mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-07-02 02:51:42 +00:00
42993b15c6
The wpimath library is a new library designed to separate the reusable math functionality from the common utility library (wpiutil) and the hardware-dependent library (wpilibc/j). Package names / include file names were NOT changed to minimize breakage. In a future year it would be good to revamp these for a more uniform user experience and to reduce the risk of accidental naming conflicts. While theoretically all of this functionality could be placed into wpiutil, several pieces of this library (e.g. DARE) are very time-consuming to compile, so it's nice to avoid this expense for users who only want cscore or ntcore. It also allows for easy future separation of build tasks vs number of workers on memory-constrained machines. This moves the following functionality from wpiutil into wpimath: - Eigen - ejml - Drake - DARE - wpiutil.math package (Matrix etc) - units And the following functionality from wpilibc/j into wpimath: - Geometry - Kinematics - Spline - Trajectory - LinearFilter - MedianFilter - Feed-forward controllers
66 lines
2.6 KiB
C++
66 lines
2.6 KiB
C++
#pragma once
|
|
|
|
/** @file
|
|
Provides a portable macro for use in generating compile-time warnings for
|
|
use of code that is permitted but discouraged. */
|
|
|
|
#ifdef DRAKE_DOXYGEN_CXX
|
|
/** Use `DRAKE_DEPRECATED("removal_date", "message")` to discourage use of
|
|
certain APIs. It can be used on classes, typedefs, variables, non-static data
|
|
members, functions, arguments, enumerations, and template specializations. When
|
|
code refers to the deprecated item, a compile time warning will be issued
|
|
displaying the given message, preceded by "DRAKE DEPRECATED: ". The Doxygen API
|
|
reference will show that the API is deprecated, along with the message.
|
|
|
|
This is typically used for constructs that have been replaced by something
|
|
better and it is good practice to suggest the appropriate replacement in the
|
|
deprecation message. Deprecation warnings are conventionally used to convey to
|
|
users that a feature they are depending on will be removed in a future release.
|
|
|
|
Every deprecation notice must include a date (as YYYY-MM-DD string) where the
|
|
deprecated item is planned for removal. Future commits may change the date
|
|
(e.g., delaying the removal) but should generally always reflect the best
|
|
current expectation for removal.
|
|
|
|
Absent any other particular need, we prefer to use a deprecation period of
|
|
three months by default, often rounded up to the next first of the month. So
|
|
for code announced as deprecated on 2018-01-22 the removal_date would nominally
|
|
be set to 2018-05-01.
|
|
|
|
Try to keep the date string immediately after the DRAKE_DEPRECATED macro name,
|
|
even if the message itself must be wrapped to a new line:
|
|
@code
|
|
DRAKE_DEPRECATED("2038-01-19",
|
|
"foo is being replaced with a safer, const-method named bar().")
|
|
int foo();
|
|
@endcode
|
|
|
|
Sample uses: @code
|
|
// Attribute comes *before* declaration of a deprecated function or variable;
|
|
// no semicolon is allowed.
|
|
DRAKE_DEPRECATED("2038-01-19", "f() is slow; use g() instead.")
|
|
int f(int arg);
|
|
|
|
// Attribute comes *after* struct, class, enum keyword.
|
|
class DRAKE_DEPRECATED("2038-01-19", "Use MyNewClass instead.")
|
|
MyClass {
|
|
};
|
|
|
|
// Type alias goes before the '='.
|
|
using NewType
|
|
DRAKE_DEPRECATED("2038-01-19", "Use NewType instead.")
|
|
= OldType;
|
|
@endcode
|
|
*/
|
|
#define DRAKE_DEPRECATED(removal_date, message)
|
|
|
|
#else // DRAKE_DOXYGEN_CXX
|
|
|
|
#define DRAKE_DEPRECATED(removal_date, message) \
|
|
[[deprecated( \
|
|
"\nDRAKE DEPRECATED: " message \
|
|
"\nThe deprecated code will be removed from Drake" \
|
|
" on or after " removal_date ".")]]
|
|
|
|
#endif // DRAKE_DOXYGEN_CXX
|