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Remove deprecated old functions for ROS Melodic #91

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merged 1 commit into from Aug 22, 2018
Merged

Remove deprecated old functions for ROS Melodic #91

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30 changes: 0 additions & 30 deletions include/rviz_visual_tools/rviz_visual_tools.h
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Expand Up @@ -114,7 +114,6 @@ enum scales
XXLARGE = 9,
XXXLARGE = 10,
XXXXLARGE = 11,
REGULAR = 12 // deprecated as of ROS-KINETIC (remove in ROS-L)
};

enum EulerConvention
Expand Down Expand Up @@ -382,23 +381,8 @@ a * Warning: when using this in a loop be sure to call trigger() at end
* \brief Trigger the publish function to send out all collected markers
* \return true on success
*/
RVIZ_VISUAL_TOOLS_DEPRECATED
bool triggerBatchPublish()
{
return trigger();
}

bool trigger();

/**
* \brief Trigger the publish function to send out all collected markers. Also then turns off the
* batch mode. This is safer
* incase programmer forgets
* \return true on success
*/
RVIZ_VISUAL_TOOLS_DEPRECATED
bool triggerAndDisable();

/**
* \brief Display an array of markers, allows reuse of the ROS publisher
* \param markers
Expand Down Expand Up @@ -953,20 +937,6 @@ a * Warning: when using this in a loop be sure to call trigger() at end
*/
static geometry_msgs::Point convertPoint(const Eigen::Vector3d& point);

/**
* \brief Convert a 6-vector of x,y,z, roll,pitch,yall to an Affine3d with quaternion using Euler
* R-P-Y / X-Y-Z / 0-1-2 Euler Angle Standard
* \return 4x4 matrix in form of affine3d
* Use new function (below) instead, that specifies what type of convention. The drop in replacement
* for this function is:
* convertFromXYZRPY(x, y, z, roll, pitch, yaw, rviz_visual_tools::XYZ);
*/
RVIZ_VISUAL_TOOLS_DEPRECATED
static Eigen::Affine3d convertFromXYZRPY(double x, double y, double z, double roll, double pitch, double yaw);
RVIZ_VISUAL_TOOLS_DEPRECATED
static Eigen::Affine3d convertFromXYZRPY(const std::vector<double>& transform6); // TODO(davetcoleman): add new
// version of this function

/**
@brief Converts scalar translations and rotations to an Eigen Frame. This is achieved by chaining a
translation with individual euler rotations in ZYX order (this is equivalent to fixed rotatins XYZ)
Expand Down
29 changes: 0 additions & 29 deletions src/rviz_visual_tools.cpp
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Expand Up @@ -655,12 +655,6 @@ std_msgs::ColorRGBA RvizVisualTools::getColorScale(double value) const

geometry_msgs::Vector3 RvizVisualTools::getScale(scales scale, double marker_scale) const
{
if (scale == REGULAR)
{
ROS_WARN_STREAM_ONCE_NAMED(name_, "Scale size 'REGULAR' is deprecated, please switch to 'MEDIUM'");
scale = MEDIUM;
}

geometry_msgs::Vector3 result;
double val(0.0);
switch (scale)
Expand Down Expand Up @@ -879,13 +873,6 @@ bool RvizVisualTools::trigger()
return result;
}

bool RvizVisualTools::triggerAndDisable()
{
trigger();
batch_publishing_enabled_ = false;
return true;
}

bool RvizVisualTools::publishMarkers(visualization_msgs::MarkerArray& markers)
{
if (pub_rviz_markers_ == nullptr)
Expand Down Expand Up @@ -2551,22 +2538,6 @@ geometry_msgs::Point RvizVisualTools::convertPoint(const Eigen::Vector3d& point)
return point_msg;
}

Eigen::Affine3d RvizVisualTools::convertFromXYZRPY(const std::vector<double>& transform6)
{
return convertFromXYZRPY(std::move(transform6), XYZ);
}

Eigen::Affine3d RvizVisualTools::convertFromXYZRPY(double x, double y, double z, double roll, double pitch, double yaw)
{
// R-P-Y / X-Y-Z / 0-1-2 Euler Angle Standard
Eigen::AngleAxisd roll_angle(roll, Eigen::Vector3d::UnitX());
Eigen::AngleAxisd pitch_angle(pitch, Eigen::Vector3d::UnitY());
Eigen::AngleAxisd yaw_angle(yaw, Eigen::Vector3d::UnitZ());
Eigen::Quaternion<double> quaternion = roll_angle * pitch_angle * yaw_angle;

return Eigen::Translation3d(x, y, z) * quaternion;
}

Eigen::Affine3d RvizVisualTools::convertFromXYZRPY(double tx, double ty, double tz, double rx, double ry, double rz,
EulerConvention convention)
{
Expand Down