From 04a4d507259eaa79a025416d92f60894693a2602 Mon Sep 17 00:00:00 2001
From: Michael Koval <mkoval@cs.cmu.edu>
Date: Wed, 8 Jul 2015 21:48:23 -0500
Subject: [PATCH] Added isPositionLimitEnforced.

- Added isPositionLimitEnforced and setPositionLimitEnforced.
- Deprecated isPositionLimited and setPositionLimited.
- Updated references throughout DART.
---
 dart/constraint/ConstraintSolver.cpp |  2 +-
 dart/dynamics/Joint.cpp              | 18 +++++++++++++++---
 dart/dynamics/Joint.h                | 11 +++++++++--
 3 files changed, 25 insertions(+), 6 deletions(-)

diff --git a/dart/constraint/ConstraintSolver.cpp b/dart/constraint/ConstraintSolver.cpp
index 5113966758fd1..fc13796744e3d 100644
--- 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
index 1a731095ccae6..09eabfaee5a75 100644
--- 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
index f911f4e662f66..caaf4aead97cc 100644
--- 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"
@@ -244,7 +245,10 @@ 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
   ///
@@ -252,7 +256,10 @@ class Joint : public virtual common::Subject
   /// 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;