Remove deprecated APIs for Ionic

Migration.md

@@ -41,6 +41,23 @@ but with improved human-readability..
  + ***Deprecation:*** void SetOpticalFrameId(const std::string &)
  + ***Replacement:*** void Sensor::SetFrameId(const std::string &)
 
+### Removals
+
+- **sdf/Joint.hh**:
+ + `const std::string &ChildLinkName() const` (use `ChildName()` instead)
+ + `const std::string &ParentLinkName() const` (use `ParentName()` instead)
+ + `void SetChildLinkName(const std::string &)` (use `SetChildName()` instead)
+ + `void SetParentLinkName(const std::string &)` (use `SetParentName()` instead)
+
+- **sdf/SDFImpl.hh**:
+ + `void Root(const ElementPtr)` (use `SetRoot(const ElementPtr)` instead)
+
+- **sdf/Types.hh**:
+ + `const std::string &kSdfScopeDelimiter` (use `kScopeDelimiter` instead)
+ + `const std::string &SdfScopeDelimiter()` (use `kScopeDelimiter` instead)
+
+- **sdf/parser.hh**:
+ + `bool checkJointParentChildLinkNames(const sdf::Root *)` (use `checkJointParentChildNames(const sdf::Root *)` instead)
 
 ## libsdformat 13.x to 14.x
 

include/sdf/Joint.hh

@@ -129,26 +129,6 @@ namespace sdf
  /// \param[in] _name Name of the child frame.
  public: void SetChildName(const std::string &_name);
 
- /// \brief Get the name of this joint's parent link.
- /// \return The name of the parent link.
- /// \deprecated Use ParentName.
- public: GZ_DEPRECATED(13) const std::string &ParentLinkName() const;
-
- /// \brief Set the name of the parent link.
- /// \param[in] _name Name of the parent link.
- /// \deprecated Use SetParentName.
- public: GZ_DEPRECATED(13) void SetParentLinkName(const std::string &_name);
-
- /// \brief Get the name of this joint's child link.
- /// \return The name of the child link.
- /// \deprecated Use ChildName.
- public: GZ_DEPRECATED(13) const std::string &ChildLinkName() const;
-
- /// \brief Set the name of the child link.
- /// \param[in] _name Name of the child link.
- /// \deprecated Use SetChildName.
- public: GZ_DEPRECATED(13) void SetChildLinkName(const std::string &_name);
-
  /// \brief Resolve the name of the child link from the
  /// FrameAttachedToGraph.
  /// \param[out] _body Name of child link of this joint.

include/sdf/SDFImpl.hh

@@ -148,11 +148,6 @@ namespace sdf
  /// \param[in] _root Root element
  public: void SetRoot(const ElementPtr _root);
 
- /// \brief Set the root pointer
- /// \param[in] _root Root element
- /// \deprecated Use SetRoot
- public: GZ_DEPRECATED(13) void Root(const ElementPtr _root);
-
  /// \brief Get the path to the SDF document on disk.
  /// \return The full path to the SDF document.
  public: std::string FilePath() const;

include/sdf/Types.hh

@@ -36,22 +36,8 @@ namespace sdf
  inline namespace SDF_VERSION_NAMESPACE {
  //
 
- namespace internal
- {
- /// \brief Initializes the scope delimiter as a function-local static
- /// variable so it can be used to initialize kSdfScopeDelimiter.
- /// \note This should not be used directly in user code. It will likely be
- /// removed in libsdformat 15 with kSdfScopeDelimiter.
- SDFORMAT_VISIBLE const std::string &SdfScopeDelimiter();
- } // namespace internal
-
  constexpr std::string_view kScopeDelimiter{"::"};
 
- // Deprecated because it violates the Google Style Guide as it is not
- // trivially destructible. Please use sdf::kScopeDelimiter instead.
- GZ_DEPRECATED(14)
- inline const std::string &kSdfScopeDelimiter = internal::SdfScopeDelimiter();
-
  /// \brief The source path replacement if it was parsed from a string,
  /// instead of a file.
  constexpr char kSdfStringSource[] = "<data-string>";
@@ -158,12 +144,6 @@ namespace sdf
  public: int32_t nsec;
  };
 
- /// \brief A class for inertial information about a link.
- class SDFORMAT_VISIBLE GZ_DEPRECATED(13) Inertia
- {
- public: double mass;
- };
-
  /// \brief Transforms a string to its lowercase equivalent
  /// \param[in] _in String to convert to lowercase
  /// \return Lowercase equilvalent of _in.

include/sdf/parser.hh

@@ -503,17 +503,6 @@ namespace sdf
  SDFORMAT_VISIBLE
  bool checkJointParentChildNames(const sdf::Root *_root);
 
- /// \brief Check that all joints in contained models specify parent
- /// and child link names that match the names of sibling links.
- /// This checks recursively and should check the files exhaustively
- /// rather than terminating early when the first error is found.
- /// \param[in] _root SDF Root object to check recursively.
- /// \return True if all models have joints with valid parent and child
- /// link names.
- /// \deprecated Use checkJointParentChildNames.
- SDFORMAT_VISIBLE GZ_DEPRECATED(13)
- bool checkJointParentChildLinkNames(const sdf::Root *_root);
-
  /// \brief Check that all joints in contained models specify parent
  /// and child names that match the names of sibling links, joints,
  /// models, or frames.

src/Joint.cc

@@ -306,30 +306,6 @@ void Joint::SetChildName(const std::string &_name)
  this->dataPtr->childName = _name;
 }
 
-/////////////////////////////////////////////////
-const std::string &Joint::ParentLinkName() const
-{
- return this->ParentName();
-}
-
-/////////////////////////////////////////////////
-void Joint::SetParentLinkName(const std::string &_name)
-{
- this->SetParentName(_name);
-}
-
-/////////////////////////////////////////////////
-const std::string &Joint::ChildLinkName() const
-{
- return this->ChildName();
-}
-
-/////////////////////////////////////////////////
-void Joint::SetChildLinkName(const std::string &_name)
-{
- this->SetChildName(_name);
-}
-
 /////////////////////////////////////////////////
 const JointAxis *Joint::Axis(const unsigned int _index) const
 {

src/Joint_TEST.cc

@@ -30,10 +30,6 @@ TEST(DOMJoint, Construction)
 
  EXPECT_TRUE(joint.ParentName().empty());
  EXPECT_TRUE(joint.ChildName().empty());
- GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
- EXPECT_TRUE(joint.ParentLinkName().empty());
- EXPECT_TRUE(joint.ChildLinkName().empty());
- GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
 
  EXPECT_EQ(gz::math::Pose3d::Zero, joint.RawPose());
  EXPECT_TRUE(joint.PoseRelativeTo().empty());
@@ -65,18 +61,6 @@ TEST(DOMJoint, Construction)
  joint.SetName("test_joint");
  EXPECT_EQ("test_joint", joint.Name());
 
- GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
- joint.SetParentLinkName("parent");
- EXPECT_EQ("parent", joint.ParentLinkName());
- GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
- EXPECT_EQ("parent", joint.ParentName());
-
- GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
- joint.SetChildLinkName("child");
- EXPECT_EQ("child", joint.ChildLinkName());
- GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
- EXPECT_EQ("child", joint.ChildName());
-
  joint.SetParentName("parent2");
  EXPECT_EQ("parent2", joint.ParentName());
 

src/SDF.cc

@@ -383,12 +383,6 @@ void SDF::SetRoot(const ElementPtr _root)
  this->dataPtr->root = _root;
 }
 
-/////////////////////////////////////////////////
-void SDF::Root(const ElementPtr _root)
-{
- this->SetRoot(_root);
-}
-
 /////////////////////////////////////////////////
 std::string SDF::FilePath() const
 {

src/SDF_TEST.cc

@@ -290,14 +290,6 @@ TEST(SDF, SetRoot)
  elem->AddValue("bool", "true", false, "description");
  s.SetRoot(elem);
  EXPECT_EQ(elem, s.Root());
-
- // Test deprecated setter, remove in libsdformat14
- s.SetRoot(nullptr);
- EXPECT_EQ(nullptr, s.Root());
- GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
- s.Root(elem);
- GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
- EXPECT_EQ(elem, s.Root());
 }
 
 ////////////////////////////////////////////////////

src/Types.cc

@@ -144,13 +144,5 @@ std::string JoinName(
  else
  return _scopeName + std::string(kScopeDelimiter) + _localName;
 }
-
-/////////////////////////////////////////////////
-const std::string &internal::SdfScopeDelimiter()
-{
- static const gz::utils::NeverDestroyed<std::string> delimiter{
- kScopeDelimiter};
- return delimiter.Access();
-}
 }
 }

src/Types_TEST.cc

@@ -200,11 +200,3 @@ TEST(Types, JoinName)
  EXPECT_EQ(joinedName, "");
  }
 }
-
-/////////////////////////////////////////////////
-TEST(Types, ScopeDelimiters)
-{
- GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
- EXPECT_EQ(sdf::kScopeDelimiter, sdf::kSdfScopeDelimiter);
- GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
-}

src/parser.cc

@@ -2724,12 +2724,6 @@ bool checkPoseRelativeToGraph(sdf::Errors &_errors, const sdf::Root *_root)
  return result;
 }
 
-//////////////////////////////////////////////////
-bool checkJointParentChildLinkNames(const sdf::Root *_root)
-{
- return checkJointParentChildNames(_root);
-}
-
 //////////////////////////////////////////////////
 bool checkJointParentChildNames(const sdf::Root *_root)
 {