From e3fecddfb872aac5cab68bccd41a1294d507fcb0 Mon Sep 17 00:00:00 2001
From: Paul Sardin <paulsardin123@gmail.com>
Date: Wed, 28 Jan 2026 08:13:41 +0100
Subject: [PATCH] Deprecate Device::asPinDevice()

---
 src/pyhpp/manipulation/device.cc | 16 +++++++++-------
 src/pyhpp/manipulation/device.hh |  1 -
 2 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/src/pyhpp/manipulation/device.cc b/src/pyhpp/manipulation/device.cc
index a68b273..801afd8 100644
--- a/src/pyhpp/manipulation/device.cc
+++ b/src/pyhpp/manipulation/device.cc
@@ -56,12 +56,6 @@ std::map<std::string, GripperPtr_t> Device::grippers() {
       ->grippers.map;
 }
 
-PinDevicePtr_t Device::asPinDevice() {
-  hpp::pinocchio::DevicePtr_t pinDevice =
-      std::dynamic_pointer_cast<hpp::pinocchio::Device>(obj);
-  return pinDevice;
-}
-
 void Device::setJointBounds(const char* jointName,
                             boost::python::list py_jointBounds) {
   Frame frame = obj->getFrameByName(jointName);
@@ -172,6 +166,14 @@ void exposeHandle() {
       .def(boost::python::map_indexing_suite<std::map<std::string, HandlePtr_t>,
                                              true>());
 }
+object asPinDevice(object self) {
+  PyErr_WarnEx(PyExc_DeprecationWarning,
+               "asPinDevice() is deprecated: manipulation.Device already "
+               "inherits from pinocchio.Device, use the object directly",
+               1);
+  return self;
+}
+
 void exposeDevice() {
   // DocClass(Device)
   class_<Device, bases<pyhpp::pinocchio::Device>, boost::shared_ptr<Device>,
@@ -179,7 +181,7 @@ void exposeDevice() {
       .def("setRobotRootPosition", &Device::setRobotRootPosition)
       .def("handles", &Device::handles)
       .def("grippers", &Device::grippers)
-      .def("asPinDevice", &Device::asPinDevice)
+      .def("asPinDevice", &asPinDevice)
       .def("getJointNames", &Device::getJointNames)
       .def("getJointConfig", &Device::getJointConfig)
       .def("setJointBounds", &Device::setJointBounds);
diff --git a/src/pyhpp/manipulation/device.hh b/src/pyhpp/manipulation/device.hh
index 3b60042..ed22d4d 100644
--- a/src/pyhpp/manipulation/device.hh
+++ b/src/pyhpp/manipulation/device.hh
@@ -80,7 +80,6 @@ struct Device : public pyhpp::pinocchio::Device {
                             const Transform3s& positionWRTParentJoint);
   std::map<std::string, HandlePtr_t> handles();
   std::map<std::string, GripperPtr_t> grippers();
-  PinDevicePtr_t asPinDevice();
   boost::python::list getJointConfig(const char* jointName);
   boost::python::list getJointNames();
   void setJointBounds(const char* jointName, boost::python::list jointBounds);