Why were custom radar and lidar plugins moved to "dw/sensors/legacy" directory?

[iurii2]

Please provide the following info (tick the boxes after creating this topic):
Software Version
DRIVE OS 6.0.10.0
DRIVE OS 6.0.8.1
DRIVE OS 6.0.6
DRIVE OS 6.0.5
DRIVE OS 6.0.4 (rev. 1)
DRIVE OS 6.0.4 SDK
other

Target Operating System
Linux
QNX
other

Hardware Platform
DRIVE AGX Orin Developer Kit (940-63710-0010-300)
DRIVE AGX Orin Developer Kit (940-63710-0010-200)
DRIVE AGX Orin Developer Kit (940-63710-0010-100)
DRIVE AGX Orin Developer Kit (940-63710-0010-D00)
DRIVE AGX Orin Developer Kit (940-63710-0010-C00)
DRIVE AGX Orin Developer Kit (not sure its number)
other

SDK Manager Version
2.1.0
other

Host Machine Version
native Ubuntu Linux 20.04 Host installed with SDK Manager
native Ubuntu Linux 20.04 Host installed with DRIVE OS Docker Containers
native Ubuntu Linux 18.04 Host installed with DRIVE OS Docker Containers
other

Issue Description
Previously (in Drive OS 6.0.6 and appropriate Driveworks) our radar plugin included <dw/sensors/plugins/radar/RadarPlugin.h> and now as we upgraded to Drive OS 6.0.10 and Driveworks 5.20 that header has moved to <dw/sensors/legacy/plugins/radar/RadarPlugin.h>. I tried looking for a new (non-legacy) replacement, but both the provided radar plugin and API Reference for Drivework 5.20 do use the “legacy” headers themselves. Is there a plan to migrate radar/lidar plugins to some newer API? Is that newer API already available in Driveworks 5.20?

Thank you in advance.

Error String
N/A

Logs
N/A

[SivaRamaKrishnaNV]

Dear @iurii2,
There was change in folder path. The APIs are same.

[iurii2]

@SivaRamaKrishnaNV,

Well, I mean, “legacy” normally stands for something obsolete. I’d prefer to avoid relying on such kind of functionality that can likely be removed in future releases. So my question was is it indeed the case? If yes, then what non-legacy functionality is expected to be used instead? If not, then why placing it under “legacy” in the first place?