From 5e99d80cd813f9705c6dea6d8fa6fd9721f97349 Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Mon, 11 May 2020 13:11:12 -0700 Subject: [PATCH] parser_urdf.hh: remove deprecation macros Also remove deprecation warning suppression macros. Signed-off-by: Steve Peters --- src/SDFExtension.hh | 2 -- src/parser.cc | 4 ---- src/parser_urdf.hh | 2 +- src/parser_urdf_TEST.cc | 26 -------------------------- 4 files changed, 1 insertion(+), 33 deletions(-) diff --git a/src/SDFExtension.hh b/src/SDFExtension.hh index a8c3d6120..4c5ce3381 100644 --- a/src/SDFExtension.hh +++ b/src/SDFExtension.hh @@ -120,9 +120,7 @@ namespace sdf // blobs into body or robot public: std::vector > blobs; - SDF_SUPPRESS_DEPRECATED_BEGIN friend class URDF2SDF; - SDF_SUPPRESS_DEPRECATED_END }; } } diff --git a/src/parser.cc b/src/parser.cc index 1451c391f..b177b3632 100644 --- 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 index cc74dd79e..b8dffb445 100644 --- 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 index 19829def5..af4ab43c9 100644 --- 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) << ""; 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) << " " << ""; 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) << ""; 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) << ""; 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) << " " << ""; 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) << ""; 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) << " " << ""; 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) << ""; 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) )"; - SDF_SUPPRESS_DEPRECATED_BEGIN sdf::URDF2SDF parser; - SDF_SUPPRESS_DEPRECATED_END TiXmlDocument sdfResult = parser.InitModelString(str); auto root = sdfResult.RootElement();