Rename deprecated YARP motor interfaces

roboticslab-uc3m · May 22, 2019 · e26db48 · e26db48
1 parent 9600e49
commit e26db48
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Showing 8 changed files with 11 additions and 18 deletions.
diff --git a/examples/cpp/examplePositionDirect/examplePositionDirect.cpp b/examples/cpp/examplePositionDirect/examplePositionDirect.cpp
@@ -34,10 +34,10 @@ int main(int argc, char *argv[]) {
     }
 
     IPositionDirect *posdir;
-    IPositionControl2 *pos;
-    IVelocityControl2 *vel;
+    IPositionControl *pos;
+    IVelocityControl *vel;
     IEncoders *enc;
-    IControlMode2 *mode;
+    IControlMode *mode;
 
     bool ok = true;
 

diff --git a/examples/cpp/exampleRemoteControlboard/exampleRemoteControlboard.cpp b/examples/cpp/exampleRemoteControlboard/exampleRemoteControlboard.cpp
@@ -63,10 +63,10 @@ int main(int argc, char *argv[]) {
       return 1;
     }
 
-    IPositionControl2 *pos;
-    IVelocityControl2 *vel;
+    IPositionControl *pos;
+    IVelocityControl *vel;
     IEncodersTimed *enc;
-    IControlMode2 *mode;
+    IControlMode *mode;
 
     bool ok = true;
     ok &= dd.view(pos);

diff --git a/examples/cpp/exampleRemoteControlboardModule/ExampleRemoteControlboard.cpp b/examples/cpp/exampleRemoteControlboardModule/ExampleRemoteControlboard.cpp
@@ -54,11 +54,6 @@ int ExampleRemoteControlboard::run(int argc, char **argv)
         std::printf("[error] Problems acquiring position interface\n");
         return 1;
     }
-    if ( ! dd.view(pos2) )  // connect 'pos2' interface to 'dd' device
-    {
-        std::printf("[error] Problems acquiring position interface\n");
-        return 1;
-    }
     std::printf("[success] Acquired position interface\n");
 
     if ( ! dd.view(enc) ) // connect 'enc' interface to 'dd' device
@@ -170,7 +165,7 @@ int ExampleRemoteControlboard::run(int argc, char **argv)
         std::vector<int> mask(2,1);
         q[0] = -3.0;
         q[1] = -3.0;
-        pos2->positionMove( 2, mask.data(), q.data() );
+        pos->positionMove( 2, mask.data(), q.data() );
         std::printf("Wait to reach");
         bool done = false;
         while(!done)

diff --git a/examples/cpp/exampleRemoteControlboardModule/ExampleRemoteControlboard.hpp b/examples/cpp/exampleRemoteControlboardModule/ExampleRemoteControlboard.hpp
@@ -22,7 +22,6 @@ class ExampleRemoteControlboard
     yarp::os::Network yarp; // connect to YARP network
     yarp::dev::PolyDriver dd; //create a YARP multi-use driver
     yarp::dev::IPositionControl *pos; //make a position controller object we call 'pos'
-    yarp::dev::IPositionControl2 *pos2; //make a position controller 2 object we call 'pos2'
     yarp::dev::IEncoders *enc; //make an encoder controller object we call 'enc'
     yarp::dev::IVelocityControl *vel; //make a velocity controller object we call 'vel'
 };

diff --git a/examples/cpp/exampleTechnosoftIpos/exampleTechnosoftIpos.cpp b/examples/cpp/exampleTechnosoftIpos/exampleTechnosoftIpos.cpp
@@ -129,7 +129,7 @@ int main(int argc, char *argv[])
     }
     else std::printf("[success] Viewing IVelocityControlRaw.\n");
 
-    yarp::dev::IControlMode2Raw *mode;
+    yarp::dev::IControlModeRaw *mode;
     ok = dd.view(mode);
     if (!ok)
     {

diff --git a/...s/python/exampleIFrameGrabberControls2.py → ...es/python/exampleIFrameGrabberControls.py b/...s/python/exampleIFrameGrabberControls2.py → ...es/python/exampleIFrameGrabberControls.py
@@ -14,7 +14,7 @@
 dd = yarp.PolyDriver(options)
 
 # View driver as FrameGrabber
-controls = dd.viewIFrameGrabberControls2()
+controls = dd.viewIFrameGrabberControls()
 
 # Check if a feature exists
 print(controls.hasFeature(yarp.YARP_FEATURE_GAIN))

diff --git a/examples/python/exampleRemoteControlboard.py b/examples/python/exampleRemoteControlboard.py
@@ -6,7 +6,7 @@
 #
 # This example connects to a running \ref controlboardWrapper to move in Joint space.
 #
-# <b>Requires YARP 2.3.72.</b>
+# <b>Requires YARP 3.0.</b>
 #
 # <b>Legal</b>
 #
@@ -49,7 +49,7 @@
 pos = dd.viewIPositionControl()  # make a position controller object we call 'pos'
 vel = dd.viewIVelocityControl()  # make a velocity controller object we call 'vel'
 enc = dd.viewIEncoders()  # make an encoder controller object we call 'enc'
-mode = dd.viewIControlMode2()  # make a operation mode controller object we call 'mode'
+mode = dd.viewIControlMode()  # make a operation mode controller object we call 'mode'
 ll = dd.viewIControlLimits()  # make a limits controller object we call 'll'
 
 axes = enc.getAxes()  # retrieve number of joints

diff --git a/examples/python/exampleRemoteJr3.py b/examples/python/exampleRemoteJr3.py
@@ -42,4 +42,3 @@
     print '[%s]' % ', '.join(map(str, vector_list))
 
 print 'bye!'
-
Original file line number	Diff line number	Diff line change
Expand Up		@@ -42,4 +42,3 @@
		print '[%s]' % ', '.join(map(str, vector_list))

		print 'bye!'