Remove deprecated YARP control board interface methods

There is a setVelocityMode() left at the skymegabot plugin, but it has no implementation anyway and won't result in compilaation issues. roboticslab-uc3m/questions-and-answers#16
roboticslab-uc3m · May 2, 2017 · ec0b387 · ec0b387
1 parent 310d5dc
commit ec0b387
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diff --git a/src/libraries/RlPlugins/ravebot/IPositionImpl.cpp b/src/libraries/RlPlugins/ravebot/IPositionImpl.cpp
@@ -4,13 +4,6 @@
 
 // ------------------- IPositionControl Related --------------------------------
 
-bool RaveBot::setPositionMode() {
-    bool ok = true;
-    for (unsigned int i=0; i<numMotors; i++)
-        ok &= setPositionMode(i);
-    return ok;
-}
-
 bool RaveBot::getAxes(int *ax) {
     *ax = numMotors;
     printf("[RaveBot] getAxes reporting %d axes are present\n", *ax);

diff --git a/src/libraries/RlPlugins/ravebot/IVelocityImpl.cpp b/src/libraries/RlPlugins/ravebot/IVelocityImpl.cpp
@@ -4,13 +4,6 @@
 
 // ------------------ IVelocity Related ----------------------------------------
 
-bool RaveBot::setVelocityMode() {
-    bool ok = true;
-    for (unsigned int i=0; i<numMotors; i++)
-        ok &= setVelocityMode(i);
-    return ok;
-}
-
 bool RaveBot::velocityMove(int j, double sp) {  // velExposed = sp;
     if (!indexWithinRange(j)) return false;
     if(vModePosVel[j]!=VOCAB_CM_VELOCITY) {  // Check if we are in velocity mode.

diff --git a/src/libraries/RlPlugins/ravebot/RaveBot.h b/src/libraries/RlPlugins/ravebot/RaveBot.h
@@ -88,16 +88,6 @@ class RaveBot : public DeviceDriver, public RateThread, public IPositionControl,
      */
     virtual bool getAxes(int *ax);
 
-    /** Set position mode. This command
-     * is required by control boards implementing different
-     * control methods (e.g. velocity/torque), in some cases
-     * it can be left empty.
-     * return true/false on success/failure
-     * @note kept for backwards compatibility with YARP <2.3.65,
-     * use \ref setPositionMode(int) instead
-     */
-    virtual bool setPositionMode();
-
     /** Set new reference point for a single axis.
      * @param j joint number
      * @param ref specifies the new ref point
@@ -301,17 +291,6 @@ class RaveBot : public DeviceDriver, public RateThread, public IPositionControl,
 
 //  --------- IVelocityControl Declarations. Implementation in IVelocityImpl.cpp ---------
 
-    /**
-     * Set velocity mode. This command
-     * is required by control boards implementing different
-     * control methods (e.g. velocity/torque), in some cases
-     * it can be left empty.
-     * @return true/false on success failure
-     * @note kept for backwards compatibility with YARP <2.3.65,
-     * use \ref setVelocityMode(int) instead
-     */
-    virtual bool setVelocityMode();
-
     /**
      * Start motion at a given speed, single joint.
      * @param j joint number