Skip to content

Commit 5e99d80

Browse files
scpetersscpeters
committed
parser_urdf.hh: remove deprecation macros
Also remove deprecation warning suppression macros. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
1 parent 5f9de91 commit 5e99d80

File tree

4 files changed

+1
-33
lines changed

4 files changed

+1
-33
lines changed

‎src/SDFExtension.hh

-2
Original file line numberDiff line numberDiff line change
@@ -120,9 +120,7 @@ namespace sdf
120120
// blobs into body or robot
121121
public: std::vector<std::shared_ptr<TiXmlElement> > blobs;
122122

123-
SDF_SUPPRESS_DEPRECATED_BEGIN
124123
friend class URDF2SDF;
125-
SDF_SUPPRESS_DEPRECATED_END
126124
};
127125
}
128126
}

‎src/parser.cc

-4
Original file line numberDiff line numberDiff line change
@@ -406,7 +406,6 @@ bool readFileInternal(const std::string &_filename, SDFPtr _sdf,
406406
}
407407

408408
// Suppress deprecation for sdf::URDF2SDF
409-
SDF_SUPPRESS_DEPRECATED_BEGIN
410409
if (readDoc(&xmlDoc, _sdf, filename, _convert, _errors))
411410
{
412411
return true;
@@ -426,7 +425,6 @@ bool readFileInternal(const std::string &_filename, SDFPtr _sdf,
426425
return false;
427426
}
428427
}
429-
SDF_SUPPRESS_DEPRECATED_END
430428

431429
return false;
432430
}
@@ -474,9 +472,7 @@ bool readStringInternal(const std::string &_xmlString, SDFPtr _sdf,
474472
}
475473
else
476474
{
477-
SDF_SUPPRESS_DEPRECATED_BEGIN
478475
URDF2SDF u2g;
479-
SDF_SUPPRESS_DEPRECATED_END
480476
TiXmlDocument doc = u2g.InitModelString(_xmlString);
481477
if (sdf::readDoc(&doc, _sdf, "urdf string", _convert, _errors))
482478
{

‎src/parser_urdf.hh

+1-1
Original file line numberDiff line numberDiff line change
@@ -37,7 +37,7 @@ namespace sdf
3737
/// This is now deprecated for external usage and will be removed in the next
3838
/// major version of libsdformat. Instead, consider using `sdf::readFile` or
3939
/// `sdf::readString`, which automatically convert URDF to SDF.
40-
class SDFORMAT_VISIBLE SDF_DEPRECATED(9.2) URDF2SDF
40+
class SDFORMAT_VISIBLE URDF2SDF
4141
{
4242
/// \brief constructor
4343
public: URDF2SDF();

‎src/parser_urdf_TEST.cc

-26
Original file line numberDiff line numberDiff line change
@@ -35,9 +35,7 @@ std::string getMinimalUrdfTxt()
3535
/////////////////////////////////////////////////
3636
std::string convertUrdfStrToSdfStr(const std::string &_urdf)
3737
{
38-
SDF_SUPPRESS_DEPRECATED_BEGIN
3938
sdf::URDF2SDF parser_;
40-
SDF_SUPPRESS_DEPRECATED_END
4139
TiXmlDocument sdf_result = parser_.InitModelString(_urdf);
4240
TiXmlPrinter printer;
4341
sdf_result.Accept(&printer);
@@ -55,27 +53,23 @@ void convertUrdfStrToSdf(const std::string &_urdf, sdf::SDF &_sdf)
5553
TEST(URDFParser, InitModelDoc_EmptyDoc_NoThrow)
5654
{
5755
// Suppress deprecation for sdf::URDF2SDF
58-
SDF_SUPPRESS_DEPRECATED_BEGIN
5956
ASSERT_NO_THROW(
6057
TiXmlDocument doc = TiXmlDocument();
6158
sdf::URDF2SDF parser_;
6259
TiXmlDocument sdf_result = parser_.InitModelDoc(&doc);
6360
); // NOLINT(whitespace/parens)
64-
SDF_SUPPRESS_DEPRECATED_END
6561
}
6662

6763
/////////////////////////////////////////////////
6864
TEST(URDFParser, InitModelDoc_BasicModel_NoThrow)
6965
{
7066
// Suppress deprecation for sdf::URDF2SDF
71-
SDF_SUPPRESS_DEPRECATED_BEGIN
7267
ASSERT_NO_THROW(
7368
TiXmlDocument doc;
7469
doc.Parse(getMinimalUrdfTxt().c_str());
7570
sdf::URDF2SDF parser_;
7671
TiXmlDocument sdf_result = parser_.InitModelDoc(&doc);
7772
); // NOLINT(whitespace/parens)
78-
SDF_SUPPRESS_DEPRECATED_END
7973
}
8074

8175
/////////////////////////////////////////////////
@@ -84,9 +78,7 @@ TEST(URDFParser, ParseResults_BasicModel_ParseEqualToModel)
8478
// URDF -> SDF
8579
TiXmlDocument doc;
8680
doc.Parse(getMinimalUrdfTxt().c_str());
87-
SDF_SUPPRESS_DEPRECATED_BEGIN
8881
sdf::URDF2SDF parser_;
89-
SDF_SUPPRESS_DEPRECATED_END
9082
TiXmlDocument sdf_result = parser_.InitModelDoc(&doc);
9183
std::string sdf_result_str;
9284
sdf_result_str << sdf_result;
@@ -115,9 +107,7 @@ TEST(URDFParser, ParseRobotOriginXYZBlank)
115107
<< "</robot>";
116108
TiXmlDocument doc;
117109
doc.Parse(stream.str().c_str());
118-
SDF_SUPPRESS_DEPRECATED_BEGIN
119110
sdf::URDF2SDF parser_;
120-
SDF_SUPPRESS_DEPRECATED_END
121111
TiXmlDocument sdf_result = parser_.InitModelDoc(&doc);
122112
TiXmlElement *sdf = sdf_result.FirstChildElement("sdf");
123113
ASSERT_NE(nullptr, sdf);
@@ -136,9 +126,7 @@ TEST(URDFParser, ParseRobotOriginRPYBlank)
136126
<< " <link name=\"link\" />"
137127
<< "</robot>";
138128
TiXmlDocument doc;
139-
SDF_SUPPRESS_DEPRECATED_BEGIN
140129
sdf::URDF2SDF parser_;
141-
SDF_SUPPRESS_DEPRECATED_END
142130
doc.Parse(stream.str().c_str());
143131
TiXmlDocument sdf_result = parser_.InitModelDoc(&doc);
144132
TiXmlElement *sdf = sdf_result.FirstChildElement("sdf");
@@ -172,9 +160,7 @@ TEST(URDFParser, ParseRobotMaterialBlank)
172160
<< "</robot>";
173161
TiXmlDocument doc;
174162
doc.Parse(stream.str().c_str());
175-
SDF_SUPPRESS_DEPRECATED_BEGIN
176163
sdf::URDF2SDF parser;
177-
SDF_SUPPRESS_DEPRECATED_END
178164
auto sdfXml = parser.InitModelDoc(&doc);
179165
auto sdfElem = sdfXml.FirstChildElement("sdf");
180166
ASSERT_NE(nullptr, sdfElem);
@@ -212,9 +198,7 @@ TEST(URDFParser, ParseRobotMaterialName)
212198
<< "</robot>";
213199
TiXmlDocument doc;
214200
doc.Parse(stream.str().c_str());
215-
SDF_SUPPRESS_DEPRECATED_BEGIN
216201
sdf::URDF2SDF parser;
217-
SDF_SUPPRESS_DEPRECATED_END
218202
auto sdfXml = parser.InitModelDoc(&doc);
219203
auto sdfElem = sdfXml.FirstChildElement("sdf");
220204
ASSERT_NE(nullptr, sdfElem);
@@ -247,9 +231,7 @@ TEST(URDFParser, ParseRobotOriginInvalidXYZ)
247231
<< " <link name=\"link\" />"
248232
<< "</robot>";
249233
TiXmlDocument doc;
250-
SDF_SUPPRESS_DEPRECATED_BEGIN
251234
sdf::URDF2SDF parser_;
252-
SDF_SUPPRESS_DEPRECATED_END
253235
doc.Parse(stream.str().c_str());
254236
TiXmlDocument sdf_result = parser_.InitModelDoc(&doc);
255237
TiXmlElement *sdf = sdf_result.FirstChildElement("sdf");
@@ -310,9 +292,7 @@ TEST(URDFParser, ParseGazeboLinkFactors)
310292
<< "</robot>";
311293

312294
TiXmlDocument doc;
313-
SDF_SUPPRESS_DEPRECATED_BEGIN
314295
sdf::URDF2SDF parser_;
315-
SDF_SUPPRESS_DEPRECATED_END
316296
doc.Parse(stream.str().c_str());
317297
TiXmlDocument sdf_result = parser_.InitModelDoc(&doc);
318298

@@ -348,9 +328,7 @@ TEST(URDFParser, ParseGazeboInvalidDampingFactor)
348328
<< " </gazebo>"
349329
<< "</robot>";
350330
TiXmlDocument doc;
351-
SDF_SUPPRESS_DEPRECATED_BEGIN
352331
sdf::URDF2SDF parser_;
353-
SDF_SUPPRESS_DEPRECATED_END
354332
doc.Parse(stream.str().c_str());
355333
ASSERT_THROW(TiXmlDocument sdf_result = parser_.InitModelDoc(&doc),
356334
std::invalid_argument);
@@ -419,9 +397,7 @@ TEST(URDFParser, ParseGazeboJointElements)
419397
<< "</robot>";
420398

421399
TiXmlDocument doc;
422-
SDF_SUPPRESS_DEPRECATED_BEGIN
423400
sdf::URDF2SDF parser_;
424-
SDF_SUPPRESS_DEPRECATED_END
425401
doc.Parse(stream.str().c_str());
426402
TiXmlDocument sdf_result = parser_.InitModelDoc(&doc);
427403

@@ -807,9 +783,7 @@ TEST(URDFParser, OutputPrecision)
807783
</link>
808784
</robot>)";
809785

810-
SDF_SUPPRESS_DEPRECATED_BEGIN
811786
sdf::URDF2SDF parser;
812-
SDF_SUPPRESS_DEPRECATED_END
813787
TiXmlDocument sdfResult = parser.InitModelString(str);
814788

815789
auto root = sdfResult.RootElement();

0 commit comments

Comments
 (0)