Improve mechanism modification API. #534
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Fix #318. Have all the mechanism modification functions return the modified or newly created mechanism, and nothing else. Keyword arguments, e.g. `bodymap` and `jointmap`, may be passed in to support the less frequent use case where these mappings are required. Also remove the `newfloatingjoints` map from `maximal_coordinates!` as it can be trivially computed from the returned mechanism, and remove the `fixedjoints` output from `remove_fixed_tree_joints!` for the same reason.
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Since the main change here was that the returned values have changed, it's hard to provide automated deprecation warnings using |
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Fix #318. Have all the mechanism modification functions return the modified or newly created mechanism, and nothing else. Keyword arguments, e.g.
bodymapandjointmap, may be passed in to support the less frequent use case where these mappings are required.Also remove the
newfloatingjointsmap frommaximal_coordinates!as it can be trivially computed from the returned mechanism, and remove thefixedjointsoutput fromremove_fixed_tree_joints!for the same reason.This is a breaking change, so there should be a deprecation cycle before this is merged.