Added isPositionLimitEnforced.

- Added isPositionLimitEnforced and setPositionLimitEnforced. - Deprecated isPositionLimited and setPositionLimited. - Updated references throughout DART.
dartsim · Jul 9, 2015 · 04a4d50 · 04a4d50
1 parent 1432996
commit 04a4d50
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Showing 3 changed files with 25 additions and 6 deletions.
diff --git a/dart/constraint/ConstraintSolver.cpp b/dart/constraint/ConstraintSolver.cpp
@@ -410,7 +410,7 @@ void ConstraintSolver::updateConstraints()
     {
       dynamics::Joint* joint = skel->getBodyNode(i)->getParentJoint();
 
-      if (joint->isDynamic() && joint->isPositionLimited())
+      if (joint->isDynamic() && joint->isPositionLimitEnforced())
         mJointLimitConstraints.push_back(new JointLimitConstraint(joint));
     }
   }

diff --git a/dart/dynamics/Joint.cpp b/dart/dynamics/Joint.cpp
@@ -79,7 +79,7 @@ void Joint::setProperties(const Properties& _properties)
   setName(_properties.mName);
   setTransformFromParentBodyNode(_properties.mT_ParentBodyToJoint);
   setTransformFromChildBodyNode(_properties.mT_ChildBodyToJoint);
-  setPositionLimited(_properties.mIsPositionLimited);
+  setPositionLimitEnforced(_properties.mIsPositionLimited);
   setActuatorType(_properties.mActuatorType);
 }
 
@@ -277,17 +277,29 @@ const Eigen::Vector6d& Joint::getLocalPrimaryAcceleration() const
 }
 
 //==============================================================================
-void Joint::setPositionLimited(bool _isPositionLimited)
+void Joint::setPositionLimitEnforced(bool _isPositionLimited)
 {
   mJointP.mIsPositionLimited = _isPositionLimited;
 }
 
 //==============================================================================
-bool Joint::isPositionLimited() const
+void Joint::setPositionLimited(bool _isPositionLimited)
+{
+  setPositionLimitEnforced(_isPositionLimited);
+}
+
+//==============================================================================
+bool Joint::isPositionLimitEnforced() const
 {
   return mJointP.mIsPositionLimited;
 }
 
+//==============================================================================
+bool Joint::isPositionLimited() const
+{
+  return isPositionLimitEnforced();
+}
+
 //==============================================================================
 size_t Joint::getJointIndexInSkeleton() const
 {

diff --git a/dart/dynamics/Joint.h b/dart/dynamics/Joint.h
@@ -42,6 +42,7 @@
 #include <vector>
 #include <memory>
 
+#include "dart/common/Deprecated.h"
 #include "dart/common/Subject.h"
 #include "dart/math/MathTypes.h"
 #include "dart/dynamics/SmartPointer.h"
@@ -244,15 +245,21 @@ class Joint : public virtual common::Subject
   /// PASSIVE/FORCE.
   ///
   /// \sa ActuatorType
-  void setPositionLimited(bool _isPositionLimited);
+  void setPositionLimitEnforced(bool _isPositionLimited);
+
+  /// Deprecated. Replaced by setPositionLimitEnforced.
+  DEPRECATED(5.0) void setPositionLimited(bool _isPositionLimited);
 
   /// Get whether enforcing joint position limit
   ///
   /// The joint position limit is valid when the actutor type is one of
   /// PASSIVE/FORCE.
   ///
   /// \sa ActuatorType
-  bool isPositionLimited() const;
+  bool isPositionLimitEnforced() const;
+
+  /// Deprecated. Replaced by isPositionLimitEnforced.
+  DEPRECATED(5.0) bool isPositionLimited() const;
 
   /// Get a unique index in skeleton of a generalized coordinate in this Joint
   virtual size_t getIndexInSkeleton(size_t _index) const = 0;