Remove deprecated YARP control board methods

These were no longer called by controlboardwrapper2 anyway. roboticslab-uc3m/questions-and-answers#16
roboticslab-uc3m · May 1, 2017 · b7ae4ee · b7ae4ee
1 parent b26f7e9
commit b7ae4ee
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Showing 5 changed files with 6 additions and 59 deletions.
diff --git a/yarpplugins/FakeControlboard/FakeControlboard.hpp b/yarpplugins/FakeControlboard/FakeControlboard.hpp
@@ -74,14 +74,6 @@ class FakeControlboard : public yarp::dev::DeviceDriver, public yarp::dev::IPosi
          */
         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
-         */
-        virtual bool setPositionMode();
-
         /** Set new reference point for a single axis.
          * @param j joint number
          * @param ref specifies the new ref point
@@ -376,15 +368,6 @@ class FakeControlboard : public yarp::dev::DeviceDriver, public yarp::dev::IPosi
 
     //  --------- 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
-         */
-        virtual bool setVelocityMode();
-
         /**
          * Start motion at a given speed, single joint.
          * @param j joint number
@@ -544,15 +527,6 @@ class FakeControlboard : public yarp::dev::DeviceDriver, public yarp::dev::IPosi
 
     // -------- ITorqueControl declarations. Implementation in ITorqueImpl.cpp --------
 
-        /**
-         * Set torque control 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
-         */
-        virtual bool setTorqueMode();
-
        /** Get the reference value of the torque for all joints.
          * This is NOT the feedback (see getTorques instead).
          * @param t pointer to the array of torque values

diff --git a/yarpplugins/FakeControlboard/IControlModeImpl.cpp b/yarpplugins/FakeControlboard/IControlModeImpl.cpp
@@ -6,6 +6,12 @@
 
 bool teo::FakeControlboard::setPositionMode(int j) {
     CD_INFO("(%d)\n",j);
+    if (modePosVel==0) return true;  // Simply return true if we were already in pos mode.
+    // Do anything additional before setting flag to pos...
+    if(!stop(j)) {
+        fprintf(stderr,"[FakeControlboard] warning: setPositionMode() return false; failed to stop joint %d\n",j);
+        return false;
+    }
     modePosVel = 0;
     return true;
 }

diff --git a/yarpplugins/FakeControlboard/IPositionImpl.cpp b/yarpplugins/FakeControlboard/IPositionImpl.cpp
@@ -12,20 +12,6 @@ bool teo::FakeControlboard::getAxes(int *ax) {
 
 // -----------------------------------------------------------------------------
 
-bool teo::FakeControlboard::setPositionMode() {
-    CD_INFO("\n");
-    if (modePosVel==0) return true;  // Simply return true if we were already in pos mode.
-    // Do anything additional before setting flag to pos...
-    if(!stop()) {
-        fprintf(stderr,"[FakeControlboard] warning: setPositionMode() return false; failed to stop\n");
-        return false;
-    }
-    modePosVel = 0;
-    return true;
-}
-
-// -----------------------------------------------------------------------------
-
 bool teo::FakeControlboard::positionMove(int j, double ref) {  // encExposed = ref;
     if ((unsigned int)j>axes) {
         fprintf(stderr,"[FakeControlboard] error: axis index more than axes.\n");

diff --git a/yarpplugins/FakeControlboard/ITorqueImpl.cpp b/yarpplugins/FakeControlboard/ITorqueImpl.cpp
@@ -4,14 +4,6 @@
 
 // ------------------- IForceControl Related ------------------------------------
 
-
-bool teo::FakeControlboard::setTorqueMode() {
-    CD_INFO("setTorqueMode()\n");
-    return true;
-}
-
-// -----------------------------------------------------------------------------
-
 bool teo::FakeControlboard::getRefTorques(double *t){
     return true;
 }
@@ -28,7 +20,6 @@ bool teo::FakeControlboard::setRefTorques(const double *t) {
     return true;
 }
 
-
 // -----------------------------------------------------------------------------
 
 bool teo::FakeControlboard::setRefTorque(int j, double t) {

diff --git a/yarpplugins/FakeControlboard/IVelocityImpl.cpp b/yarpplugins/FakeControlboard/IVelocityImpl.cpp
@@ -4,16 +4,6 @@
 
 // ------------------ IVelocity Related ----------------------------------------
 
-bool teo::FakeControlboard::setVelocityMode() {
-    CD_INFO("\n");
-    if (modePosVel==1) return true;  // Simply return true if we were already in vel mode.
-    // Do anything additional before setting flag to vel...
-    modePosVel = 1;  // Set flag to vel.
-    return true;
-}
-
-// -----------------------------------------------------------------------------
-
 bool teo::FakeControlboard::velocityMove(int j, double sp) {  // velExposed = sp;
     if ((unsigned int)j>axes) return false;
     if(modePosVel!=1) {  // Check if we are in velocity mode.