Revert "Deprecate ugly function signature"

This reverts commit 57a85c8.
sjahr · Aug 26, 2024 · 598cc0c · 598cc0c
1 parent 57a85c8
commit 598cc0c
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Showing 4 changed files with 13 additions and 20 deletions.
diff --git a/moveit_core/robot_model/include/moveit/robot_model/robot_model.h b/moveit_core/robot_model/include/moveit/robot_model/robot_model.h
@@ -246,17 +246,13 @@ class RobotModel
   bool hasLinkModel(const std::string& name) const;
 
   /** \brief Get a link by its name. Output error and return nullptr when the link is missing. */
-  const LinkModel* getLinkModel(const std::string& link) const;
-  [[deprecated("Use getLinkModel(const std::string& name) instead.")]] const LinkModel*
-  getLinkModel(const std::string& link, bool* has_link) const;
+  const LinkModel* getLinkModel(const std::string& link, bool* has_link = nullptr) const;
 
   /** \brief Get a link by its index. Output error and return nullptr when the link is missing. */
   const LinkModel* getLinkModel(size_t index) const;
 
   /** \brief Get a link by its name. Output error and return nullptr when the link is missing. */
-  LinkModel* getLinkModel(const std::string& link);
-  [[deprecated("Use getLinkModel(const std::string& name) instead.")]] LinkModel*
-  getLinkModel(const std::string& link, bool* has_link = nullptr);
+  LinkModel* getLinkModel(const std::string& link, bool* has_link = nullptr);
 
   /** \brief Get the latest link upwards the kinematic tree, which is only connected via fixed joints
    *

diff --git a/moveit_core/robot_model/src/robot_model.cpp b/moveit_core/robot_model/src/robot_model.cpp
@@ -1331,8 +1331,7 @@ JointModel* RobotModel::getJointModel(const std::string& name)
 
 const LinkModel* RobotModel::getLinkModel(const std::string& name, bool* has_link) const
 {
-  *has_link = false;
-  return const_cast<RobotModel*>(this)->getLinkModel(name);
+  return const_cast<RobotModel*>(this)->getLinkModel(name, has_link);
 }
 
 const LinkModel* RobotModel::getLinkModel(size_t index) const
@@ -1348,22 +1347,20 @@ const LinkModel* RobotModel::getLinkModel(size_t index) const
 
 LinkModel* RobotModel::getLinkModel(const std::string& name, bool* has_link)
 {
+  if (has_link)
+    *has_link = true;  // Start out optimistic
   LinkModelMap::const_iterator it = link_model_map_.find(name);
   if (it != link_model_map_.end())
-  {
     return it->second;
+
+  if (has_link)
+  {
+    *has_link = false;  // Report failure via argument
   }
   RCLCPP_ERROR(getLogger(), "Link '%s' not found in model '%s'", name.c_str(), model_name_.c_str());
   return nullptr;
 }
 
-const LinkModel* getLinkModel(const std::string& link, bool* has_link) const
-{
-  RCLCPP_ERROR(getLogger(), "'has_link' argument is deprecated. Use getLinkModel(const std::string& name) instead.");
-  *has_link = false;
-  return getLinkModel(link);
-}
-
 const LinkModel* RobotModel::getRigidlyConnectedParentLinkModel(const LinkModel* link)
 {
   if (!link)

diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
@@ -1344,9 +1344,8 @@ const Eigen::Isometry3d& RobotState::getFrameInfo(const std::string& frame_id, c
     frame_found = true;
     return IDENTITY_TRANSFORM;
   }
-  if ((robot_link = robot_model_->getLinkModel(frame_id)))
+  if ((robot_link = robot_model_->getLinkModel(frame_id, &frame_found)))
   {
-    frame_found = true;
     assert(checkLinkTransforms());
     return global_link_transforms_[robot_link->getLinkIndex()];
   }

diff --git a/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp b/moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast61_moveit_plugin_template.cpp
@@ -389,8 +389,9 @@ bool IKFastKinematicsPlugin::computeRelativeTransform(const std::string& from, c
   robot_state = std::make_shared<RobotState>(robot_model_);
   robot_state->setToDefaultValues();
 
-  auto* from_link = robot_model_->getLinkModel(from);
-  auto* to_link = robot_model_->getLinkModel(to);
+  bool has_link;  // to suppress RCLCPP_ERRORs for non-existent frames
+  auto* from_link = robot_model_->getLinkModel(from, &has_link);
+  auto* to_link = robot_model_->getLinkModel(to, &has_link);
   if (!from_link || !to_link)
     return false;