Deprecate the APIs that we think are unused. (#191)

* Deprecate the APIs that we think are unused. In an earlier commit, we changed from tinyxml -> tinyxml2 in the public API because we thought that there were no users of these APIs. Codify that here by marking these APIs as deprecated; if a user comes along and says that they are actually using it, we can undeprecated it. Note that in order to avoid deprecations from within the library, I had to add a bit of additional indirection here. If we remove the APIs in the future, we can also remove this indirection. * Properly export parsePoseInternal to make Windows happy. Signed-off-by: Chris Lalancette <[email protected]>
ros · Dec 20, 2023 · cc63d56 · cc63d56
1 parent e120287
commit cc63d56
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Showing 7 changed files with 99 additions and 18 deletions.
diff --git a/urdf_parser/include/urdf_parser/urdf_parser.h b/urdf_parser/include/urdf_parser/urdf_parser.h
@@ -149,12 +149,26 @@ namespace urdf{
 
   URDFDOM_DLLAPI ModelInterfaceSharedPtr parseURDF(const std::string &xml_string);
   URDFDOM_DLLAPI ModelInterfaceSharedPtr parseURDFFile(const std::string &path);
+
+  [[deprecated("File an issue at https://github.com/ros/urdfdom if you rely on this")]]
   URDFDOM_DLLAPI tinyxml2::XMLDocument*  exportURDF(ModelInterfaceSharedPtr &model);
+
+  [[deprecated("File an issue at https://github.com/ros/urdfdom if you rely on this")]]
   URDFDOM_DLLAPI tinyxml2::XMLDocument*  exportURDF(const ModelInterface &model);
+
+  [[deprecated("File an issue at https://github.com/ros/urdfdom if you rely on this")]]
   URDFDOM_DLLAPI bool parsePose(Pose&, tinyxml2::XMLElement*);
+
+  [[deprecated("File an issue at https://github.com/ros/urdfdom if you rely on this")]]
   URDFDOM_DLLAPI bool parseCamera(Camera&, tinyxml2::XMLElement*);
+
+  [[deprecated("File an issue at https://github.com/ros/urdfdom if you rely on this")]]
   URDFDOM_DLLAPI bool parseRay(Ray&, tinyxml2::XMLElement*);
+
+  [[deprecated("File an issue at https://github.com/ros/urdfdom if you rely on this")]]
   URDFDOM_DLLAPI bool parseSensor(Sensor&, tinyxml2::XMLElement*);
+
+  [[deprecated("File an issue at https://github.com/ros/urdfdom if you rely on this")]]
   URDFDOM_DLLAPI bool parseModelState(ModelState&, tinyxml2::XMLElement*);
 }
 

diff --git a/urdf_parser/src/joint.cpp b/urdf_parser/src/joint.cpp
@@ -43,9 +43,9 @@
 #include <tinyxml2.h>
 #include <urdf_parser/urdf_parser.h>
 
-namespace urdf{
+#include "./pose.hpp"
 
-bool parsePose(Pose &pose, tinyxml2::XMLElement* xml);
+namespace urdf{
 
 bool parseJointDynamics(JointDynamics &jd, tinyxml2::XMLElement* config)
 {
@@ -356,7 +356,7 @@ bool parseJoint(Joint &joint, tinyxml2::XMLElement* config)
   }
   else
   {
-    if (!parsePose(joint.parent_to_joint_origin_transform, origin_xml))
+    if (!parsePoseInternal(joint.parent_to_joint_origin_transform, origin_xml))
     {
       joint.parent_to_joint_origin_transform.clear();
       CONSOLE_BRIDGE_logError("Malformed parent origin element for joint [%s]", joint.name.c_str());

diff --git a/urdf_parser/src/link.cpp b/urdf_parser/src/link.cpp
@@ -48,9 +48,9 @@
 #include <tinyxml2.h>
 #include <console_bridge/console.h>
 
-namespace urdf{
+#include "./pose.hpp"
 
-bool parsePose(Pose &pose, tinyxml2::XMLElement* xml);
+namespace urdf{
 
 bool parseMaterial(Material &material, tinyxml2::XMLElement *config, bool only_name_is_ok)
 {
@@ -274,7 +274,7 @@ bool parseInertial(Inertial &i, tinyxml2::XMLElement *config)
   tinyxml2::XMLElement *o = config->FirstChildElement("origin");
   if (o)
   {
-    if (!parsePose(i.origin, o))
+    if (!parsePoseInternal(i.origin, o))
       return false;
   }
 
@@ -353,7 +353,7 @@ bool parseVisual(Visual &vis, tinyxml2::XMLElement *config)
   // Origin
   tinyxml2::XMLElement *o = config->FirstChildElement("origin");
   if (o) {
-    if (!parsePose(vis.origin, o))
+    if (!parsePoseInternal(vis.origin, o))
       return false;
   }
 
@@ -395,7 +395,7 @@ bool parseCollision(Collision &col, tinyxml2::XMLElement* config)
   // Origin
   tinyxml2::XMLElement *o = config->FirstChildElement("origin");
   if (o) {
-    if (!parsePose(col.origin, o))
+    if (!parsePoseInternal(col.origin, o))
       return false;
   }
 

diff --git a/urdf_parser/src/model.cpp b/urdf_parser/src/model.cpp
@@ -273,7 +273,8 @@ ModelInterfaceSharedPtr  parseURDF(const std::string &xml_string)
 bool exportMaterial(Material &material, tinyxml2::XMLElement *config);
 bool exportLink(Link &link, tinyxml2::XMLElement *config);
 bool exportJoint(Joint &joint, tinyxml2::XMLElement *config);
-tinyxml2::XMLDocument*  exportURDF(const ModelInterface &model)
+
+tinyxml2::XMLDocument*  exportURDFInternal(const ModelInterface &model)
 {
   tinyxml2::XMLDocument *doc = new tinyxml2::XMLDocument();
 
@@ -303,9 +304,14 @@ tinyxml2::XMLDocument*  exportURDF(const ModelInterface &model)
   return doc;
 }
 
+tinyxml2::XMLDocument*  exportURDF(const ModelInterface &model)
+{
+  return exportURDFInternal(model);
+}
+
 tinyxml2::XMLDocument*  exportURDF(ModelInterfaceSharedPtr &model)
 {
-  return exportURDF(*model);
+  return exportURDFInternal(*model);
 }
 
 

diff --git a/urdf_parser/src/pose.cpp b/urdf_parser/src/pose.cpp
@@ -43,6 +43,8 @@
 #include <tinyxml2.h>
 #include <urdf_parser/urdf_parser.h>
 
+#include "./pose.hpp"
+
 namespace urdf_export_helpers {
 
 std::string values2str(unsigned int count, const double *values, double (*conv)(double))
@@ -87,7 +89,7 @@ std::string values2str(double d)
 
 namespace urdf{
 
-bool parsePose(Pose &pose, tinyxml2::XMLElement* xml)
+bool parsePoseInternal(Pose &pose, tinyxml2::XMLElement* xml)
 {
   pose.clear();
   if (xml)
@@ -119,6 +121,11 @@ bool parsePose(Pose &pose, tinyxml2::XMLElement* xml)
   return true;
 }
 
+bool parsePose(Pose &pose, tinyxml2::XMLElement* xml)
+{
+  return parsePoseInternal(pose, xml);
+}
+
 bool exportPose(Pose &pose, tinyxml2::XMLElement* xml)
 {
   tinyxml2::XMLElement* origin = xml->GetDocument()->NewElement("origin");

diff --git a/urdf_parser/src/pose.hpp b/urdf_parser/src/pose.hpp
@@ -0,0 +1,44 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2008, Willow Garage, Inc.
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the Willow Garage nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+/* Author: Wim Meeussen, John Hsu */
+
+#include <urdf_model/pose.h>
+#include <tinyxml2.h>
+
+namespace urdf {
+
+URDFDOM_DLLAPI bool parsePoseInternal(Pose &pose, tinyxml2::XMLElement* xml);
+
+}
diff --git a/urdf_parser/src/urdf_sensor.cpp b/urdf_parser/src/urdf_sensor.cpp
@@ -47,11 +47,11 @@
 
 #include <urdf_parser/urdf_parser.h>
 
-namespace urdf{
+#include "./pose.hpp"
 
-bool parsePose(Pose &pose, tinyxml2::XMLElement* xml);
+namespace urdf{
 
-bool parseCamera(Camera &camera, tinyxml2::XMLElement* config)
+bool parseCameraInternal(Camera &camera, tinyxml2::XMLElement* config)
 {
   camera.clear();
   camera.type = VisualSensor::CAMERA;
@@ -173,7 +173,12 @@ bool parseCamera(Camera &camera, tinyxml2::XMLElement* config)
   return true;
 }
 
-bool parseRay(Ray &ray, tinyxml2::XMLElement* config)
+bool parseCamera(Camera &camera, tinyxml2::XMLElement* config)
+{
+  return parseCameraInternal(camera, config);
+}
+
+bool parseRayInternal(Ray &ray, tinyxml2::XMLElement* config)
 {
   ray.clear();
   ray.type = VisualSensor::RAY;
@@ -292,6 +297,11 @@ bool parseRay(Ray &ray, tinyxml2::XMLElement* config)
   return false;
 }
 
+bool parseRay(Ray &ray, tinyxml2::XMLElement* config)
+{
+  return parseRayInternal(ray, config);
+}
+
 VisualSensorSharedPtr parseVisualSensor(tinyxml2::XMLElement *g)
 {
   VisualSensorSharedPtr visual_sensor;
@@ -303,15 +313,15 @@ VisualSensorSharedPtr parseVisualSensor(tinyxml2::XMLElement *g)
     Camera *camera = new Camera();
     visual_sensor.reset(camera);
     sensor_xml = g->FirstChildElement("camera");
-    if (!parseCamera(*camera, sensor_xml))
+    if (!parseCameraInternal(*camera, sensor_xml))
       visual_sensor.reset();
   }
   else if (g->FirstChildElement("ray"))
   {
     Ray *ray = new Ray();
     visual_sensor.reset(ray);
     sensor_xml = g->FirstChildElement("ray");
-    if (!parseRay(*ray, sensor_xml))
+    if (!parseRayInternal(*ray, sensor_xml))
       visual_sensor.reset();
   }
   else
@@ -347,7 +357,7 @@ bool parseSensor(Sensor &sensor, tinyxml2::XMLElement* config)
   tinyxml2::XMLElement *o = config->FirstChildElement("origin");
   if (o)
   {
-    if (!parsePose(sensor.origin, o))
+    if (!parsePoseInternal(sensor.origin, o))
       return false;
   }