deprecate old .coordinates interface.

drake/examples/Acrobot/test/paramEstSyntheticData.m

@@ -12,7 +12,7 @@
 
 % Try parameter estimation without any noise
 Ts = .01; breaks=getBreaks(utraj); T0 = breaks(1); Tf = breaks(end);
-data = iddata(eval(xtraj,T0:Ts:Tf)',eval(utraj,T0:Ts:Tf)',Ts,'InputName',r.getInputFrame.coordinates,'OutputName',r.getOutputFrame.coordinates);
+data = iddata(eval(xtraj,T0:Ts:Tf)',eval(utraj,T0:Ts:Tf)',Ts,'InputName',r.getInputFrame.getCoordinateNames(),'OutputName',r.getOutputFrame.getCoordinateNames());
 
 estimated_parameters = parameterEstimation(r,data);
 

drake/examples/Atlas/+atlasControllers/@InstantaneousQPController/InstantaneousQPController.m

@@ -86,10 +86,11 @@
         terrain_map_ptr = nullPointer();
       end
 
+      state_coordinates = obj.robot.getStateFrame().getCoordinateNames();
       coordinate_names = struct(...
-        'state', {obj.robot.getStateFrame().coordinates(1:obj.robot.getNumPositions())},...
+        'state', {state_coordinates(1:obj.robot.getNumPositions())},...
         'input', struct('robot', {atlasUtil.getHardwareJointNames(obj.robot)}, ...
-                      'drake', {obj.robot.getInputFrame().coordinates}));
+                      'drake', {obj.robot.getInputFrame().getCoordinateNames()}));
 
 
       obj.data_mex_ptr = ...

drake/examples/Atlas/+atlasControllers/AtlasPlanEvalAndControlSystem.m

@@ -46,7 +46,7 @@
       else
         output_frame = r.getInputFrame();
       end
-      obj = obj@DrakeSystem(0,0,numel(input_frame.coordinates),numel(output_frame.coordinates),true,true);
+      obj = obj@DrakeSystem(0,0,numel(input_frame.getCoordinateNames()),numel(output_frame.getCoordinateNames()),true,true);
       obj = obj.setInputFrame(input_frame);
       obj = obj.setOutputFrame(output_frame);
       obj.control = control;

drake/examples/Atlas/+atlasFrames/AtlasCoordinates.m

@@ -4,7 +4,8 @@
     function obj=AtlasCoordinates(r)
       typecheck(r,'TimeSteppingRigidBodyManipulator');
       nq = r.getNumPositions();
-      obj = obj@SingletonCoordinateFrame('atlasFrames.AtlasCoordinates',nq,'x',r.getStateFrame.coordinates(1:nq));
+      coords = r.getStateFrame();
+      obj = obj@SingletonCoordinateFrame('atlasFrames.AtlasCoordinates',nq,'x',coords(1:nq));
     end
   end
 end

drake/examples/Atlas/+atlasFrames/AtlasInput.m

@@ -8,7 +8,7 @@
       if (r.hand_left > 0 || r.hand_right > 0 || r.external_force ~= 0)
         manipInputFrame = manipInputFrame.getFrameByNum(1);
       end
-      input_names = manipInputFrame.coordinates;
+      input_names = manipInputFrame.getCoordinateNames();
       input_names = regexprep(input_names,'_motor',''); % remove motor suffix     
 
       obj = obj@SingletonCoordinateFrame('atlasFrames.AtlasInput',length(input_names),'x',input_names);

drake/examples/Atlas/+atlasFrames/AtlasJointConfig.m

@@ -17,7 +17,8 @@
         jrange = 1:nq;
       end
 
-      joint_names = r.getStateFrame.coordinates(jrange); 
+      coords = r.getStateFrame.getCoordinateNames();
+      joint_names = coords(jrange); 
       obj = obj@SingletonCoordinateFrame('NominalPositionGoal',length(jrange),'x',joint_names);
     end
   end

drake/examples/Atlas/+atlasFrames/AtlasPositionRef.m

@@ -4,7 +4,7 @@
     function obj=AtlasPositionRef(r)
       typecheck(r,'TimeSteppingRigidBodyManipulator');
 
-      input_names = r.getInputFrame().coordinates;
+      input_names = r.getInputFrame().getCoordinateNames();
       input_names = regexprep(input_names,'_motor',''); % remove motor suffix     
 
       obj = obj@SingletonCoordinateFrame('atlasFrames.AtlasPositionRef',r.getNumInputs(),'x',input_names)

drake/examples/Atlas/+atlasFrames/AtlasState.m

@@ -8,7 +8,7 @@
       if (r.hand_left > 0 || r.hand_right > 0 || r.external_force ~= 0)
         manipStateFrame = manipStateFrame.getFrameByNum(1);
       end
-      coordinates = manipStateFrame.coordinates;
+      coordinates = manipStateFrame.getCoordinateNames();
       obj = obj@SingletonCoordinateFrame('atlasFrames.AtlasState',length(coordinates),'x',coordinates);
     end
   end

drake/examples/Atlas/+atlasFrames/HandInput.m

@@ -7,7 +7,7 @@
       % our hand state is. 
       manipInputFrame = r.getManipulator().getInputFrame();
       manipInputFrame = manipInputFrame.getFrameByNum(ind);
-      input_names = manipInputFrame.coordinates;
+      input_names = manipInputFrame.getCoordinateNames();
       input_names = regexprep(input_names,'_motor',''); % remove motor suffix     
 
       obj = obj@SingletonCoordinateFrame(name,length(input_names),'x',input_names);

drake/examples/Atlas/+atlasFrames/HandState.m

@@ -7,7 +7,7 @@
       % our hand state is. 
       manipStateFrame = r.getManipulator().getStateFrame();
       manipStateFrame = manipStateFrame.getFrameByNum(ind);
-      coordinates = manipStateFrame.coordinates;
+      coordinates = manipStateFrame.getCoordinateNames();
       obj = obj@SingletonCoordinateFrame(name,length(coordinates),'x',coordinates);
     end
   end

drake/examples/IRB140/HandInput.m

@@ -7,7 +7,7 @@
       % our hand state is. 
       manipInputFrame = r.getManipulator().getInputFrame();
       manipInputFrame = manipInputFrame.getFrameByNum(ind);
-      input_names = manipInputFrame.coordinates;
+      input_names = manipInputFrame.getCoordinateNames();
       input_names = regexprep(input_names,'_motor',''); % remove motor suffix     
 
       obj = obj@SingletonCoordinateFrame(name,length(input_names),'x',input_names);

drake/examples/IRB140/HandState.m

@@ -7,7 +7,7 @@
       % our hand state is. 
       manipStateFrame = r.getManipulator().getStateFrame();
       manipStateFrame = manipStateFrame.getFrameByNum(ind);
-      coordinates = manipStateFrame.coordinates;
+      coordinates = manipStateFrame.getCoordinateNames();
       obj = obj@SingletonCoordinateFrame(name,length(coordinates),'x',coordinates);
     end
   end

drake/examples/IRB140/IRB140.m

@@ -67,7 +67,7 @@
           end
         else
           arm_state_frame = getStateFrame(obj);
-          if (length(arm_state_frame.coordinates) > length(IRB140State(obj).coordinates))
+          if (length(arm_state_frame.getCoordinateNames()) > length(IRB140State(obj).getCoordinateNames()))
             arm_state_frame = replaceFrameNum(arm_state_frame, 1, IRB140State(obj));
           else
             arm_state_frame = IRB140State(obj);

drake/examples/IRB140/IRB140Input.m

@@ -8,7 +8,7 @@
       if (r.hands > 0)
         manipInputFrame = manipInputFrame.getFrameByNum(1);
       end
-      input_names = manipInputFrame.coordinates;
+      input_names = manipInputFrame.getCoordinateNames();
       input_names = regexprep(input_names,'_motor',''); % remove motor suffix     
 
       obj = obj@SingletonCoordinateFrame('IRB140Input',length(input_names),'x',input_names);

drake/examples/IRB140/IRB140State.m

@@ -7,7 +7,7 @@
       if (r.hands > 0)
         manipStateFrame = manipStateFrame.getFrameByNum(1);
       end
-      coordinates = manipStateFrame.coordinates;
+      coordinates = manipStateFrame.getCoordinateNames();
       obj = obj@SingletonCoordinateFrame('IRB140State',length(coordinates),'x',coordinates);
     end
   end

drake/systems/@DrakeSystem/DrakeSystem.m

@@ -423,7 +423,7 @@ function displayStateConstraints(obj)
       % to keep things clean.
 
       con = BoundingBoxConstraint(obj.umin,obj.umax);
-      con = setName(con,cellfun(@(a) [a,'_limit'],obj.getInputFrame.coordinates,'UniformOutput',false));
+      con = setName(con,cellfun(@(a) [a,'_limit'],obj.getInputFrame.getCoordinateNames(),'UniformOutput',false));
 
       prog = prog.addBoundingBoxConstraint(con,indices);
     end

drake/systems/@DrakeSystem/extractTrigPolySystem.m

@@ -101,7 +101,7 @@
 G=msspoly(zeros(sys.num_x)); Phi=msspoly([]); phidot=msspoly([]);
 unit_circle_constraints=[];
 sin_ind=false(sys.num_x); cos_ind=sin_ind; x_ind=sin_ind;
-name=sys.getStateFrame.coordinates; newname={};
+name=sys.getStateFrame.getCoordinateNames(); newname={};
 for i=1:sys.num_x
   if (deg(all_methods,s(i))>0 || deg(all_methods,c(i))>0)
     xnew=[xnew;s(i);c(i)];  

drake/systems/@DynamicalSystem/DynamicalSystem.m

@@ -565,7 +565,7 @@
       else
         sizecheck(p,obj.param_frame.dim);
       end
-      c = obj.param_frame.coordinates;
+      c = obj.param_frame.getCoordinateNames();
       for i=1:length(c)
         obj.(c{i}) = p(i);
       end
@@ -575,7 +575,7 @@
       % This default getParams method attempts to get class properties of the
       % system according to the coordinate names in the parameter frame.
 
-      c = obj.param_frame.coordinates;
+      c = obj.param_frame.getCoordinateNames();
       p=zeros(obj.param_frame.dim,1);
       for i=1:length(c)
         p(i) = obj.(c{i});

drake/systems/@LyapunovFunction/plotFunnel.m

@@ -39,8 +39,9 @@
   end
 
   h=fill3(x(1,:),x(2,:),repmat(0,1,size(x,2)),options.color,'LineStyle','-','LineWidth',2);
-  xlabel(obj.getFrame.coordinates{options.plotdims(1)});
-  ylabel(obj.getFrame.coordinates{options.plotdims(2)});
+  coords = obj.getFrame.getCoordinateNames();
+  xlabel(coords{options.plotdims(1)});
+  ylabel(coords{options.plotdims(2)});
 else
   if ~isfield(options,'ts') error('you must specify the time samples for this system using options.ts'); end
   ts = options.ts;

drake/systems/SecondOrderSystem.m

@@ -145,7 +145,8 @@
       % tau = Kp*thetadesired
       pdff = LinearSystem([],[],[],[],[],Kp*eye(sys.num_u));
       pdff = setOutputFrame(pdff,sys.getInputFrame);
-      pdff = setInputFrame(pdff,CoordinateFrame('q_d',length(index),'d',{sys.getStateFrame.coordinates{index}}));
+      coordinates = sys.getStateFrame.getCoordinateNames();
+      pdff = setInputFrame(pdff,CoordinateFrame('q_d',length(index),'d',{coordinates{index}}));
 
       if nargout>1
         varargout{1} = pdff;

drake/systems/frames/@CoordinateFrame/CoordinateFrame.m

@@ -73,6 +73,10 @@
       obj.prefix = prefix;
     end
 
+    function coordinates(obj)
+      error('Drake:Deprecated','coordinates was a property of this class that should not have been public.  please use getCoordinateName() and/or getCoordinateNames() instead.')
+    end
+
     function tf = hasSamePrefix(frame1,frame2)
       % useful for alarming on a possible prefix clash between two polys
       tf = any(any(bsxfun(@eq,frame1.prefix,frame2.prefix')));

drake/systems/plants/@Manipulator/Manipulator.m

@@ -470,7 +470,8 @@ function num_contacts(obj)
       % tau = Kp*thetadesired
       pdff = LinearSystem([],[],[],[],[],Kp*eye(sys.num_u));
       pdff = setOutputFrame(pdff,sys.getInputFrame);
-      pdff = setInputFrame(pdff,CoordinateFrame('q_d',length(index),'d',{sys.getStateFrame.coordinates{index}}));
+      coordinates = sys.getStateFrame.getCoordinates();
+      pdff = setInputFrame(pdff,CoordinateFrame('q_d',length(index),'d',{coordinates{index}}));
 
       if nargout>1
         varargout{1} = pdff;

drake/systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m

@@ -863,15 +863,17 @@
       % name contains a specified string.
       %   @param str (sub)string to be searched for
       %   @retvall indices array of indices into state vector
-      indices = find(~cellfun('isempty',strfind(model.getStateFrame().coordinates(1:getNumPositions(model)),str)));
+      coordinates = model.getStateFrame().getCoordinateNames()
+      indices = find(~cellfun('isempty',strfind(coordinates(1:getNumPositions(model)),str)));
     end
 
     function indices = findVelocityIndices(model, str)
       %findJointVelocityIndices Returns velocity indices in the state vector for joints whose
       % name contains a specified string.
       %   @param str (sub)string to be searched for
       %   @retvall indices array of indices into state vector
-      indices = find(~cellfun('isempty',strfind(model.getStateFrame().coordinates((getNumPositions(model)+1):end),str)));
+      coordinates = model.getStateFrame().getCoordinateNames()
+      indices = find(~cellfun('isempty',strfind(coordinates((getNumPositions(model)+1):end),str)));
     end
 
 

drake/systems/plants/constraint/GravityCompensationTorqueConstraint.m

@@ -64,7 +64,7 @@
 
     function name_str = name(obj, t)
       if(obj.isTimeValid(t))
-        joint_names = obj.robot.getPositionFrame().coordinates;
+        joint_names = obj.robot.getPositionFrame().getCoordinateNames();
         name_str = cellStrCat({'Gravity compensation torque constraint on  '}, ...
                                joint_names(obj.joint_indices), ...
                               {sprintf(' at time %10.4f',t)})';

drake/systems/plants/constraint/test/testKinCnst.m

@@ -48,7 +48,7 @@
 
 q = randn(nq,1);
 % q_aff = randn(nq_aff,1);
-q_aff = [q;randn(length(robot_aff.getStateFrame.frame{2}.coordinates)/2,1)];
+q_aff = [q;randn(length(robot_aff.getStateFrame.frame{2}.getCoordinateNames())/2,1)];
 tspan0 = [0,1];
 tspan1 = [];
 t_valid = 0.5;
@@ -126,9 +126,9 @@
 % q21_aff = randn(nq_aff,length(t2));
 % q22_aff = repmat(randn(nq_aff,1),1,length(t2));
 % q31_aff = repmat(randn(nq_aff,1),1,length(t3));
-q21_aff = [q21;randn(length(robot_aff.getStateFrame.frame{2}.coordinates)/2,length(t2))];
-q22_aff = [q22;repmat(randn(length(robot_aff.getStateFrame.frame{2}.coordinates)/2,1),1,length(t2))];
-q31_aff = [q31;repmat(randn(length(robot_aff.getStateFrame.frame{2}.coordinates)/2,1),1,length(t3))];
+q21_aff = [q21;randn(length(robot_aff.getStateFrame.frame{2}.getCoordinateNames())/2,length(t2))];
+q22_aff = [q22;repmat(randn(length(robot_aff.getStateFrame.frame{2}.getCoordinateNames())/2,1),1,length(t2))];
+q31_aff = [q31;repmat(randn(length(robot_aff.getStateFrame.frame{2}.getCoordinateNames())/2,1),1,length(t3))];
 display('Check world fixed position constraint')
 testKinCnst_userfun(false,false,t2,q21,q21_aff,RigidBodyConstraint.WorldFixedPositionConstraintType,robot,robot_aff,l_hand,[[0;0;1] [1;0;1]],tspan0);
 kc = WorldFixedPositionConstraint(robot,l_hand,[[0;0;1] [1;0;1]],tspan0);

drake/systems/plants/constraint/test/testMultipleTimeLinearPostureConstraint.m

@@ -7,8 +7,8 @@
 r = RigidBodyManipulator(urdf,options);
 nq = r.getNumPositions();
 
-l_leg_kny = find(strcmp(r.getStateFrame.coordinates,'l_leg_kny'));
-r_leg_kny = find(strcmp(r.getStateFrame.coordinates,'r_leg_kny'));
+l_leg_kny = find(strcmp(r.getStateFrame.getCoordinateNames(),'l_leg_kny'));
+r_leg_kny = find(strcmp(r.getStateFrame.getCoordinateNames(),'r_leg_kny'));
 
 tspan0 = [0,1];
 t = [-1 0 0.2 0.4 0.7 1 2];

drake/systems/plants/constraint/test/testPostureConstraint.m

@@ -7,8 +7,8 @@
 r = RigidBodyManipulator(urdf,options);
 nq = r.getNumPositions();
 
-l_leg_kny = find(strcmp(r.getStateFrame.coordinates,'l_leg_kny'));
-r_leg_kny = find(strcmp(r.getStateFrame.coordinates,'r_leg_kny'));
+l_leg_kny = find(strcmp(r.getStateFrame.getCoordinateNames(),'l_leg_kny'));
+r_leg_kny = find(strcmp(r.getStateFrame.getCoordinateNames(),'r_leg_kny'));
 
 tspan0 = [0,1];
 t = 0.5;

drake/systems/plants/constraint/test/testQuasiStaticConstraint.m

@@ -76,7 +76,7 @@
 r = r.addRobotFromURDF('valve_task_wall.urdf',rand(3,1),pi*randn(3,1),struct('floating',false));
 qsc = qsc.updateRobot(r);
 nq = r.getNumPositions();
-q = [q;randn(length(r.getStateFrame.frame{2}.coordinates)/2,1)];
+q = [q;randn(length(r.getStateFrame.frame{2}.getCoordinateNames())/2,1)];
 kinsol = doKinematics(r,q);
 [c2,dc2] = qsc.eval(t,kinsol,weights);
 [~,~,c_mex2,dc_mex2,lb_mex2,ub_mex2] = testQuasiStaticConstraintmex(qsc.mex_ptr,q,weights,t);

drake/systems/plants/constraint/test/testSingleTimeLinearPostureConstraint.m

@@ -2,7 +2,8 @@
 urdf = [getDrakePath,'/examples/Atlas/urdf/atlas_minimal_contact.urdf'];
 options.floating = true;
 robot = RigidBodyManipulator(urdf,options);
-coords = robot.getStateFrame.coordinates(1:robot.getNumPositions);
+coords = robot.getStateFrame.getCoordinateNames();
+coords = coords(1:robot.getNumPositions);
 l_leg_kny = find(strcmp(coords,'l_leg_kny'));
 r_leg_kny = find(strcmp(coords,'r_leg_kny'));
 l_leg_hpy = find(strcmp(coords,'l_leg_hpy'));

drake/systems/plants/test/testApproximateIK.m

@@ -58,8 +58,8 @@ function testApproximateIK()
 
 display('Check with posture constraint');
 pc = PostureConstraint(r);
-l_leg_kny = find(strcmp(r.getStateFrame.coordinates,'l_leg_kny'));
-r_leg_kny = find(strcmp(r.getStateFrame.coordinates,'r_leg_kny'));
+l_leg_kny = find(strcmp(r.getStateFrame.getCoordinateNames(),'l_leg_kny'));
+r_leg_kny = find(strcmp(r.getStateFrame.getCoordinateNames(),'r_leg_kny'));
 pc = pc.setJointLimits([l_leg_kny;r_leg_kny],[0.2;0.2],[inf;inf]);
 q = test_approximateIK_userfun(r,q_seed,q0,kc_com,kc_rfoot,kc_lfoot,kc_rhand,ikoption);
 

drake/systems/plants/test/testCOM.m

@@ -41,7 +41,7 @@
 w = warning('off','Drake:RigidBodyManipulator:ReplacedCylinder');
 r = r.addRobotFromURDF('valve_task_wall.urdf',xyz,rpy,struct('floating',false));
 warning(w);
-nq_aff = length(r.getStateFrame.frame{2}.coordinates)/2;
+nq_aff = length(r.getStateFrame.frame{2}.getCoordinateNames())/2;
 q_seed_aff = zeros(nq_aff,1);
 nq = r.getNumPositions();
 qdot = randn(nq,1);

drake/systems/plants/test/testIK.m

@@ -36,7 +36,8 @@
 l_hand_pts = [0;0;0];
 r_hand_pts = [0;0;0];
 
-coords = robot.getStateFrame.coordinates(1:robot.getNumPositions);
+coords = robot.getStateFrame.getCoordinateNames();
+coords = coords(1:robot.getNumPositions);
 l_leg_kny = find(strcmp(coords,'l_leg_kny'));
 r_leg_kny = find(strcmp(coords,'r_leg_kny'));
 l_leg_hpy = find(strcmp(coords,'l_leg_hpy'));
@@ -94,8 +95,8 @@
 end
 end
 pc_knee = PostureConstraint(robot,tspan);
-l_knee_idx = find(strcmp(robot.getStateFrame.coordinates,'l_leg_kny'));
-r_knee_idx = find(strcmp(robot.getStateFrame.coordinates,'r_leg_kny'));
+l_knee_idx = find(strcmp(robot.getStateFrame.getCoordinateNames(),'l_leg_kny'));
+r_knee_idx = find(strcmp(robot.getStateFrame.getCoordinateNames(),'r_leg_kny'));
 pc_knee = pc_knee.setJointLimits([l_knee_idx;r_knee_idx],[0.2;0.2],[inf;inf]);
 display('Check a single CoM constraint with a posture constraint')
 q = test_IK_userfun(robot,q_seed,q_nom,kc1,pc_knee,ikoptions);
@@ -426,7 +427,7 @@
 ikoptions = ikoptions.updateRobot(robot);
 ikoptions = ikoptions.setMajorIterationsLimit(2000);
 ikmexoptions = ikmexoptions.updateRobot(robot);
-nq_aff = length(robot.getStateFrame.frame{2}.coordinates)/2;
+nq_aff = length(robot.getStateFrame.frame{2}.getCoordinateNames())/2;
 q_seed_aff = zeros(nq_aff,1);
 q_nom_aff = zeros(nq_aff,1);
 q = test_IK_userfun(robot,[q_seed;q_seed_aff],[q_nom;q_nom_aff],kc1,qsc,kc2l,kc2r,kc3,kc4,kc5,kc6,ikoptions);

drake/systems/plants/test/testIKtraj.m

@@ -31,7 +31,8 @@ function testIKtraj()
 
 
 nq = r.getNumPositions();
-coords = r.getStateFrame.coordinates(1:nq);
+coords = r.getStateFrame.getCoordinateNames();
+coords = coords(1:nq);
 l_leg_kny = find(strcmp(coords,'l_leg_kny'));
 r_leg_kny = find(strcmp(coords,'r_leg_kny'));
 l_leg_hpy = find(strcmp(coords,'l_leg_hpy'));