Remove `CoordinateActuator::CreateForceSetOfCoordinateActuatorsForModel` - Githubissues

opensim-org / opensim-core

SimTK OpenSim C++ libraries and command-line applications, and Java/Python wrapping.

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Remove `CoordinateActuator::CreateForceSetOfCoordinateActuatorsForModel` #3612

Closed nickbianco closed 10 months ago

nickbianco commented 10 months ago

Fixes issue #3598

Brief summary of changes

Removes CoordinateActuator::CreateForceSetOfCoordinateActuatorsForModel, which is problematic for a few reasons:

It returns a raw pointer to a new ForceSet which is memory-unsafe, especially for scripting users who might not realize this needs to be adopted by a Model.
Even if you did add this to a Model, it would completely overwrite the existing ForceSet. A better alternative is ModOpAddReserves, which appends a set of CoordinateActuators to the model.

Testing I've completed

n/a

Looking for feedback on...

As far as I know, not many users use this method, but it has been in the codebase for a long time so this could be a breaking change for some.

CHANGELOG.md (choose one)

updated.

This change is

nickbianco commented 10 months ago

Closing, since this method is actually used by InverseDynamics and StaticOptimization.