From 78ee3ed5e5c0126148772f4cd020a48c1376fff2 Mon Sep 17 00:00:00 2001
From: wim <devnull@localhost>
Date: Wed, 29 Sep 2010 18:06:37 +0000
Subject: [PATCH] remove deprecated reference position. #4216

---
 urdf/src/joint.cpp | 21 ---------------------
 1 file changed, 21 deletions(-)

diff --git a/urdf/src/joint.cpp b/urdf/src/joint.cpp
index c696d95..89b59b9 100644
--- a/urdf/src/joint.cpp
+++ b/urdf/src/joint.cpp
@@ -266,27 +266,6 @@ bool JointCalibration::initXml(TiXmlElement* config)
 {
   this->clear();
 
-  // Get reference_position
-  const char* reference_position_str = config->Attribute("reference_position");
-  if (reference_position_str == NULL)
-  {
-    ROS_DEBUG("joint calibration: no reference_position, using default value");
-    this->reference_position = 0;
-  }
-  else
-  {
-    ROS_WARN("The field 'reference_position' of a joint calibraiton is deprecated. Use the 'rising' and 'falling' fields instead.");
-    try
-    {
-      this->reference_position = boost::lexical_cast<double>(reference_position_str);
-    }
-    catch (boost::bad_lexical_cast &e)
-    {
-      ROS_ERROR("reference_position value (%s) is not a float",reference_position_str);
-      return false;
-    }
-  }
-
   // Get rising edge position
   const char* rising_position_str = config->Attribute("rising");
   if (rising_position_str == NULL)