics & op2,
                             AngularForceVector3Semantics & result);

src/core/include/iDynTree/Core/AngularMotionVector3.h

@@ -13,6 +13,7 @@
 
 #include <iDynTree/Core/MotionVector3.h>
 #include <iDynTree/Core/PrivateMotionForceVertorAssociations.h>
+#include <iDynTree/Core/Utils.h>
 
 namespace iDynTree
 {
@@ -26,7 +27,9 @@ namespace iDynTree
          * Constructors:
          */
         AngularMotionVector3Semantics();
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         AngularMotionVector3Semantics(int _body, int _refBody, int _coordinateFrame);
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         AngularMotionVector3Semantics(const AngularMotionVector3Semantics & other);
     };
 

src/core/include/iDynTree/Core/GeomVector3.h

@@ -14,6 +14,7 @@
 #include <iDynTree/Core/VectorFixSize.h>
 #include <iDynTree/Core/Rotation.h>
 #include <iDynTree/Core/PrivateMotionForceVertorAssociations.h>
+#include <iDynTree/Core/Utils.h>
 
 #define GEOMVECTOR3SEMANTICS_TEMPLATE_HDR \
 template <class MotionForceSemanticsT>
@@ -41,7 +42,9 @@ namespace iDynTree
          * Constructors:
          */
         inline GeomVector3Semantics() {}
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         GeomVector3Semantics(int _body, int _refBody, int _coordinateFrame);
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         GeomVector3Semantics(const GeomVector3Semantics & other);
 
         void setToUnknown();
@@ -97,7 +100,9 @@ namespace iDynTree
         /**
          * Getters & setters
          */
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         const MotionForceSemanticsT& getSemantics() const;
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         void setSemantics(MotionForceSemanticsT& _semantics);
 
         /**

src/core/include/iDynTree/Core/LinearForceVector3.h

@@ -26,7 +26,9 @@ namespace iDynTree
          * Constructors:
          */
         inline LinearForceVector3Semantics() {}
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         LinearForceVector3Semantics(int _body, int _refBody, int _coordinateFrame);
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         LinearForceVector3Semantics(const LinearForceVector3Semantics & other);
     };
 

src/core/include/iDynTree/Core/LinearMotionVector3.h

@@ -34,17 +34,21 @@ namespace iDynTree
          * Constructors:
          */
         inline LinearMotionVector3Semantics() {}
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         LinearMotionVector3Semantics(int _point, int _body, int _refBody, int _coordinateFrame);
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         LinearMotionVector3Semantics(const LinearMotionVector3Semantics & other);
 
         /**
          * Semantics operations
          * Compute the semantics of the result given the semantics of the operands.
          */
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         bool changePoint(const PositionSemantics & newPoint,
                          const AngularMotionVector3Semantics & otherAngular,
                          LinearMotionVector3Semantics & resultLinear) const;
 
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         static bool compose(const LinearMotionVector3Semantics & op1,
                             const LinearMotionVector3Semantics & op2,
                             LinearMotionVector3Semantics & result);

src/core/include/iDynTree/Core/Position.h

@@ -74,11 +74,13 @@ namespace iDynTree
         /**
          * Semantic getter
          */
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         PositionSemantics& getSemantics();
 
         /**
          * Const Semantic getter
          */
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         const PositionSemantics& getSemantics() const;
 
         /**

src/core/include/iDynTree/Core/Rotation.h

@@ -91,11 +91,13 @@ namespace iDynTree
         /**
          * Semantic getter
          */
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         RotationSemantics& getSemantics();
 
         /**
          * Semantic getter
          */
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         const RotationSemantics& getSemantics() const;
 
         /**

src/core/include/iDynTree/Core/RotationSemantics.h

@@ -13,6 +13,8 @@
 
 #include <string>
 
+#include <iDynTree/Core/Utils.h>
+
 namespace iDynTree
 {
     class PositionSemantics;
@@ -22,7 +24,8 @@ namespace iDynTree
      *
      * \ingroup iDynTreeCore
      */
-    class RotationSemantics
+    class
+    RotationSemantics
     {
     protected:
         int orientationFrame;
@@ -54,30 +57,43 @@ namespace iDynTree
          * Constructor: initialize semantics from individual parameters
          *
          */
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         RotationSemantics(int _orientationFrame, int _body, int _refOrientationFrame, int _refBody);
 
         /**
          * Copy constructor: create a RotationSemantics from another RotationSemantics
          */
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         RotationSemantics(const RotationSemantics & other);
 
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         void setToUnknown();
 
         /**
          * @name Semantics setters and getters.
          *  Semantics setters and getters.
          */
         ///@{
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         int getOrientationFrame() const;
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         int getBody() const;
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         int getReferenceOrientationFrame() const;
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         int getRefBody() const;
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         int getCoordinateFrame() const;
 
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         void setOrientationFrame(int _orientationFrame);
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         void setBody(int _body);
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         void setReferenceOrientationFrame(int _refOrientationFrame);
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         void setRefBody(int _refBody);
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         void setCoordinateFrame(int _coordinateFrame);
     ///@}
 

src/core/include/iDynTree/Core/SpatialVector.h

@@ -47,6 +47,7 @@ SpatialVectorSemantics<LinearVec3SemanticsT, AngularVec3SemanticsT>
          */
         SpatialVectorSemantics(LinearVec3SemanticsT & linearVec3, AngularVec3SemanticsT & angularVec3);
 
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         bool check_linear2angularConsistency(const LinearVec3SemanticsT & linearVec3, const AngularVec3SemanticsT & angularVec3);
 
         /**

src/core/include/iDynTree/Core/Transform.h

@@ -134,11 +134,13 @@ namespace iDynTree
         /**
          * Semantic accessor
          */
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         TransformSemantics & getSemantics();
 
         /**
          * Const semantic getter
          */
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         const TransformSemantics & getSemantics() const;
 
         /**

src/core/include/iDynTree/Core/TransformSemantics.h

@@ -13,6 +13,8 @@
 
 #include <string>
 
+#include <iDynTree/Core/Utils.h>
+
 namespace iDynTree
 {
     class PositionSemantics;
@@ -44,12 +46,14 @@ namespace iDynTree
         /**
          * Constructor: initialize all semantics from a Transform object (create links)
          */
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         TransformSemantics(PositionSemantics & position, RotationSemantics & rotation);
 
 
         /**
          * Get the rotation part of the transform
          */
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         const RotationSemantics & getRotationSemantics() const;
 
         /**
@@ -60,11 +64,13 @@ namespace iDynTree
         /**
          * Set the rotation part of the transform
          */
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         bool setRotationSemantics(const RotationSemantics & rotation);
 
         /**
          * Set the translation part of the transform
          */
+        IDYNTREE_DEPRECATED_WITH_MSG("All iDynTree semantics class and  methods will be removed in iDynTree 2.0")
         bool setPositionSemantics(const PositionSemantics & position);
 
         /**

src/core/include/iDynTree/Core/Utils.h

@@ -20,31 +20,24 @@
  */
 #define IDYNTREE_UNUSED(var) ((void)var)
 
+
+// Note: we set IDYNTREE_DEPRECATED to nothing when compiling idyntree-core and
+// idyntree-high-level because some deprecated functions (mainly related to semantics)
+// need still too be used, as they are going to be removed without any replacement
+// When this functions will be removed as part of iDynTree 2.0, we can remove this special case
+// Furthermore, SWIG has some problems with this attributes, so until we use a recent SWIG version
+// we also disabled them for SWIG
 /**
  * \brief Macro to deprecate functions and methods
  *
  * see https://blog.samat.io/2017/02/27/Deprecating-functions-and-methods-in-Cplusplus/
  */
-// C++14
-#if __cplusplus >= 201402L
-  #if defined(__has_cpp_attribute)
-    #if __has_cpp_attribute(deprecated)
-      #define IDYNTREE_DEPRECATED [[deprecated]]
-      #define IDYNTREE_DEPRECATED_WITH_MSG(msg) [[deprecated(msg)]]
-    #endif
-  #endif
-// Earlier standards
+#if defined(idyntree_core_EXPORTS) || defined(idyntree_high_level_EXPORTS) || defined(SWIG)
+#define IDYNTREE_DEPRECATED
+#define IDYNTREE_DEPRECATED_WITH_MSG(msg)
 #else
-  #if defined(__GNUC__) || defined(__clang__)
-    #define IDYNTREE_DEPRECATED __attribute__((deprecated))
-    #define IDYNTREE_DEPRECATED_WITH_MSG(msg) __attribute__((deprecated(msg)))
-  #elif defined(_MSC_VER)
-    #define IDYNTREE_DEPRECATED __declspec(deprecated)
-    #define IDYNTREE_DEPRECATED_WITH_MSG(msg) __declspec(deprecated(msg))
-  #else
-    #define IDYNTREE_DEPRECATED
-    #define IDYNTREE_DEPRECATED_WITH_MSG(msg)
-  #endif
+#define IDYNTREE_DEPRECATED [[deprecated]]
+#define IDYNTREE_DEPRECATED_WITH_MSG(msg) [[deprecated(msg)]]
 #endif
 
 namespace iDynTree

src/core/include/iDynTree/Core/Wrench.h

@@ -20,7 +20,6 @@ namespace iDynTree
      *
      * \ingroup iDynTreeCore
      *
-     * Currently this class does not support semantics.
      */
     class Wrench: public SpatialForceVector
     {