[cleanup] Remove APIs deprecated in 6.0

dart/constraint/ConstraintSolver.cpp

@@ -258,14 +258,6 @@ double ConstraintSolver::getTimeStep() const
   return mTimeStep;
 }
 
-//==============================================================================
-void ConstraintSolver::setCollisionDetector(
-    collision::CollisionDetector* collisionDetector)
-{
-  setCollisionDetector(
-      std::unique_ptr<collision::CollisionDetector>(collisionDetector));
-}
-
 //==============================================================================
 void ConstraintSolver::setCollisionDetector(
     const std::shared_ptr<collision::CollisionDetector>& collisionDetector)
@@ -363,9 +355,6 @@ void ConstraintSolver::solve()
 {
   for (auto& skeleton : mSkeletons) {
     skeleton->clearConstraintImpulses();
-    DART_SUPPRESS_DEPRECATED_BEGIN
-    skeleton->clearCollidingBodies();
-    DART_SUPPRESS_DEPRECATED_END
   }
 
   // Update constraints and collect active constraints
@@ -514,17 +503,6 @@ void ConstraintSolver::updateConstraints()
       continue;
     }
 
-    // Set colliding bodies
-    auto shapeFrame1 = const_cast<dynamics::ShapeFrame*>(
-        contact.collisionObject1->getShapeFrame());
-    auto shapeFrame2 = const_cast<dynamics::ShapeFrame*>(
-        contact.collisionObject2->getShapeFrame());
-
-    DART_SUPPRESS_DEPRECATED_BEGIN
-    shapeFrame1->asShapeNode()->getBodyNodePtr()->setColliding(true);
-    shapeFrame2->asShapeNode()->getBodyNodePtr()->setColliding(true);
-    DART_SUPPRESS_DEPRECATED_END
-
     // If penetration depth is negative, then the collision isn't really
     // happening and the contact point should be ignored.
     // TODO(MXG): Investigate ways to leverage the proximity information of a

dart/constraint/ConstraintSolver.hpp

@@ -163,12 +163,6 @@ class ConstraintSolver
   /// Get time step
   double getTimeStep() const;
 
-  /// Set collision detector. This function acquires ownership of the
-  /// CollisionDetector passed as an argument. This method is deprecated in
-  /// favor of the overload that accepts a std::shared_ptr.
-  DART_DEPRECATED(6.0)
-  void setCollisionDetector(collision::CollisionDetector* collisionDetector);
-
   /// Set collision detector
   void setCollisionDetector(
       const std::shared_ptr<collision::CollisionDetector>& collisionDetector);

dart/dynamics/BodyNode.cpp

@@ -1166,18 +1166,6 @@ const Eigen::Vector6d& BodyNode::getBodyVelocityChange() const
   return mDelV;
 }
 
-//==============================================================================
-void BodyNode::setColliding(bool _isColliding)
-{
-  mIsColliding = _isColliding;
-}
-
-//==============================================================================
-bool BodyNode::isColliding()
-{
-  return mIsColliding;
-}
-
 //==============================================================================
 void BodyNode::addExtForce(
     const Eigen::Vector3d& _force,
@@ -1263,7 +1251,6 @@ BodyNode::BodyNode(
     Frame(Frame::World()),
     TemplatedJacobianNode<BodyNode>(this),
     mID(BodyNode::msBodyNodeCount++),
-    mIsColliding(false),
     mParentJoint(_parentJoint),
     mParentBodyNode(nullptr),
     mPartialAcceleration(Eigen::Vector6d::Zero()),

dart/dynamics/BodyNode.hpp

@@ -725,25 +725,13 @@ class BodyNode
   /// Return the velocity change due to the constraint impulse
   const Eigen::Vector6d& getBodyVelocityChange() const;
 
-  /// Set whether this body node is colliding with other objects. Note that
-  /// this status is set by the constraint solver during dynamics simulation but
-  /// not by collision detector.
-  /// \param[in] _isColliding True if this body node is colliding.
-  DART_DEPRECATED(6.0)
-  void setColliding(bool _isColliding);
-
-  /// Return whether this body node is set to be colliding with other objects.
-  /// \return True if this body node is colliding.
-  DART_DEPRECATED(6.0)
-  bool isColliding();
-
   /// Add applying linear Cartesian forces to this node
   ///
   /// A force is defined by a point of application and a force vector. The
   /// last two parameters specify frames of the first two parameters.
   /// Coordinate transformations are applied when needed. The point of
   /// application and the force in local coordinates are stored in mContacts.
-  /// When conversion is needed, make sure the transformations are avaialble.
+  /// When conversion is needed, make sure the transformations are available.
   void addExtForce(
       const Eigen::Vector3d& _force,
       const Eigen::Vector3d& _offset = Eigen::Vector3d::Zero(),
@@ -1105,10 +1093,6 @@ class BodyNode
   /// Counts the number of nodes globally.
   static std::size_t msBodyNodeCount;
 
-  /// Whether the node is currently in collision with another node.
-  /// \deprecated DART_DEPRECATED(6.0) See #670 for more detail.
-  bool mIsColliding;
-
   //--------------------------------------------------------------------------
   // Structural Properties
   //--------------------------------------------------------------------------

dart/dynamics/Joint.cpp

@@ -334,48 +334,6 @@ std::shared_ptr<const Skeleton> Joint::getSkeleton() const
   return mChildBodyNode ? mChildBodyNode->getSkeleton() : nullptr;
 }
 
-//==============================================================================
-const Eigen::Isometry3d& Joint::getLocalTransform() const
-{
-  return getRelativeTransform();
-}
-
-//==============================================================================
-const Eigen::Vector6d& Joint::getLocalSpatialVelocity() const
-{
-  return getRelativeSpatialVelocity();
-}
-
-//==============================================================================
-const Eigen::Vector6d& Joint::getLocalSpatialAcceleration() const
-{
-  return getRelativeSpatialAcceleration();
-}
-
-//==============================================================================
-const Eigen::Vector6d& Joint::getLocalPrimaryAcceleration() const
-{
-  return getRelativePrimaryAcceleration();
-}
-
-//==============================================================================
-const math::Jacobian Joint::getLocalJacobian() const
-{
-  return getRelativeJacobian();
-}
-
-//==============================================================================
-math::Jacobian Joint::getLocalJacobian(const Eigen::VectorXd& positions) const
-{
-  return getRelativeJacobian(positions);
-}
-
-//==============================================================================
-const math::Jacobian Joint::getLocalJacobianTimeDeriv() const
-{
-  return getRelativeJacobianTimeDeriv();
-}
-
 //==============================================================================
 const Eigen::Isometry3d& Joint::getRelativeTransform() const
 {
@@ -599,42 +557,6 @@ DegreeOfFreedom* Joint::createDofPointer(std::size_t _indexInJoint)
   return new DegreeOfFreedom(this, _indexInJoint);
 }
 
-//==============================================================================
-void Joint::updateLocalTransform() const
-{
-  updateRelativeTransform();
-}
-
-//==============================================================================
-void Joint::updateLocalSpatialVelocity() const
-{
-  updateRelativeSpatialVelocity();
-}
-
-//==============================================================================
-void Joint::updateLocalSpatialAcceleration() const
-{
-  updateRelativeSpatialAcceleration();
-}
-
-//==============================================================================
-void Joint::updateLocalPrimaryAcceleration() const
-{
-  updateRelativePrimaryAcceleration();
-}
-
-//==============================================================================
-void Joint::updateLocalJacobian(bool mandatory) const
-{
-  updateRelativeJacobian(mandatory);
-}
-
-//==============================================================================
-void Joint::updateLocalJacobianTimeDeriv() const
-{
-  updateRelativeJacobianTimeDeriv();
-}
-
 //==============================================================================
 void Joint::updateArticulatedInertia() const
 {

dart/dynamics/Joint.hpp

@@ -662,34 +662,6 @@ class Joint : public virtual common::Subject,
 
   //----------------------------------------------------------------------------
 
-  /// Deprecated. Use getRelativeTransform() instead.
-  DART_DEPRECATED(6.0)
-  const Eigen::Isometry3d& getLocalTransform() const;
-
-  /// Deprecated. Use getLocalSpatialVelocity() instead.
-  DART_DEPRECATED(6.0)
-  const Eigen::Vector6d& getLocalSpatialVelocity() const;
-
-  /// Deprecated. Use getLocalSpatialAcceleration() instead.
-  DART_DEPRECATED(6.0)
-  const Eigen::Vector6d& getLocalSpatialAcceleration() const;
-
-  /// Deprecated. Use getLocalPrimaryAcceleration() instead.
-  DART_DEPRECATED(6.0)
-  const Eigen::Vector6d& getLocalPrimaryAcceleration() const;
-
-  /// Deprecated. Use getRelativeJacobian() instead.
-  DART_DEPRECATED(6.0)
-  const math::Jacobian getLocalJacobian() const;
-
-  /// Deprecated. Use getRelativeJacobian() instead.
-  DART_DEPRECATED(6.0)
-  math::Jacobian getLocalJacobian(const Eigen::VectorXd& positions) const;
-
-  /// Deprecated. Use getRelativeJacobianTimeDeriv() instead.
-  DART_DEPRECATED(6.0)
-  const math::Jacobian getLocalJacobianTimeDeriv() const;
-
   /// Get transform of the child BodyNode relative to the parent BodyNode
   /// expressed in the child BodyNode frame
   const Eigen::Isometry3d& getRelativeTransform() const;
@@ -836,30 +808,6 @@ class Joint : public virtual common::Subject,
   /// \{ \name Recursive dynamics routines
   //----------------------------------------------------------------------------
 
-  /// Deprecated. Use updateRelativeTransform() instead.
-  DART_DEPRECATED(6.0)
-  void updateLocalTransform() const;
-
-  /// Deprecated. Use updateRelativeSpatialVelocity() instead.
-  DART_DEPRECATED(6.0)
-  void updateLocalSpatialVelocity() const;
-
-  /// Deprecated. Use updateRelativeSpatialAcceleration() instead.
-  DART_DEPRECATED(6.0)
-  void updateLocalSpatialAcceleration() const;
-
-  /// Deprecated. Use updateRelativePrimaryAcceleration() instead.
-  DART_DEPRECATED(6.0)
-  void updateLocalPrimaryAcceleration() const;
-
-  /// Deprecated. Use updateRelativeJacobian() instead.
-  DART_DEPRECATED(6.0)
-  void updateLocalJacobian(bool mandatory = true) const;
-
-  /// Deprecated. Use updateRelativeJacobianTimeDeriv() instead.
-  DART_DEPRECATED(6.0)
-  void updateLocalJacobianTimeDeriv() const;
-
   /// Update transform of the child BodyNode relative to the parent BodyNode
   /// expressed in the child BodyNode frame
   virtual void updateRelativeTransform() const = 0;

dart/dynamics/Marker.cpp

@@ -64,18 +64,6 @@ void Marker::setAspectProperties(const AspectProperties& properties)
   setConstraintType(properties.mType);
 }
 
-//==============================================================================
-BodyNode* Marker::getBodyNode()
-{
-  return getBodyNodePtr();
-}
-
-//==============================================================================
-const BodyNode* Marker::getBodyNode() const
-{
-  return getBodyNodePtr();
-}
-
 //==============================================================================
 Eigen::Vector3d Marker::getLocalPosition() const
 {

dart/dynamics/Marker.hpp

@@ -67,18 +67,6 @@ class Marker final : public common::EmbedPropertiesOnTopOf<
   /// Set the AspectProperties of this Marker
   void setAspectProperties(const AspectProperties& properties);
 
-  /// Get the BodyNode this Marker belongs to
-  ///
-  /// Deprecated: Use getBodyNodePtr() instead
-  DART_DEPRECATED(6.0)
-  BodyNode* getBodyNode();
-
-  /// Get the (const) BodyNode this Marker belongs to
-  ///
-  /// Deprecated: Use getBodyNodePtr() instead
-  DART_DEPRECATED(6.0)
-  const BodyNode* getBodyNode() const;
-
   /// Get position of this marker in the parent body node coordinates
   Eigen::Vector3d getLocalPosition() const;
 

dart/dynamics/MetaSkeleton.hpp

@@ -836,10 +836,6 @@ class MetaSkeleton : public common::Subject
   /// Get the potential energy of this MetaSkeleton
   virtual double computePotentialEnergy() const = 0;
 
-  /// Clear collision flags of the BodyNodes in this MetaSkeleton
-  DART_DEPRECATED(6.0)
-  virtual void clearCollidingBodies() = 0;
-
   /// \}
 
   //----------------------------------------------------------------------------

dart/dynamics/ReferentialSkeleton.cpp

@@ -942,25 +942,6 @@ double ReferentialSkeleton::computePotentialEnergy() const
   return PE;
 }
 
-//==============================================================================
-void ReferentialSkeleton::clearCollidingBodies()
-{
-  for (auto i = 0u; i < getNumBodyNodes(); ++i) {
-    auto bodyNode = getBodyNode(i);
-    DART_SUPPRESS_DEPRECATED_BEGIN
-    bodyNode->setColliding(false);
-    DART_SUPPRESS_DEPRECATED_END
-
-    auto softBodyNode = bodyNode->asSoftBodyNode();
-    if (softBodyNode) {
-      auto& pointMasses = softBodyNode->getPointMasses();
-
-      for (auto pointMass : pointMasses)
-        pointMass->setColliding(false);
-    }
-  }
-}
-
 //==============================================================================
 Eigen::Vector3d ReferentialSkeleton::getCOM(const Frame* _withRespectTo) const
 {

dart/dynamics/ReferentialSkeleton.hpp

@@ -349,10 +349,6 @@ class ReferentialSkeleton : public MetaSkeleton
   // Documentation inherited
   double computePotentialEnergy() const override;
 
-  // Documentation inherited
-  DART_DEPRECATED(6.0)
-  void clearCollidingBodies() override;
-
   /// \}
 
   //----------------------------------------------------------------------------