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[TransitionPlanner] Replace setEdge by setTransition #116

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Merged
florent-lamiraux merged 2 commits into from
Mar 10, 2026
Merged

[TransitionPlanner] Replace setEdge by setTransition #116

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cc026e3
[TransitionPlanner] Replace setEdge by setTransition
florent-lamiraux Mar 10, 2026
fa590bd
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Mar 10, 2026
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14 changes: 13 additions & 1 deletion src/pyhpp/manipulation/path-planner.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -154,8 +154,17 @@ PathVectorPtr_t TransitionPlanner::timeParameterization(
return trObj()->timeParameterization(path);
}

// deprecated
void TransitionPlanner::setEdge(const PyWEdge& transition) {
trObj()->setEdge(transition.obj);
boost::python::object warnings = boost::python::import("warnings");
warnings.attr("warn")(
"pyhpp.manipulation.TransitionPlanner.setEdge is deprecated. "
"Use setTransition instead.");
}

void TransitionPlanner::setTransition(const PyWEdge& transition) {
trObj()->setEdge(transition.obj);
}

void TransitionPlanner::setReedsAndSheppSteeringMethod(double turningRadius) {
Expand Down Expand Up @@ -248,7 +257,10 @@ void exposePathPlanners() {
DocClassMethod(optimizePath))
.def("timeParameterization", &TransitionPlanner::timeParameterization,
DocClassMethod(timeParameterization))
.def("setEdge", &TransitionPlanner::setEdge, DocClassMethod(setEdge))
.def("setEdge", &TransitionPlanner::setEdge,
DocClassMethod(setEdge)) // deprecated
.def("setTransition", &TransitionPlanner::setTransition,
DocClassMethod(setEdge))
.def("setReedsAndSheppSteeringMethod",
&TransitionPlanner::setReedsAndSheppSteeringMethod,
DocClassMethod(setReedsAndSheppSteeringMethod))
Expand Down
1 change: 1 addition & 0 deletions src/pyhpp/manipulation/path-planner.hh
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Expand Up @@ -61,6 +61,7 @@ struct TransitionPlanner : public pyhpp::core::PathPlanner {
PathVectorPtr_t optimizePath(const PathPtr_t& path);
PathVectorPtr_t timeParameterization(const PathVectorPtr_t& path);
void setEdge(const PyWEdge& transition);
void setTransition(const PyWEdge& transition);
void setReedsAndSheppSteeringMethod(double turningRadius);
void pathProjector(const PathProjectorPtr_t pathProjector);
void clearPathOptimizers();
Expand Down