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tf2_eigen: Deprecate methods using Affine3d (Noetic) #561

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tf2_eigen: Deprecate methods using Affine3d (Noetic) #561

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9f7b9f5
tf2_eigen: Deprecate methods using Affine3d.
peci1 Mar 5, 2019
8c10d46
Silenced deprecation warnings caused by testing deprecated functional…
peci1 Feb 3, 2024
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47 changes: 36 additions & 11 deletions tf2_eigen/include/tf2_eigen/tf2_eigen.h
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,11 @@
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Twist.h>

#define TF2_EIGEN_IGNORE_DEPRECATED_CALL_BEGIN \
_Pragma("GCC diagnostic push")\
_Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")
#define TF2_EIGEN_IGNORE_DEPRECATED_CALL_END \
_Pragma("GCC diagnostic pop")

namespace tf2
{
Expand All @@ -62,9 +67,10 @@ Eigen::Isometry3d transformToEigen(const geometry_msgs::TransformStamped& t) {
/** \brief Convert an Eigen Affine3d transform to the equivalent geometry_msgs message type.
* \param T The transform to convert, as an Eigen Affine3d transform.
* \return The transform converted to a TransformStamped message.
* \deprecated Use Isometry3d instead.
*/
inline
geometry_msgs::TransformStamped eigenToTransform(const Eigen::Affine3d& T)
ROS_DEPRECATED geometry_msgs::TransformStamped eigenToTransform(const Eigen::Affine3d& T)
{
geometry_msgs::TransformStamped t;
t.transform.translation.x = T.translation().x();
Expand Down Expand Up @@ -223,12 +229,14 @@ void fromMsg(const geometry_msgs::PointStamped& msg, tf2::Stamped<Eigen::Vector3
* \param t_in The frame to transform, as a Eigen Affine3d transform.
* \param t_out The transformed frame, as a Eigen Affine3d transform.
* \param transform The timestamped transform to apply, as a TransformStamped message.
* \deprecated Use Isometry3d instead.
*/
template <>
inline
void doTransform(const Eigen::Affine3d& t_in,
Eigen::Affine3d& t_out,
const geometry_msgs::TransformStamped& transform) {
ROS_DEPRECATED void doTransform(
const Eigen::Affine3d& t_in,
Eigen::Affine3d& t_out,
const geometry_msgs::TransformStamped& transform) {
t_out = Eigen::Affine3d(transformToEigen(transform) * t_in);
}

Expand Down Expand Up @@ -330,9 +338,10 @@ void doTransform(const tf2::Stamped<Eigen::Quaterniond>& t_in,
* This function is a specialization of the toMsg template defined in tf2/convert.h.
* \param in The Eigen Affine3d to convert.
* \return The Eigen transform converted to a Pose message.
* \deprecated Use Isometry3d instead.
*/
inline
geometry_msgs::Pose toMsg(const Eigen::Affine3d& in) {
ROS_DEPRECATED geometry_msgs::Pose toMsg(const Eigen::Affine3d& in) {
geometry_msgs::Pose msg;
msg.position.x = in.translation().x();
msg.position.y = in.translation().y();
Expand Down Expand Up @@ -380,9 +389,10 @@ geometry_msgs::Pose toMsg(const Eigen::Isometry3d& in) {
* This function is a specialization of the toMsg template defined in tf2/convert.h.
* \param msg The Pose message to convert.
* \param out The pose converted to a Eigen Affine3d.
* \deprecated USe Isometry3d instead.
*/
inline
void fromMsg(const geometry_msgs::Pose& msg, Eigen::Affine3d& out) {
ROS_DEPRECATED void fromMsg(const geometry_msgs::Pose& msg, Eigen::Affine3d& out) {
out = Eigen::Affine3d(
Eigen::Translation3d(msg.position.x, msg.position.y, msg.position.z) *
Eigen::Quaterniond(msg.orientation.w,
Expand Down Expand Up @@ -446,10 +456,11 @@ void fromMsg(const geometry_msgs::Twist &msg, Eigen::Matrix<double,6,1>& out) {
* \param t_in The frame to transform, as a timestamped Eigen Affine3d transform.
* \param t_out The transformed frame, as a timestamped Eigen Affine3d transform.
* \param transform The timestamped transform to apply, as a TransformStamped message.
* \deprecated Use Isometry3d instead.
*/
template <>
inline
void doTransform(const tf2::Stamped<Eigen::Affine3d>& t_in,
ROS_DEPRECATED void doTransform(const tf2::Stamped<Eigen::Affine3d>& t_in,
tf2::Stamped<Eigen::Affine3d>& t_out,
const geometry_msgs::TransformStamped& transform) {
t_out = tf2::Stamped<Eigen::Affine3d>(transformToEigen(transform) * t_in, transform.header.stamp, transform.header.frame_id);
Expand All @@ -476,14 +487,17 @@ void doTransform(const tf2::Stamped<Eigen::Isometry3d>& t_in,
* This function is a specialization of the toMsg template defined in tf2/convert.h.
* \param in The timestamped Eigen Affine3d to convert.
* \return The Eigen transform converted to a PoseStamped message.
* \deprecated Use Isometry3d instead.
*/
inline
geometry_msgs::PoseStamped toMsg(const tf2::Stamped<Eigen::Affine3d>& in)
ROS_DEPRECATED geometry_msgs::PoseStamped toMsg(const tf2::Stamped<Eigen::Affine3d>& in)
{
geometry_msgs::PoseStamped msg;
msg.header.stamp = in.stamp_;
msg.header.frame_id = in.frame_id_;
TF2_EIGEN_IGNORE_DEPRECATED_CALL_BEGIN
msg.pose = toMsg(static_cast<const Eigen::Affine3d&>(in));
TF2_EIGEN_IGNORE_DEPRECATED_CALL_END
return msg;
}

Expand All @@ -501,13 +515,17 @@ geometry_msgs::PoseStamped toMsg(const tf2::Stamped<Eigen::Isometry3d>& in)
* This function is a specialization of the toMsg template defined in tf2/convert.h.
* \param msg The PoseStamped message to convert.
* \param out The pose converted to a timestamped Eigen Affine3d.
* \deprecated Use Isometry3d instead.
*/
inline
void fromMsg(const geometry_msgs::PoseStamped& msg, tf2::Stamped<Eigen::Affine3d>& out)
ROS_DEPRECATED void fromMsg(const geometry_msgs::PoseStamped& msg,
tf2::Stamped<Eigen::Affine3d>& out)
{
out.stamp_ = msg.header.stamp;
out.frame_id_ = msg.header.frame_id;
TF2_EIGEN_IGNORE_DEPRECATED_CALL_BEGIN
fromMsg(msg.pose, static_cast<Eigen::Affine3d&>(out));
TF2_EIGEN_IGNORE_DEPRECATED_CALL_END
}

inline
Expand All @@ -531,8 +549,10 @@ namespace Eigen {
// tf2::convert().

inline
geometry_msgs::Pose toMsg(const Eigen::Affine3d& in) {
ROS_DEPRECATED geometry_msgs::Pose toMsg(const Eigen::Affine3d& in) {
TF2_EIGEN_IGNORE_DEPRECATED_CALL_BEGIN
return tf2::toMsg(in);
TF2_EIGEN_IGNORE_DEPRECATED_CALL_END
}

inline
Expand All @@ -551,8 +571,10 @@ geometry_msgs::Point toMsg(const Eigen::Vector3d& in) {
}

inline
void fromMsg(const geometry_msgs::Pose& msg, Eigen::Affine3d& out) {
ROS_DEPRECATED void fromMsg(const geometry_msgs::Pose& msg, Eigen::Affine3d& out) {
TF2_EIGEN_IGNORE_DEPRECATED_CALL_BEGIN
tf2::fromMsg(msg, out);
TF2_EIGEN_IGNORE_DEPRECATED_CALL_END
}

inline
Expand Down Expand Up @@ -582,4 +604,7 @@ void fromMsg(const geometry_msgs::Twist &msg, Eigen::Matrix<double,6,1>& out) {

} // namespace

#undef TF2_EIGEN_IGNORE_DEPRECATED_CALL_BEGIN
#undef TF2_EIGEN_IGNORE_DEPRECATED_CALL_END

#endif // TF2_EIGEN_H
19 changes: 18 additions & 1 deletion tf2_eigen/test/tf2_eigen-test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,10 +26,17 @@

/** \author Wim Meeussen */

#define TF2_EIGEN_TEST_IGNORE_DEPRECATED_CALL_BEGIN \
_Pragma("GCC diagnostic push")\
_Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")
#define TF2_EIGEN_TEST_IGNORE_DEPRECATED_CALL_END \
_Pragma("GCC diagnostic pop")

TF2_EIGEN_TEST_IGNORE_DEPRECATED_CALL_BEGIN
#include <tf2_eigen/tf2_eigen.h>
#include <gtest/gtest.h>
#include <tf2/convert.h>
TF2_EIGEN_TEST_IGNORE_DEPRECATED_CALL_END
#include <gtest/gtest.h>

TEST(TfEigen, ConvertVector3dStamped)
{
Expand Down Expand Up @@ -93,7 +100,9 @@ TEST(TfEigen, TransformQuaterion) {
const Eigen::Affine3d affine(iso);
const tf2::Stamped<Eigen::Quaterniond> expected(Eigen::Quaterniond(Eigen::AngleAxisd(1, Eigen::Vector3d::UnitZ())), ros::Time(10), "expected");

TF2_EIGEN_TEST_IGNORE_DEPRECATED_CALL_BEGIN
geometry_msgs::TransformStamped trafo = tf2::eigenToTransform(affine);
TF2_EIGEN_TEST_IGNORE_DEPRECATED_CALL_END
trafo.header.stamp = ros::Time(10);
trafo.header.frame_id = "expected";

Expand Down Expand Up @@ -122,8 +131,10 @@ TEST(TfEigen, ConvertAffine3dStamped)

tf2::Stamped<Eigen::Affine3d> v1;
geometry_msgs::PoseStamped p1;
TF2_EIGEN_TEST_IGNORE_DEPRECATED_CALL_BEGIN
tf2::convert(v, p1);
tf2::convert(p1, v1);
TF2_EIGEN_TEST_IGNORE_DEPRECATED_CALL_END

EXPECT_EQ(v.translation(), v1.translation());
EXPECT_EQ(v.rotation(), v1.rotation());
Expand Down Expand Up @@ -153,8 +164,10 @@ TEST(TfEigen, ConvertAffine3d)

Eigen::Affine3d v1;
geometry_msgs::Pose p1;
TF2_EIGEN_TEST_IGNORE_DEPRECATED_CALL_BEGIN
tf2::convert(v, p1);
tf2::convert(p1, v1);
TF2_EIGEN_TEST_IGNORE_DEPRECATED_CALL_END

EXPECT_EQ(v.translation(), v1.translation());
EXPECT_EQ(v.rotation(), v1.rotation());
Expand Down Expand Up @@ -188,7 +201,9 @@ TEST(TfEigen, ConvertTransform)

Eigen::Affine3d T(tm);

TF2_EIGEN_TEST_IGNORE_DEPRECATED_CALL_BEGIN
geometry_msgs::TransformStamped msg = tf2::eigenToTransform(T);
TF2_EIGEN_TEST_IGNORE_DEPRECATED_CALL_END
Eigen::Affine3d Tback = tf2::transformToEigen(msg);

EXPECT_TRUE(T.isApprox(Tback));
Expand All @@ -197,7 +212,9 @@ TEST(TfEigen, ConvertTransform)
// same for Isometry
Eigen::Isometry3d I(tm);

TF2_EIGEN_TEST_IGNORE_DEPRECATED_CALL_BEGIN
msg = tf2::eigenToTransform(T);
TF2_EIGEN_TEST_IGNORE_DEPRECATED_CALL_END
Eigen::Isometry3d Iback = tf2::transformToEigen(msg);

EXPECT_TRUE(I.isApprox(Iback));
Expand Down