Merge pull request #340 from tkoolen/release-prep

Release prep
JuliaRobotics · Sep 19, 2017 · 21b7742 · 21b7742
2 parents a20dc3e + 77643f8
commit 21b7742
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diff --git a/src/spatial/Spatial.jl b/src/spatial/Spatial.jl
@@ -58,4 +58,13 @@ include("spatialmotion.jl")
 include("spatialforce.jl")
 include("motion_force_interaction.jl")
 
+# deprecations
+export
+    invtransform,
+    num_cols
+
+Base.@deprecate invtransform(x::Point3D, t::Transform3D) t \ x
+Base.@deprecate invtransform(x::FreeVector3D, t::Transform3D) t \ x
+Base.@deprecate num_cols(x::Union{<:GeometricJacobian, <:MomentumMatrix, <:WrenchMatrix}) size(x, 2)
+
 end # module
diff --git a/test/runtests.jl b/test/runtests.jl
@@ -12,7 +12,7 @@ import Base.Iterators: filter
 # useful utility function for computing time derivatives.
 create_autodiff(x, dx) = [ForwardDiff.Dual(x[i], dx[i]) for i in 1 : length(x)]
 
-# TODO: open a PR with ForwardDiff:
+# TODO: https://github.com/JuliaDiff/DiffBase.jl/pull/19
 @inline Base.mod2pi(x::ForwardDiff.Dual) = ForwardDiff.Dual(mod2pi(ForwardDiff.value(x)), ForwardDiff.partials(x))
 @inline Base.rem(x::ForwardDiff.Dual, n::Real) = ForwardDiff.Dual(rem(ForwardDiff.value(x), n), ForwardDiff.partials(x))
 @inline Base.rem2pi(x::ForwardDiff.Dual, roundingmode::RoundingMode) = ForwardDiff.Dual(rem2pi(ForwardDiff.value(x), roundingmode), ForwardDiff.partials(x))