Porting notes

Porting your code from version 4 to 5

Modification of idl API

Method

hpp::corbaserver::Obstacle::loadObstacleModel has been split in two methods

• hpp::corbaserver::Obstacle::loadObstacleModel (in string filename, in string prefix), and
• hpp::corbaserver::Obstacle::loadObstacleModelFromString (in string urdfString, in string prefix).

Arguments to loadObstacleModel are now

• a filename and a prefix, instead of
• a package name, a filename radical and a prefix.

As in many other methods and functions, the filename now includes reference to the package: "package://...".

Methods

hpp::corbaserver::Robot::loadRobotModel and hpp::corbaserver::Robot::loadHumanoidModel

Arguments

• in string packageName, in string modelName, in string urdfSuffix, in string srdfSuffix have been replaced by
• in string urdfName, in string srdfName.

As in the previous section these latter arguments contain the full filenames to the urdf and srdf files.

Modification of python API

Method

hpp.corbaserver.problem_solver.ProblemSolver.loadObstacleFromUrdf

Arguments

• package, filename have been replaced by
• filename. Calling the method with 3 arguments interpretes arguments as (package, filename, prefix) and raises a warning. Note that it is not possible to call arguments by names.