Deprecate setDesiredGravityDirectionInTargetFrame and setFeedForwardV…

…elocityInTargetFrame methods; update implementation to set isSetPointSetAtLeastOnce flag

src/IK/include/BipedalLocomotion/IK/GravityTask.h

@@ -127,25 +127,6 @@ class GravityTask : public IKLinearTask
     iDynTree::FrameIndex m_targetFrameIndex; /**< Index of the target frame. */
     bool m_isSetPointSetAtLeastOnce{false}; /**< True if the set-point has been set at least once */
 
-    /**
-     * @brief Set the desired gravity direction expressed the target frame.
-     * @param desiredGravityDirection The desired gravity direction.
-     * @return True in case of success, false otherwise.
-     *
-     * The input is normalized, unless the norm is too small.
-     */
-    bool setDesiredGravityDirectionInTargetFrame(
-        const Eigen::Ref<const Eigen::Vector3d> desiredGravityDirection);
-
-    /**
-     * @brief Set the feedforward angular velocity expressed in the target frame.
-     * @param feedforwardVelocity The desired feedforward velocity in rad/s.
-     * @return True in case of success, false otherwise.
-     * Only the first two components are used.
-     */
-    bool setFeedForwardVelocityInTargetFrame( //
-        const Eigen::Ref<const Eigen::Vector3d> feedforwardVelocity);
-
 public:
     // clang-format off
     /**
@@ -206,6 +187,27 @@ class GravityTask : public IKLinearTask
                      const Eigen::Ref<const Eigen::Vector3d> feedforwardVelocity
                      = Eigen::Vector3d::Zero());
 
+   /**
+     * @brief Set the desired gravity direction expressed the target frame.
+     * @param desiredGravityDirection The desired gravity direction.
+     * @return True in case of success, false otherwise.
+     *
+     * The input is normalized, unless the norm is too small.
+     */
+    [[deprecated("Use setSetPoint instead")]]
+    bool setDesiredGravityDirectionInTargetFrame(
+        const Eigen::Ref<const Eigen::Vector3d> desiredGravityDirection);
+
+    /**
+     * @brief Set the feedforward angular velocity expressed in the target frame.
+     * @param feedforwardVelocity The desired feedforward velocity in rad/s.
+     * @return True in case of success, false otherwise.
+     * Only the first two components are used.
+     */
+    [[deprecated("Use setSetPoint instead")]]
+    bool setFeedForwardVelocityInTargetFrame( //
+        const Eigen::Ref<const Eigen::Vector3d> feedforwardVelocity);
+
     /**
      * Get the size of the task. (I.e the number of rows of the vector b)
      * @return the size of the task.

src/IK/src/GravityTask.cpp

@@ -189,14 +189,15 @@ bool GravityTask::setDesiredGravityDirectionInTargetFrame(
 {
     m_desiredZDirectionBody = desiredGravityDirection;
     m_desiredZDirectionBody.normalize();
+    m_isSetPointSetAtLeastOnce = true;
     return true;
 }
 
 bool GravityTask::setFeedForwardVelocityInTargetFrame(
     const Eigen::Ref<const Eigen::Vector3d> feedforwardVelocity)
 {
     m_feedForwardBody = feedforwardVelocity;
-
+    m_isSetPointSetAtLeastOnce = true;
     return true;
 }