Remove deprecated collision class methods and utility functions

Levi Armstrong · Levi-Armstrong · commit 6bbae91265c9 · 2020-12-29T19:41:23.000-06:00
diff --git a/tesseract/tesseract_collision/examples/box_box_example.cpp b/tesseract/tesseract_collision/examples/box_box_example.cpp
@@ -119,7 +119,7 @@ int main(int /*argc*/, char** /*argv*/)
   result_vector.clear();
 
   // Set higher contact distance threshold
-  checker.setContactDistanceThreshold(0.25);
+  checker.setDefaultCollisionMarginData(0.25);
 
   // Check for contact with new threshold
   checker.contactTest(result, request);
diff --git a/tesseract/tesseract_collision/include/tesseract_collision/bullet/bullet_cast_bvh_manager.h b/tesseract/tesseract_collision/include/tesseract_collision/bullet/bullet_cast_bvh_manager.h
@@ -115,16 +115,12 @@ class BulletCastBVHManager : public ContinuousContactManager
 
   const std::vector<std::string>& getActiveCollisionObjects() const override;
 
-  void setContactDistanceThreshold(double contact_distance) override;
-
   void setCollisionMarginData(CollisionMarginData collision_margin_data) override;
 
   void setDefaultCollisionMarginData(double default_collision_margin) override;
 
   void setPairCollisionMarginData(const std::string& name1, const std::string& name2, double collision_margin) override;
 
-  double getContactDistanceThreshold() const override;
-
   const CollisionMarginData& getCollisionMarginData() const override;
 
   void setIsContactAllowedFn(IsContactAllowedFn fn) override;
diff --git a/tesseract/tesseract_collision/include/tesseract_collision/bullet/bullet_cast_simple_manager.h b/tesseract/tesseract_collision/include/tesseract_collision/bullet/bullet_cast_simple_manager.h
@@ -115,12 +115,8 @@ class BulletCastSimpleManager : public ContinuousContactManager
 
   const std::vector<std::string>& getActiveCollisionObjects() const override;
 
-  void setContactDistanceThreshold(double contact_distance) override;
-
   void setCollisionMarginData(CollisionMarginData collision_margin_data) override;
 
-  double getContactDistanceThreshold() const override;
-
   const CollisionMarginData& getCollisionMarginData() const override;
 
   void setDefaultCollisionMarginData(double default_collision_margin) override;
diff --git a/tesseract/tesseract_collision/include/tesseract_collision/bullet/bullet_discrete_bvh_manager.h b/tesseract/tesseract_collision/include/tesseract_collision/bullet/bullet_discrete_bvh_manager.h
@@ -104,16 +104,12 @@ class BulletDiscreteBVHManager : public DiscreteContactManager
 
   const std::vector<std::string>& getActiveCollisionObjects() const override;
 
-  void setContactDistanceThreshold(double contact_distance) override;
-
   void setCollisionMarginData(CollisionMarginData collision_margin_data) override;
 
   void setDefaultCollisionMarginData(double default_collision_margin) override;
 
   void setPairCollisionMarginData(const std::string& name1, const std::string& name2, double collision_margin) override;
 
-  double getContactDistanceThreshold() const override;
-
   const CollisionMarginData& getCollisionMarginData() const override;
 
   void setIsContactAllowedFn(IsContactAllowedFn fn) override;
diff --git a/tesseract/tesseract_collision/include/tesseract_collision/bullet/bullet_discrete_simple_manager.h b/tesseract/tesseract_collision/include/tesseract_collision/bullet/bullet_discrete_simple_manager.h
@@ -104,16 +104,12 @@ class BulletDiscreteSimpleManager : public DiscreteContactManager
 
   const std::vector<std::string>& getActiveCollisionObjects() const override;
 
-  void setContactDistanceThreshold(double contact_distance) override;
-
   void setCollisionMarginData(CollisionMarginData collision_margin_data) override;
 
   void setDefaultCollisionMarginData(double default_collision_margin) override;
 
   void setPairCollisionMarginData(const std::string& name1, const std::string& name2, double collision_margin) override;
 
-  double getContactDistanceThreshold() const override;
-
   const CollisionMarginData& getCollisionMarginData() const override;
 
   void setIsContactAllowedFn(IsContactAllowedFn fn) override;
diff --git a/tesseract/tesseract_collision/include/tesseract_collision/core/continuous_contact_manager.h b/tesseract/tesseract_collision/include/tesseract_collision/core/continuous_contact_manager.h
@@ -207,12 +207,6 @@ class ContinuousContactManager
    */
   virtual const std::vector<std::string>& getActiveCollisionObjects() const = 0;
 
-  /**
-   * @brief Set the contact distance threshold for which collision should be considered.
-   * @param contact_distance The contact distance
-   */
-  virtual void DEPRECATED("Please use setCollisionMarginData") setContactDistanceThreshold(double contact_distance) = 0;
-
   /**
    * @brief Set the contact distance thresholds for which collision should be considered on a per pair basis
    * @param collision_margin_data Contains the data that will replace the current settings
@@ -239,12 +233,6 @@ class ContinuousContactManager
                                           const std::string& name2,
                                           double collision_margin) = 0;
 
-  /**
-   * @brief Get the contact distance threshold
-   * @return The contact distance
-   */
-  virtual double DEPRECATED("Please use getCollisionMarginData") getContactDistanceThreshold() const = 0;
-
   /**
    * @brief Get the contact distance threshold
    * @return The contact distance
diff --git a/tesseract/tesseract_collision/include/tesseract_collision/core/discrete_contact_manager.h b/tesseract/tesseract_collision/include/tesseract_collision/core/discrete_contact_manager.h
@@ -158,12 +158,6 @@ class DiscreteContactManager
    */
   virtual const std::vector<std::string>& getActiveCollisionObjects() const = 0;
 
-  /**
-   * @brief Set the contact distance threshold for which collision should be considered.
-   * @param contact_distance The contact distance
-   */
-  virtual void DEPRECATED("Please use setCollisionMarginData") setContactDistanceThreshold(double contact_distance) = 0;
-
   /**
    * @brief Set the contact distance thresholds for which collision should be considered on a per pair basis
    * @param collision_margin_data Contains the data that will replace the current settings
@@ -190,12 +184,6 @@ class DiscreteContactManager
                                           const std::string& name2,
                                           double collision_margin) = 0;
 
-  /**
-   * @brief Get the contact distance threshold
-   * @return The contact distance
-   */
-  virtual double DEPRECATED("Please use getCollisionMarginData") getContactDistanceThreshold() const = 0;
-
   /**
    * @brief Get the contact distance threshold
    * @return The contact distance
diff --git a/tesseract/tesseract_collision/include/tesseract_collision/fcl/fcl_discrete_managers.h b/tesseract/tesseract_collision/include/tesseract_collision/fcl/fcl_discrete_managers.h
@@ -104,16 +104,12 @@ class FCLDiscreteBVHManager : public DiscreteContactManager
 
   const std::vector<std::string>& getActiveCollisionObjects() const override;
 
-  void setContactDistanceThreshold(double contact_distance) override;
-
   void setCollisionMarginData(CollisionMarginData collision_margin_data) override;
 
   void setDefaultCollisionMarginData(double default_collision_margin) override;
 
   void setPairCollisionMarginData(const std::string& name1, const std::string& name2, double collision_margin) override;
 
-  double getContactDistanceThreshold() const override;
-
   const CollisionMarginData& getCollisionMarginData() const override;
 
   void setIsContactAllowedFn(IsContactAllowedFn fn) override;
diff --git a/tesseract/tesseract_collision/src/bullet/bullet_cast_bvh_manager.cpp b/tesseract/tesseract_collision/src/bullet/bullet_cast_bvh_manager.cpp
@@ -428,15 +428,6 @@ void BulletCastBVHManager::setPairCollisionMarginData(const std::string& name1,
   onCollisionMarginDataChanged();
 }
 
-void BulletCastBVHManager::setContactDistanceThreshold(double contact_distance)
-{
-  setDefaultCollisionMarginData(contact_distance);
-}
-
-double BulletCastBVHManager::getContactDistanceThreshold() const
-{
-  return contact_test_data_.collision_margin_data.getMaxCollisionMargin();
-}
 const CollisionMarginData& BulletCastBVHManager::getCollisionMarginData() const
 {
   return contact_test_data_.collision_margin_data;
diff --git a/tesseract/tesseract_collision/src/bullet/bullet_cast_simple_manager.cpp b/tesseract/tesseract_collision/src/bullet/bullet_cast_simple_manager.cpp
@@ -346,15 +346,6 @@ void BulletCastSimpleManager::setPairCollisionMarginData(const std::string& name
   onCollisionMarginDataChanged();
 }
 
-void BulletCastSimpleManager::setContactDistanceThreshold(double contact_distance)
-{
-  setDefaultCollisionMarginData(contact_distance);
-}
-
-double BulletCastSimpleManager::getContactDistanceThreshold() const
-{
-  return contact_test_data_.collision_margin_data.getMaxCollisionMargin();
-}
 const CollisionMarginData& BulletCastSimpleManager::getCollisionMarginData() const
 {
   return contact_test_data_.collision_margin_data;
diff --git a/tesseract/tesseract_collision/src/bullet/bullet_discrete_bvh_manager.cpp b/tesseract/tesseract_collision/src/bullet/bullet_discrete_bvh_manager.cpp
@@ -249,15 +249,6 @@ void BulletDiscreteBVHManager::setPairCollisionMarginData(const std::string& nam
   onCollisionMarginDataChanged();
 }
 
-void BulletDiscreteBVHManager::setContactDistanceThreshold(double contact_distance)
-{
-  setDefaultCollisionMarginData(contact_distance);
-}
-
-double BulletDiscreteBVHManager::getContactDistanceThreshold() const
-{
-  return contact_test_data_.collision_margin_data.getMaxCollisionMargin();
-}
 const CollisionMarginData& BulletDiscreteBVHManager::getCollisionMarginData() const
 {
   return contact_test_data_.collision_margin_data;
diff --git a/tesseract/tesseract_collision/src/bullet/bullet_discrete_simple_manager.cpp b/tesseract/tesseract_collision/src/bullet/bullet_discrete_simple_manager.cpp
@@ -231,16 +231,6 @@ void BulletDiscreteSimpleManager::setPairCollisionMarginData(const std::string&
   onCollisionMarginDataChanged();
 }
 
-void BulletDiscreteSimpleManager::setContactDistanceThreshold(double contact_distance)
-{
-  setDefaultCollisionMarginData(contact_distance);
-}
-
-double BulletDiscreteSimpleManager::getContactDistanceThreshold() const
-{
-  return contact_test_data_.collision_margin_data.getMaxCollisionMargin();
-}
-
 const CollisionMarginData& BulletDiscreteSimpleManager::getCollisionMarginData() const
 {
   return contact_test_data_.collision_margin_data;
diff --git a/tesseract/tesseract_collision/src/fcl/fcl_discrete_managers.cpp b/tesseract/tesseract_collision/src/fcl/fcl_discrete_managers.cpp
@@ -63,7 +63,7 @@ DiscreteContactManager::Ptr FCLDiscreteBVHManager::clone() const
     manager->addCollisionObject(cow.second->clone());
 
   manager->setActiveCollisionObjects(active_);
-  manager->setContactDistanceThreshold(collision_margin_data_.getMaxCollisionMargin());
+  manager->setCollisionMarginData(collision_margin_data_);
   manager->setIsContactAllowedFn(fn_);
 
   return manager;
@@ -283,15 +283,6 @@ void FCLDiscreteBVHManager::setPairCollisionMarginData(const std::string& name1,
   onCollisionMarginDataChanged();
 }
 
-void FCLDiscreteBVHManager::setContactDistanceThreshold(double contact_distance)
-{
-  setDefaultCollisionMarginData(contact_distance);
-}
-
-double FCLDiscreteBVHManager::getContactDistanceThreshold() const
-{
-  return collision_margin_data_.getMaxCollisionMargin();
-}
 const CollisionMarginData& FCLDiscreteBVHManager::getCollisionMarginData() const { return collision_margin_data_; }
 void FCLDiscreteBVHManager::setIsContactAllowedFn(IsContactAllowedFn fn) { fn_ = fn; }
 IsContactAllowedFn FCLDiscreteBVHManager::getIsContactAllowedFn() const { return fn_; }
diff --git a/tesseract/tesseract_planning/tesseract_motion_planners/include/tesseract_motion_planners/core/utils.h b/tesseract/tesseract_planning/tesseract_motion_planners/include/tesseract_motion_planners/core/utils.h
@@ -172,45 +172,6 @@ bool contactCheckProgram(std::vector<tesseract_collision::ContactResultMap>& con
                          const CompositeInstruction& program,
                          const tesseract_collision::CollisionCheckConfig& config);
 
-#ifndef SWIG
-
-/// Deprecated overloads
-bool DEPRECATED("Please use overload with CollisionCheckConfig")
-    contactCheckProgram(std::vector<tesseract_collision::ContactResultMap>& contacts,
-                        tesseract_collision::ContinuousContactManager& manager,
-                        const tesseract_environment::StateSolver& state_solver,
-                        const CompositeInstruction& program,
-                        const tesseract_collision::ContactRequest& request =
-                            tesseract_collision::ContactRequest(tesseract_collision::ContactTestType::FIRST));
-
-bool DEPRECATED("Please use overload with CollisionCheckConfig")
-    contactCheckProgram(std::vector<tesseract_collision::ContactResultMap>& contacts,
-                        tesseract_collision::ContinuousContactManager& manager,
-                        const tesseract_environment::StateSolver& state_solver,
-                        const CompositeInstruction& program,
-                        double longest_valid_segment_length,
-                        const tesseract_collision::ContactRequest& request =
-                            tesseract_collision::ContactRequest(tesseract_collision::ContactTestType::FIRST));
-
-bool DEPRECATED("Please use overload with CollisionCheckConfig")
-    contactCheckProgram(std::vector<tesseract_collision::ContactResultMap>& contacts,
-                        tesseract_collision::DiscreteContactManager& manager,
-                        const tesseract_environment::StateSolver& state_solver,
-                        const CompositeInstruction& program,
-                        const tesseract_collision::ContactRequest& request =
-                            tesseract_collision::ContactRequest(tesseract_collision::ContactTestType::FIRST));
-
-bool DEPRECATED("Please use overload with CollisionCheckConfig")
-    contactCheckProgram(std::vector<tesseract_collision::ContactResultMap>& contacts,
-                        tesseract_collision::DiscreteContactManager& manager,
-                        const tesseract_environment::StateSolver& state_solver,
-                        const CompositeInstruction& program,
-                        double longest_valid_segment_length,
-                        const tesseract_collision::ContactRequest& request =
-                            tesseract_collision::ContactRequest(tesseract_collision::ContactTestType::FIRST));
-
-#endif  // SWIG
-
 /**
  * @brief This generates a naive seed for the provided program
  * @details This will generate a seed where each plan instruction has a single move instruction associated to it using
diff --git a/tesseract/tesseract_planning/tesseract_motion_planners/src/core/utils.cpp b/tesseract/tesseract_planning/tesseract_motion_planners/src/core/utils.cpp
@@ -473,58 +473,6 @@ bool contactCheckProgram(std::vector<tesseract_collision::ContactResultMap>& con
   return found;
 }
 
-bool contactCheckProgram(std::vector<tesseract_collision::ContactResultMap>& contacts,
-                         tesseract_collision::ContinuousContactManager& manager,
-                         const tesseract_environment::StateSolver& state_solver,
-                         const CompositeInstruction& program,
-                         const tesseract_collision::ContactRequest& request)
-{
-  tesseract_collision::CollisionCheckConfig config;
-  config.contact_request = request;
-  config.type = tesseract_collision::CollisionEvaluatorType::CONTINUOUS;
-  return contactCheckProgram(contacts, manager, state_solver, program, config);
-}
-
-bool contactCheckProgram(std::vector<tesseract_collision::ContactResultMap>& contacts,
-                         tesseract_collision::ContinuousContactManager& manager,
-                         const tesseract_environment::StateSolver& state_solver,
-                         const CompositeInstruction& program,
-                         double longest_valid_segment_length,
-                         const tesseract_collision::ContactRequest& request)
-{
-  tesseract_collision::CollisionCheckConfig config;
-  config.contact_request = request;
-  config.type = tesseract_collision::CollisionEvaluatorType::LVS_CONTINUOUS;
-  config.longest_valid_segment_length = longest_valid_segment_length;
-  return contactCheckProgram(contacts, manager, state_solver, program, config);
-}
-
-bool contactCheckProgram(std::vector<tesseract_collision::ContactResultMap>& contacts,
-                         tesseract_collision::DiscreteContactManager& manager,
-                         const tesseract_environment::StateSolver& state_solver,
-                         const CompositeInstruction& program,
-                         const tesseract_collision::ContactRequest& request)
-{
-  tesseract_collision::CollisionCheckConfig config;
-  config.contact_request = request;
-  config.type = tesseract_collision::CollisionEvaluatorType::DISCRETE;
-  return contactCheckProgram(contacts, manager, state_solver, program, config);
-}
-
-bool contactCheckProgram(std::vector<tesseract_collision::ContactResultMap>& contacts,
-                         tesseract_collision::DiscreteContactManager& manager,
-                         const tesseract_environment::StateSolver& state_solver,
-                         const CompositeInstruction& program,
-                         double longest_valid_segment_length,
-                         const tesseract_collision::ContactRequest& request)
-{
-  tesseract_collision::CollisionCheckConfig config;
-  config.contact_request = request;
-  config.type = tesseract_collision::CollisionEvaluatorType::LVS_DISCRETE;
-  config.longest_valid_segment_length = longest_valid_segment_length;
-  return contactCheckProgram(contacts, manager, state_solver, program, config);
-}
-
 void generateNaiveSeedHelper(CompositeInstruction& composite_instructions,
                              const tesseract_environment::Environment& env,
                              const tesseract_environment::EnvState& env_state,
