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Deprecate Device::asPinDevice() #103

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Merged
florent-lamiraux merged 1 commit into from
Jan 29, 2026
Merged

Deprecate Device::asPinDevice() #103

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16 changes: 9 additions & 7 deletions src/pyhpp/manipulation/device.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
Expand Down Expand Up @@ -172,14 +166,22 @@ 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>,
boost::noncopyable>("Device", init<const std::string&>())
.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);
Expand Down
1 change: 0 additions & 1 deletion src/pyhpp/manipulation/device.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
Expand Down
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