parser_urdf.hh: remove deprecation macros

Also remove deprecation warning suppression macros. Signed-off-by: Steve Peters <[email protected]>
gazebosim · May 11, 2020 · 5e99d80 · 5e99d80
1 parent 5f9de91
commit 5e99d80
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Showing 4 changed files with 1 addition and 33 deletions.
diff --git a/src/SDFExtension.hh b/src/SDFExtension.hh
@@ -120,9 +120,7 @@ namespace sdf
     // blobs into body or robot
     public: std::vector<std::shared_ptr<TiXmlElement> > blobs;
 
-    SDF_SUPPRESS_DEPRECATED_BEGIN
     friend class URDF2SDF;
-    SDF_SUPPRESS_DEPRECATED_END
   };
   }
 }

diff --git a/src/parser.cc b/src/parser.cc
@@ -406,7 +406,6 @@ bool readFileInternal(const std::string &_filename, SDFPtr _sdf,
   }
 
   // Suppress deprecation for sdf::URDF2SDF
-  SDF_SUPPRESS_DEPRECATED_BEGIN
   if (readDoc(&xmlDoc, _sdf, filename, _convert, _errors))
   {
     return true;
@@ -426,7 +425,6 @@ bool readFileInternal(const std::string &_filename, SDFPtr _sdf,
       return false;
     }
   }
-  SDF_SUPPRESS_DEPRECATED_END
 
   return false;
 }
@@ -474,9 +472,7 @@ bool readStringInternal(const std::string &_xmlString, SDFPtr _sdf,
   }
   else
   {
-    SDF_SUPPRESS_DEPRECATED_BEGIN
     URDF2SDF u2g;
-    SDF_SUPPRESS_DEPRECATED_END
     TiXmlDocument doc = u2g.InitModelString(_xmlString);
     if (sdf::readDoc(&doc, _sdf, "urdf string", _convert, _errors))
     {

diff --git a/src/parser_urdf.hh b/src/parser_urdf.hh
@@ -37,7 +37,7 @@ namespace sdf
   /// This is now deprecated for external usage and will be removed in the next
   /// major version of libsdformat. Instead, consider using `sdf::readFile` or
   /// `sdf::readString`, which automatically convert URDF to SDF.
-  class SDFORMAT_VISIBLE SDF_DEPRECATED(9.2) URDF2SDF
+  class SDFORMAT_VISIBLE URDF2SDF
   {
     /// \brief constructor
     public: URDF2SDF();

diff --git a/src/parser_urdf_TEST.cc b/src/parser_urdf_TEST.cc
@@ -35,9 +35,7 @@ std::string getMinimalUrdfTxt()
 /////////////////////////////////////////////////
 std::string convertUrdfStrToSdfStr(const std::string &_urdf)
 {
-  SDF_SUPPRESS_DEPRECATED_BEGIN
   sdf::URDF2SDF parser_;
-  SDF_SUPPRESS_DEPRECATED_END
   TiXmlDocument sdf_result = parser_.InitModelString(_urdf);
   TiXmlPrinter printer;
   sdf_result.Accept(&printer);
@@ -55,27 +53,23 @@ void convertUrdfStrToSdf(const std::string &_urdf, sdf::SDF &_sdf)
 TEST(URDFParser, InitModelDoc_EmptyDoc_NoThrow)
 {
   // Suppress deprecation for sdf::URDF2SDF
-  SDF_SUPPRESS_DEPRECATED_BEGIN
   ASSERT_NO_THROW(
     TiXmlDocument doc = TiXmlDocument();
     sdf::URDF2SDF parser_;
     TiXmlDocument sdf_result = parser_.InitModelDoc(&doc);
   );    // NOLINT(whitespace/parens)
-  SDF_SUPPRESS_DEPRECATED_END
 }
 
 /////////////////////////////////////////////////
 TEST(URDFParser, InitModelDoc_BasicModel_NoThrow)
 {
   // Suppress deprecation for sdf::URDF2SDF
-  SDF_SUPPRESS_DEPRECATED_BEGIN
   ASSERT_NO_THROW(
     TiXmlDocument doc;
     doc.Parse(getMinimalUrdfTxt().c_str());
     sdf::URDF2SDF parser_;
     TiXmlDocument sdf_result = parser_.InitModelDoc(&doc);
   );    // NOLINT(whitespace/parens)
-  SDF_SUPPRESS_DEPRECATED_END
 }
 
 /////////////////////////////////////////////////
@@ -84,9 +78,7 @@ TEST(URDFParser, ParseResults_BasicModel_ParseEqualToModel)
   // URDF -> SDF
   TiXmlDocument doc;
   doc.Parse(getMinimalUrdfTxt().c_str());
-  SDF_SUPPRESS_DEPRECATED_BEGIN
   sdf::URDF2SDF parser_;
-  SDF_SUPPRESS_DEPRECATED_END
   TiXmlDocument sdf_result = parser_.InitModelDoc(&doc);
   std::string sdf_result_str;
   sdf_result_str << sdf_result;
@@ -115,9 +107,7 @@ TEST(URDFParser, ParseRobotOriginXYZBlank)
          << "</robot>";
   TiXmlDocument doc;
   doc.Parse(stream.str().c_str());
-  SDF_SUPPRESS_DEPRECATED_BEGIN
   sdf::URDF2SDF parser_;
-  SDF_SUPPRESS_DEPRECATED_END
   TiXmlDocument sdf_result = parser_.InitModelDoc(&doc);
   TiXmlElement *sdf = sdf_result.FirstChildElement("sdf");
   ASSERT_NE(nullptr, sdf);
@@ -136,9 +126,7 @@ TEST(URDFParser, ParseRobotOriginRPYBlank)
          << "  <link name=\"link\" />"
          << "</robot>";
   TiXmlDocument doc;
-  SDF_SUPPRESS_DEPRECATED_BEGIN
   sdf::URDF2SDF parser_;
-  SDF_SUPPRESS_DEPRECATED_END
   doc.Parse(stream.str().c_str());
   TiXmlDocument sdf_result = parser_.InitModelDoc(&doc);
   TiXmlElement *sdf = sdf_result.FirstChildElement("sdf");
@@ -172,9 +160,7 @@ TEST(URDFParser, ParseRobotMaterialBlank)
          << "</robot>";
   TiXmlDocument doc;
   doc.Parse(stream.str().c_str());
-  SDF_SUPPRESS_DEPRECATED_BEGIN
   sdf::URDF2SDF parser;
-  SDF_SUPPRESS_DEPRECATED_END
   auto sdfXml = parser.InitModelDoc(&doc);
   auto sdfElem = sdfXml.FirstChildElement("sdf");
   ASSERT_NE(nullptr, sdfElem);
@@ -212,9 +198,7 @@ TEST(URDFParser, ParseRobotMaterialName)
          << "</robot>";
   TiXmlDocument doc;
   doc.Parse(stream.str().c_str());
-  SDF_SUPPRESS_DEPRECATED_BEGIN
   sdf::URDF2SDF parser;
-  SDF_SUPPRESS_DEPRECATED_END
   auto sdfXml = parser.InitModelDoc(&doc);
   auto sdfElem = sdfXml.FirstChildElement("sdf");
   ASSERT_NE(nullptr, sdfElem);
@@ -247,9 +231,7 @@ TEST(URDFParser, ParseRobotOriginInvalidXYZ)
          << "  <link name=\"link\" />"
          << "</robot>";
   TiXmlDocument doc;
-  SDF_SUPPRESS_DEPRECATED_BEGIN
   sdf::URDF2SDF parser_;
-  SDF_SUPPRESS_DEPRECATED_END
   doc.Parse(stream.str().c_str());
   TiXmlDocument sdf_result = parser_.InitModelDoc(&doc);
   TiXmlElement *sdf = sdf_result.FirstChildElement("sdf");
@@ -310,9 +292,7 @@ TEST(URDFParser, ParseGazeboLinkFactors)
            << "</robot>";
 
     TiXmlDocument doc;
-    SDF_SUPPRESS_DEPRECATED_BEGIN
     sdf::URDF2SDF parser_;
-    SDF_SUPPRESS_DEPRECATED_END
     doc.Parse(stream.str().c_str());
     TiXmlDocument sdf_result = parser_.InitModelDoc(&doc);
 
@@ -348,9 +328,7 @@ TEST(URDFParser, ParseGazeboInvalidDampingFactor)
          << "  </gazebo>"
          << "</robot>";
   TiXmlDocument doc;
-  SDF_SUPPRESS_DEPRECATED_BEGIN
   sdf::URDF2SDF parser_;
-  SDF_SUPPRESS_DEPRECATED_END
   doc.Parse(stream.str().c_str());
   ASSERT_THROW(TiXmlDocument sdf_result = parser_.InitModelDoc(&doc),
                std::invalid_argument);
@@ -419,9 +397,7 @@ TEST(URDFParser, ParseGazeboJointElements)
            << "</robot>";
 
     TiXmlDocument doc;
-    SDF_SUPPRESS_DEPRECATED_BEGIN
     sdf::URDF2SDF parser_;
-    SDF_SUPPRESS_DEPRECATED_END
     doc.Parse(stream.str().c_str());
     TiXmlDocument sdf_result = parser_.InitModelDoc(&doc);
 
@@ -807,9 +783,7 @@ TEST(URDFParser, OutputPrecision)
         </link>
     </robot>)";
 
-  SDF_SUPPRESS_DEPRECATED_BEGIN
   sdf::URDF2SDF parser;
-  SDF_SUPPRESS_DEPRECATED_END
   TiXmlDocument sdfResult = parser.InitModelString(str);
 
   auto root = sdfResult.RootElement();