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remove GetKinematicsSolverInfo, whcih is deprecated in kinetic #9

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Feb 14, 2018
Merged

remove GetKinematicsSolverInfo, whcih is deprecated in kinetic #9

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1 change: 0 additions & 1 deletion pr2_arm_kinematics/include/pr2_arm_kinematics/pr2_arm_ik_solver.h
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Expand Up @@ -43,7 +43,6 @@
#include <pr2_arm_kinematics/pr2_arm_ik.h>
#include <moveit/kinematics_base/kinematics_base.h>
#include <pr2_arm_kinematics/pr2_arm_kinematics_utils.h>
#include <moveit_msgs/GetKinematicSolverInfo.h>
#include <moveit_msgs/PositionIKRequest.h>
#include <geometry_msgs/PoseStamped.h>
#include <tf_conversions/tf_kdl.h>
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18 changes: 1 addition & 17 deletions pr2_arm_kinematics/include/pr2_arm_kinematics/pr2_arm_kinematics.h
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Expand Up @@ -47,7 +47,7 @@

#include <moveit_msgs/GetPositionFK.h>
#include <moveit_msgs/GetPositionIK.h>
#include <moveit_msgs/GetKinematicSolverInfo.h>
#include <moveit_msgs/KinematicSolverInfo.h>
#include <moveit_msgs/MoveItErrorCodes.h>

#include <kdl/chainfksolverpos_recursive.hpp>
Expand Down Expand Up @@ -88,22 +88,6 @@ namespace pr2_arm_kinematics
virtual bool getPositionIK(moveit_msgs::GetPositionIK::Request &request,
moveit_msgs::GetPositionIK::Response &response);

/**
* @brief This is the basic kinematics info service that will return information about the kinematics node.
* @param A request message. See service definition for GetKinematicSolverInfo for more information on this message.
* @param The response message. See service definition for GetKinematicSolverInfo for more information on this message.
*/
bool getIKSolverInfo(moveit_msgs::GetKinematicSolverInfo::Request &request,
moveit_msgs::GetKinematicSolverInfo::Response &response);

/**
* @brief This is the basic kinematics info service that will return information about the kinematics node.
* @param A request message. See service definition for GetKinematicSolverInfo for more information on this message.
* @param The response message. See service definition for GetKinematicSolverInfo for more information on this message.
*/
bool getFKSolverInfo(moveit_msgs::GetKinematicSolverInfo::Request &request,
moveit_msgs::GetKinematicSolverInfo::Response &response);

/**
* @brief This is the basic forward kinematics service that will return information about the kinematics node.
* @param A request message. See service definition for GetPositionFK for more information on this message.
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2 changes: 1 addition & 1 deletion pr2_arm_kinematics/include/pr2_arm_kinematics/pr2_arm_kinematics_plugin.h
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Expand Up @@ -47,7 +47,7 @@

#include <moveit_msgs/GetPositionFK.h>
#include <moveit_msgs/GetPositionIK.h>
#include <moveit_msgs/GetKinematicSolverInfo.h>
#include <moveit_msgs/KinematicSolverInfo.h>
#include <moveit_msgs/MoveItErrorCodes.h>

#include <kdl/chainfksolverpos_recursive.hpp>
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2 changes: 1 addition & 1 deletion pr2_arm_kinematics/include/pr2_arm_kinematics/pr2_arm_kinematics_utils.h
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Expand Up @@ -52,7 +52,7 @@

#include <moveit_msgs/GetPositionFK.h>
#include <moveit_msgs/GetPositionIK.h>
#include <moveit_msgs/GetKinematicSolverInfo.h>
#include <moveit_msgs/KinematicSolverInfo.h>


using namespace angles;
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27 changes: 0 additions & 27 deletions pr2_arm_kinematics/src/pr2_arm_kinematics.cpp
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Expand Up @@ -122,9 +122,6 @@ PR2ArmKinematics::PR2ArmKinematics(bool create_tf_listener): node_handle_("~"),
fk_service_ = node_handle_.advertiseService(FK_SERVICE,&PR2ArmKinematics::getPositionFK,this);
ik_service_ = node_handle_.advertiseService(IK_SERVICE,&PR2ArmKinematics::getPositionIK,this);

ik_solver_info_service_ = node_handle_.advertiseService(IK_INFO_SERVICE,&PR2ArmKinematics::getIKSolverInfo,this);
fk_solver_info_service_ = node_handle_.advertiseService(FK_INFO_SERVICE,&PR2ArmKinematics::getFKSolverInfo,this);

}
}

Expand Down Expand Up @@ -227,30 +224,6 @@ bool PR2ArmKinematics::getPositionIKHelper(moveit_msgs::GetPositionIK::Request &
}
}

bool PR2ArmKinematics::getIKSolverInfo(moveit_msgs::GetKinematicSolverInfo::Request &request,
moveit_msgs::GetKinematicSolverInfo::Response &response)
{
if (active_)
{
response.kinematic_solver_info = ik_solver_info_;
return true;
}
ROS_ERROR("IK node not active");
return false;
}

bool PR2ArmKinematics::getFKSolverInfo(moveit_msgs::GetKinematicSolverInfo::Request &request,
moveit_msgs::GetKinematicSolverInfo::Response &response)
{
if(active_)
{
response.kinematic_solver_info = fk_solver_info_;
return true;
}
ROS_ERROR("IK node not active");
return false;
}

bool PR2ArmKinematics::getPositionFK(moveit_msgs::GetPositionFK::Request &request,
moveit_msgs::GetPositionFK::Response &response)
{
Expand Down