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Remove deprecated Pose(), PoseFrame() functions from sdf10 (#308)
* Remove all deprecated *PoseFrame() APIs * Remove deprecated Pose(), SetPose() APIs * Migration guide: update per #244, #276 * Changelog for #308. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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‎Changelog.md

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@@ -4,15 +4,18 @@
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### libsdformat 10.0.0 (202X-XX-XX)
66

7-
1. Enforce minimum/maximum values specified in SDFormat description files
7+
1. Enforce minimum/maximum values specified in SDFormat description files.
88
* [Pull request 303](https://github.com/osrf/sdformat/pull/303)
99

10-
1. Make parsing of values syntactically more strict with bad values generating an error
10+
1. Make parsing of values syntactically more strict with bad values generating an error.
1111
* [Pull request 244](https://github.com/osrf/sdformat/pull/244)
1212

1313
1. Don't install deprecated parser_urdf.hh header file, fix cmake warning about newline file, fix cmake warning about newlines.
1414
* [Pull request 276](https://github.com/osrf/sdformat/pull/276)
1515

16+
1. Remove deprecated Pose(), PoseFrame() functions from DOM objects.
17+
* [Pull request 308](https://github.com/osrf/sdformat/pull/308)
18+
1619
1. Changed the default radius of a Cylinder from 1.0 to 0.5 meters.
1720
* [BitBucket pull request 643](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/643)
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‎Migration.md

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@@ -19,6 +19,20 @@ but with improved human-readability..
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1. + Minimum/maximum values specified in SDFormat description files are now enforced
2020
+ [Pull request 303](https://github.com/osrf/sdformat/pull/303)
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22+
1. + Parsing of bad values generates an error
23+
+ [Pull request 244](https://github.com/osrf/sdformat/pull/244)
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25+
### Deletions
26+
27+
1. + Removed the `parser_urdf.hh` header file and its `URDF2SDF` class
28+
+ [Pull request 276](https://github.com/osrf/sdformat/pull/276)
29+
30+
1. + Removed the deprecated `Pose()`, `SetPose(), and `*PoseFrame()` API's in all DOM classes:
31+
+ const ignition::math::Pose3d &Pose()
32+
+ void SetPose(const ignition::math::Pose3d &)
33+
+ const std::string &PoseFrame()
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+ void SetPoseFrame(const std::string &)
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### Additions
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1. **sdf/Element.hh**

‎include/sdf/Actor.hh

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@@ -320,22 +320,6 @@ namespace sdf
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/// \param[in] _name Name of the actor.
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public: void SetName(const std::string &_name);
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/// \brief Get the pose of the actor. This is the pose of the actor
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/// as specified in SDF (<actor> <pose> ... </pose></actor>), and is
325-
/// typically used to express the position and rotation of an actor in a
326-
/// global coordinate frame.
327-
/// \return The pose of the actor.
328-
/// \deprecated See RawPose.
329-
public: const ignition::math::Pose3d &Pose() const
330-
SDF_DEPRECATED(9.0);
331-
332-
/// \brief Set the pose of the actor.
333-
/// \sa const ignition::math::Pose3d &Pose() const
334-
/// \param[in] _pose The new actor pose.
335-
/// \deprecated See SetRawPose.
336-
public: void SetPose(const ignition::math::Pose3d &_pose)
337-
SDF_DEPRECATED(9.0);
338-
339323
/// \brief Get the pose of the actor. This is the pose of the actor
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/// as specified in SDF (<actor> <pose> ... </pose></actor>), and is
341325
/// typically used to express the position and rotation of an actor in a
@@ -360,22 +344,6 @@ namespace sdf
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/// \param[in] _frame The name of the pose relative-to frame.
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public: void SetPoseRelativeTo(const std::string &_frame);
362346

363-
/// \brief Get the name of the coordinate frame in which this actor's
364-
/// pose is expressed. A empty value indicates that the frame is the
365-
/// global/world coordinate frame.
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/// \return The name of the pose frame.
367-
/// \deprecated See PoseRelativeTo.
368-
public: const std::string &PoseFrame() const
369-
SDF_DEPRECATED(9.0);
370-
371-
/// \brief Set the name of the coordinate frame in which this actor's
372-
/// pose is expressed. A empty value indicates that the frame is the
373-
/// global/world coordinate frame.
374-
/// \param[in] _frame The name of the pose frame.
375-
/// \deprecated See SetPoseRelativeTo.
376-
public: void SetPoseFrame(const std::string &_frame)
377-
SDF_DEPRECATED(9.0);
378-
379347
/// \brief The path to the file where this element was loaded from.
380348
/// \return Full path to the file on disk.
381349
public: const std::string &FilePath() const;

‎include/sdf/Camera.hh

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@@ -293,20 +293,6 @@ namespace sdf
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public: void SetDistortionCenter(
294294
const ignition::math::Vector2d &_center) const;
295295

296-
/// \brief Get the pose of the camer. This is the pose of the camera
297-
/// as specified in SDF (<camera> <pose> ... </pose></camera>).
298-
/// \return The pose of the link.
299-
/// \deprecated See RawPose.
300-
public: const ignition::math::Pose3d &Pose() const
301-
SDF_DEPRECATED(9.0);
302-
303-
/// \brief Set the pose of the camera.
304-
/// \sa const ignition::math::Pose3d &Pose() const
305-
/// \param[in] _pose The new camera pose.
306-
/// \deprecated See SetRawPose.
307-
public: void SetPose(const ignition::math::Pose3d &_pose)
308-
SDF_DEPRECATED(9.0);
309-
310296
/// \brief Get the pose of the camer. This is the pose of the camera
311297
/// as specified in SDF (<camera> <pose> ... </pose></camera>).
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/// \return The pose of the link.
@@ -329,22 +315,6 @@ namespace sdf
329315
/// \param[in] _frame The name of the pose relative-to frame.
330316
public: void SetPoseRelativeTo(const std::string &_frame);
331317

332-
/// \brief Get the name of the coordinate frame in which this camera's
333-
/// pose is expressed. A empty value indicates that the frame is the
334-
/// parent link.
335-
/// \return The name of the pose frame.
336-
/// \deprecated See PoseRelativeTo.
337-
public: const std::string &PoseFrame() const
338-
SDF_DEPRECATED(9.0);
339-
340-
/// \brief Set the name of the coordinate frame in which this camera's
341-
/// pose is expressed. A empty value indicates that the frame is the
342-
/// parent link.
343-
/// \param[in] _frame The name of the pose frame.
344-
/// \deprecated See SetPoseRelativeTo.
345-
public: void SetPoseFrame(const std::string &_frame)
346-
SDF_DEPRECATED(9.0);
347-
348318
/// \brief Get the lens type. This is the type of the lens mapping.
349319
/// Supported values are gnomonical, stereographic, equidistant,
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/// equisolid_angle, orthographic, custom. For gnomonical (perspective)

‎include/sdf/Collision.hh

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@@ -101,21 +101,6 @@ namespace sdf
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/// \param[in] _surface The surface parameters of the collision object
102102
public: void SetSurface(const sdf::Surface &_surface);
103103

104-
/// \brief Get the pose of the collision object. This is the pose of the
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/// collision as specified in SDF
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/// (<collision><pose> ... </pose></collision>).
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/// \return The pose of the collision object.
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/// \deprecated See RawPose.
109-
public: const ignition::math::Pose3d &Pose() const
110-
SDF_DEPRECATED(9.0);
111-
112-
/// \brief Set the pose of the collision object.
113-
/// \sa const ignition::math::Pose3d &Pose() const
114-
/// \param[in] _pose The pose of the collision object.
115-
/// \deprecated See SetRawPose.
116-
public: void SetPose(const ignition::math::Pose3d &_pose)
117-
SDF_DEPRECATED(9.0);
118-
119104
/// \brief Get the pose of the collision object. This is the pose of the
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/// collison as specified in SDF
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/// (<collision><pose> ... </pose></collision>).
@@ -139,22 +124,6 @@ namespace sdf
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/// \param[in] _frame The name of the pose relative-to frame.
140125
public: void SetPoseRelativeTo(const std::string &_frame);
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142-
/// \brief Get the name of the coordinate frame in which this collision
143-
/// object's pose is expressed. A empty value indicates that the frame is
144-
/// the parent link.
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/// \return The name of the pose frame.
146-
/// \deprecated See PoseRelativeTo.
147-
public: const std::string &PoseFrame() const
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SDF_DEPRECATED(9.0);
149-
150-
/// \brief Set the name of the coordinate frame in which this collision
151-
/// object's pose is expressed. A empty value indicates that the frame is
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/// the parent link.
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/// \param[in] _frame The name of the pose frame.
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/// \deprecated See SetPoseRelativeTo.
155-
public: void SetPoseFrame(const std::string &_frame)
156-
SDF_DEPRECATED(9.0);
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158127
/// \brief Get SemanticPose object of this object to aid in resolving
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/// poses.
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/// \return SemanticPose object for this link.

‎include/sdf/Joint.hh

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/// \param[in] _axis The JointAxis of the joint
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public: void SetAxis(const unsigned int _index, const JointAxis &_axis);
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/// \brief Get the pose of the joint. This is the pose of the joint
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/// as specified in SDF (<joint> <pose> ... </pose></joint>).
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/// Transformations have not been applied to the return value.
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/// \return The pose of the joint. This is the raw pose value, as set in
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/// the SDF file.
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/// \deprecated See RawPose.
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public: const ignition::math::Pose3d &Pose() const
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SDF_DEPRECATED(9.0);
176-
177-
/// \brief Set the pose of the joint.
178-
/// \sa const ignition::math::Pose3d &Pose() const;
179-
/// \param[in] _pose The pose of the joint.
180-
/// \deprecated See SetRawPose.
181-
public: void SetPose(const ignition::math::Pose3d &_pose)
182-
SDF_DEPRECATED(9.0);
183-
184168
/// \brief Get the pose of the joint. This is the pose of the joint
185169
/// as specified in SDF (<joint> <pose> ... </pose></joint>).
186170
/// Transformations have not been applied to the return value.
@@ -205,22 +189,6 @@ namespace sdf
205189
/// \param[in] _frame The name of the pose relative-to frame.
206190
public: void SetPoseRelativeTo(const std::string &_frame);
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208-
/// \brief Get the name of the coordinate frame in which this joint's
209-
/// pose is expressed. A empty value indicates that the frame is the
210-
/// child link frame.
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/// \return The name of the pose frame.
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/// \deprecated See PoseRelativeTo.
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public: const std::string &PoseFrame() const
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SDF_DEPRECATED(9.0);
215-
216-
/// \brief Set the name of the coordinate frame in which this joint's
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/// pose is expressed. A empty value indicates that the frame is the
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/// child link frame.
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/// \param[in] _frame The name of the pose frame.
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/// \deprecated See SetPoseRelativeTo.
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public: void SetPoseFrame(const std::string &_frame)
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SDF_DEPRECATED(9.0);
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224192
/// \brief Get the thread pitch (only valid for screw joints)
225193
/// \return The thread pitch
226194
public: double ThreadPitch() const;

‎include/sdf/Light.hh

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/// \param[in] _name Name of the light.
110110
public: void SetName(const std::string &_name) const;
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/// \brief Get the pose of the light. This is the pose of the light
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/// as specified in SDF (<light> <pose> ... </pose></light>), and is
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/// typically used to express the position and rotation of a light in a
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/// global coordinate frame.
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/// \return The pose of the light.
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/// \deprecated See RawPose.
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public: const ignition::math::Pose3d &Pose() const
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SDF_DEPRECATED(9.0);
120-
121-
/// \brief Set the pose of the light.
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/// \sa const ignition::math::Pose3d &Pose() const
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/// \param[in] _pose The new light pose.
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/// \deprecated See SetRawPose.
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public: void SetPose(const ignition::math::Pose3d &_pose)
126-
SDF_DEPRECATED(9.0);
127-
128112
/// \brief Get the pose of the light. This is the pose of the light
129113
/// as specified in SDF (<light> <pose> ... </pose></light>), and is
130114
/// typically used to express the position and rotation of a light in a
@@ -149,22 +133,6 @@ namespace sdf
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/// \param[in] _frame The name of the pose relative-to frame.
150134
public: void SetPoseRelativeTo(const std::string &_frame);
151135

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/// \brief Get the name of the coordinate frame in which this light's
153-
/// pose is expressed. A empty value indicates that the frame is the
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/// global/world coordinate frame.
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/// \return The name of the pose frame.
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/// \deprecated See PoseRelativeTo.
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public: const std::string &PoseFrame() const
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SDF_DEPRECATED(9.0);
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160-
/// \brief Set the name of the coordinate frame in which this light's
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/// pose is expressed. A empty value indicates that the frame is the
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/// global/world coordinate frame.
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/// \param[in] _frame The name of the pose frame.
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/// \deprecated See SetPoseRelativeTo.
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public: void SetPoseFrame(const std::string &_frame)
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SDF_DEPRECATED(9.0);
167-
168136
/// \brief Get SemanticPose object of this object to aid in resolving
169137
/// poses.
170138
/// \return SemanticPose object for this link.

‎include/sdf/Link.hh

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192192
/// \sa const ignition::math::Inertiald &Inertial() const
193193
public: bool SetInertial(const ignition::math::Inertiald &_inertial);
194194

195-
/// \brief Get the pose of the link. This is the pose of the link
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/// as specified in SDF (<link> <pose> ... </pose></link>).
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/// \return The pose of the link.
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/// \deprecated See RawPose.
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public: const ignition::math::Pose3d &Pose() const
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SDF_DEPRECATED(9.0);
201-
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/// \brief Set the pose of the link.
203-
/// \sa const ignition::math::Pose3d &Pose() const
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/// \param[in] _pose The new link pose.
205-
/// \deprecated See SetRawPose.
206-
public: void SetPose(const ignition::math::Pose3d &_pose)
207-
SDF_DEPRECATED(9.0);
208-
209195
/// \brief Get the pose of the link. This is the pose of the link
210196
/// as specified in SDF (<link> <pose> ... </pose></link>).
211197
/// \return The pose of the link.
@@ -228,22 +214,6 @@ namespace sdf
228214
/// \param[in] _frame The name of the pose relative-to frame.
229215
public: void SetPoseRelativeTo(const std::string &_frame);
230216

231-
/// \brief Get the name of the coordinate frame in which this link's
232-
/// pose is expressed. A empty value indicates that the frame is the
233-
/// parent model.
234-
/// \return The name of the pose frame.
235-
/// \deprecated See PoseRelativeTo.
236-
public: const std::string &PoseFrame() const
237-
SDF_DEPRECATED(9.0);
238-
239-
/// \brief Set the name of the coordinate frame in which this link's
240-
/// pose is expressed. A empty value indicates that the frame is the
241-
/// parent model.
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/// \param[in] _frame The name of the pose frame.
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/// \deprecated See SetPoseRelativeTo.
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public: void SetPoseFrame(const std::string &_frame)
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SDF_DEPRECATED(9.0);
246-
247217
/// \brief Get a pointer to the SDF element that was used during
248218
/// load.
249219
/// \return SDF element pointer. The value will be nullptr if Load has

‎include/sdf/Model.hh

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198198
/// \return True if there exists an explicit frame with the given name.
199199
public: bool FrameNameExists(const std::string &_name) const;
200200

201-
/// \brief Get the pose of the model. This is the pose of the model
202-
/// as specified in SDF (<model> <pose> ... </pose></model>), and is
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/// typically used to express the position and rotation of a model in a
204-
/// global coordinate frame.
205-
/// \return The pose of the model.
206-
/// \deprecated See RawPose.
207-
public: const ignition::math::Pose3d &Pose() const
208-
SDF_DEPRECATED(9.0);
209-
210-
/// \brief Set the pose of the model.
211-
/// \sa const ignition::math::Pose3d &Pose() const
212-
/// \param[in] _pose The new model pose.
213-
/// \deprecated See SetRawPose.
214-
public: void SetPose(const ignition::math::Pose3d &_pose)
215-
SDF_DEPRECATED(9.0);
216-
217201
/// \brief Get the pose of the model. This is the pose of the model
218202
/// as specified in SDF (<model> <pose> ... </pose></model>), and is
219203
/// typically used to express the position and rotation of a model in a
@@ -252,22 +236,6 @@ namespace sdf
252236
/// \param[in] _frame The name of the pose relative-to frame.
253237
public: void SetPoseRelativeTo(const std::string &_frame);
254238

255-
/// \brief Get the name of the coordinate frame in which this model's
256-
/// pose is expressed. A empty value indicates that the frame is the
257-
/// global/world coordinate frame.
258-
/// \return The name of the pose frame.
259-
/// \deprecated See PoseRelativeTo.
260-
public: const std::string &PoseFrame() const
261-
SDF_DEPRECATED(9.0);
262-
263-
/// \brief Set the name of the coordinate frame in which this model's
264-
/// pose is expressed. A empty value indicates that the frame is the
265-
/// global/world coordinate frame.
266-
/// \param[in] _frame The name of the pose frame.
267-
/// \deprecated See SetPoseRelativeTo.
268-
public: void SetPoseFrame(const std::string &_frame)
269-
SDF_DEPRECATED(9.0);
270-
271239
/// \brief Get a pointer to the SDF element that was used during
272240
/// load.
273241
/// \return SDF element pointer. The value will be nullptr if Load has

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