Update coupling handlers of ergoCub Hand MK5

[xEnVrE]

As per the title.

Notes:

• the implementation of the coupling handler has been heavily reworked as per our discussion in Coupling handlers for ergoCub hand MK3, 4 and 5 possibly incorrect #647 and Clarification on the Hand MK5 coupling laws icub-tech-iit/documentation#257;
• the new class contains a FingerParameters struct hosting the relevant parameters from the documentation;
• HandMk5CouplingHandler::decoupleAcc does nothing given that decoupleAcc is never called in the controlboard plugin code;
• HandMk5CouplingHandler::{decoupleTrq, decoupleRefTrq} do nothing given that torque control does not exist for the fingers on the real robot;
• HandMk5CouplingHandler::decoupleRefVel, differently from all the coupling handlers we had so far, uses the Jacobian provided in documentation, hence it also requires to know the current joints position to be implemented. Unfortunately the super class of the BaseCouplingHandler does not provide any position input for the decopleRefVel method:
  

  gazebo-yarp-plugins/plugins/controlboard/include/yarp/dev/ControlBoardDriverCoupling.h

  Line 49 in ea7a48e

  virtual yarp::sig::Vector decoupleRefVel (yarp::sig::Vector& vel_ref) = 0;

  
  For this reason, although I do not like this solution, for now I am saving the current joints positions as a class member when decouplePos is called and reusing it within decoupleRefVel. It works because decouplePos:
  • is always called irrespective of the type of control mode:
    

    gazebo-yarp-plugins/plugins/controlboard/src/ControlBoardDriver.cpp

    Line 570 in ea7a48e

    m_coupling_handler[cpl_cnt]->decouplePos(m_positions);

  • is always called before decoupleRefVel gets called.

As regards the last point, I am happy to discuss different solutions - also given the recent discussion in #649. The fact that decoupleRefVel is working properly has been tested by enabling, just for testing purposes, the direct_velocity_pid mode for the YARP velocity control.

This PR is tightly coupled with icub-tech-iit/ergocub-software#115.

Fixes #647

cc @mfussi66 @Nicogene @traversaro @pattacini

[traversaro]

Thanks! I will go in depth on this tomorrow, but in the meanwhile CI fails with:

2023-05-17T21:40:48.9126043Z D:\a\gazebo-yarp-plugins\gazebo-yarp-plugins\plugins\controlboard\include\yarp\dev\ControlBoardDriverCoupling.h(268,9): error C7555: use of designated initializers requires at least '/std:c++20' [D:\a\gazebo-yarp-plugins\gazebo-yarp-plugins\build\plugins\controlboard\gazebo_yarp_controlboard.vcxproj]
2023-05-17T21:40:48.9128132Z D:\a\gazebo-yarp-plugins\gazebo-yarp-plugins\plugins\controlboard\include\yarp\dev\ControlBoardDriverCoupling.h(280,9): error C7555: use of designated initializers requires at least '/std:c++20' [D:\a\gazebo-yarp-plugins\gazebo-yarp-plugins\build\plugins\controlboard\gazebo_yarp_controlboard.vcxproj]
2023-05-17T21:40:48.9129544Z D:\a\gazebo-yarp-plugins\gazebo-yarp-plugins\plugins\controlboard\include\yarp\dev\ControlBoardDriverCoupling.h(292,9): error C7555: use of designated initializers requires at least '/std:c++20' [D:\a\gazebo-yarp-plugins\gazebo-yarp-plugins\build\plugins\controlboard\gazebo_yarp_controlboard.vcxproj]
2023-05-17T21:40:49.0488142Z   ControlBoardDriverCoupling.cpp
2023-05-17T21:40:53.9123252Z D:\a\gazebo-yarp-plugins\gazebo-yarp-plugins\plugins\controlboard\include\yarp\dev\ControlBoardDriverCoupling.h(268,9): error C7555: use of designated initializers requires at least '/std:c++20' [D:\a\gazebo-yarp-plugins\gazebo-yarp-plugins\build\plugins\controlboard\gazebo_yarp_controlboard.vcxproj]
2023-05-17T21:40:53.9125533Z D:\a\gazebo-yarp-plugins\gazebo-yarp-plugins\plugins\controlboard\include\yarp\dev\ControlBoardDriverCoupling.h(280,9): error C7555: use of designated initializers requires at least '/std:c++20' [D:\a\gazebo-yarp-plugins\gazebo-yarp-plugins\build\plugins\controlboard\gazebo_yarp_controlboard.vcxproj]
2023-05-17T21:40:53.9127590Z D:\a\gazebo-yarp-plugins\gazebo-yarp-plugins\plugins\controlboard\include\yarp\dev\ControlBoardDriverCoupling.h(292,9): error C7555: use of designated initializers requires at least '/std:c++20' [D:\a\gazebo-yarp-plugins\gazebo-yarp-plugins\build\plugins\controlboard\gazebo_yarp_controlboard.vcxproj]
2023-05-17T21:40:53.9650444Z D:\a\gazebo-yarp-plugins\gazebo-yarp-plugins\plugins\controlboard\src\ControlBoardDriverCoupling.cpp(68,51): warning C4267: '=': conversion from 'size_t' to 'int', possible loss of data [D:\a\gazebo-yarp-plugins\gazebo-yarp-plugins\build\plugins\controlboard\gazebo_yarp_controlboard.vcxproj]
2023-05-17T21:40:54.0199272Z   ControlBoardLog.cpp
2023-05-17T21:40:54.5328321Z   ControlBoardDriverVirtualAnalogSensor.cpp
2023-05-17T21:40:59.3990476Z D:\a\gazebo-yarp-plugins\gazebo-yarp-plugins\plugins\controlboard\include\yarp\dev\ControlBoardDriverCoupling.h(268,9): error C7555: use of designated initializers requires at least '/std:c++20' [D:\a\gazebo-yarp-plugins\gazebo-yarp-plugins\build\plugins\controlboard\gazebo_yarp_controlboard.vcxproj]
2023-05-17T21:40:59.3992516Z D:\a\gazebo-yarp-plugins\gazebo-yarp-plugins\plugins\controlboard\include\yarp\dev\ControlBoardDriverCoupling.h(280,9): error C7555: use of designated initializers requires at least '/std:c++20' [D:\a\gazebo-yarp-plugins\gazebo-yarp-plugins\build\plugins\controlboard\gazebo_yarp_controlboard.vcxproj]
2023-05-17T21:40:59.3995922Z D:\a\gazebo-yarp-plugins\gazebo-yarp-plugins\plugins\controlboard\include\yarp\dev\ControlBoardDriverCoupling.h(292,9): error C7555: use of designated initializers requires at least '/std:c++20' [D:\a\gazebo-yarp-plugins\gazebo-yarp-plugins\build\plugins\controlboard\gazebo_yarp_controlboard.vcxproj]
2023-05-17T21:40:59.4490700Z D:\a\gazebo-yarp-plugins\gazebo-yarp-plugins\plugins\controlboard\src\ControlBoardDriverVirtualAnalogSensor.cpp(30,36): warning C4267: 'return': conversion from 'size_t' to 'int', possible loss of data [D:\a\gazebo-yarp-plugins\gazebo-yarp-plugins\build\plugins\controlboard\gazebo_yarp_controlboard.vcxproj]
2023-05-17T21:40:59.4495932Z D:\a\gazebo-yarp-plugins\gazebo-yarp-plugins\plugins\controlboard\src\ControlBoardDriverVirtualAnalogSensor.cpp(45,73): warning C4267: 'argument': conversion from 'size_t' to 'int', possible loss of data [D:\a\gazebo-yarp-plugins\gazebo-yarp-plugins\build\plugins\controlboard\gazebo_yarp_controlboard.vcxproj]

Probably we just need to target_compile_features(<lib> PUBLIC cxx_std_20) for the library that contains ControlBoardDriverCoupling.h, see also the related PR ami-iit/meshcat-cpp#3 (comment) .

[xEnVrE]

It depends on the fact that I use designated initializers for the members of the FingerParameters struct I guess:

https://github.com/xEnVrE/gazebo-yarp-plugins/blob/4dbe0ffe25afd6d9e6f2184b0a0a77b40ac47c09/plugins/controlboard/include/yarp/dev/ControlBoardDriverCoupling.h#L266

I could find a different solution if we don't want to enable cxx_std_20, although it seemed more clear as it is now where the field names are clearly visible.

[traversaro]

I could find a different solution if we don't want to enable cxx_std_20, although it seemed more clear as it is now where the field names are clearly visible.

I think C++20 is fine, as long as the library compiles fine on Ubuntu 20.04 with apt dependencied, we are fine. Please ignore the Ubuntu 18.04 failure, I need to disable that job.

[xEnVrE]

Added support for C++ 20 compiler features for the gazebo_yarp_controlboard plugin.

Not sure if these lines

gazebo-yarp-plugins/plugins/controlboard/CMakeLists.txt

Lines 9 to 10 in ea7a48e

	set(CMAKE_CXX_STANDARD 11)
	set(CMAKE_CXX_STANDARD_REQUIRED 11)

are to be changed as well.

[xEnVrE]

As regards the last point, I am happy to discuss different solutions

After f2f with @traversaro, it was decided that it would be better to add second argument to decoupleVelRef, something like

virtual yarp::sig::Vector decoupleRefVel (yarp::sig::Vector& vel_ref, const yarp::sig::Vector& pos_feedback) = 0; 

so that any velocity reference decoupling law that requires the access to the joint positions can be implemented. I will update the PR to match the above idea.

[xEnVrE]

The PR has been updated as discussed.

cc @traversaro @Nicogene

[traversaro]

Ok for me, thanks @xEnVrE ! @mebbaid you may want to check this as well, as it is related to #649 (note that this is not the cleanup suggested in that issue, it is just a change required for iCub Hand MK5 to work.