Merge pull request #182 from robotology/fixidyntreedeprec

Remove iDynTree deprecation warnings
robotology · Mar 6, 2024 · e3e8417 · e3e8417
2 parents d13b412 + 999d452
commit e3e8417
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Showing 17 changed files with 72 additions and 95 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -30,8 +30,10 @@ add_install_rpath_support(BIN_DIRS "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BIND
 
 set(YARP_REQUIRED_VERSION 3.0.1)
 
-find_package(YARP ${YARP_REQUIRED_VERSION} REQUIRED COMPONENTS robotinterface idl_tools)
-find_package(Eigen3 3.2.92 REQUIRED)
+find_package(YARP ${YARP_REQUIRED_VERSION} REQUIRED COMPONENTS robotinterface idl_tools eigen os sig)
+find_package(Eigen3 REQUIRED)
+find_package(iDynTree 10.0.0 REQUIRED)
+find_package(ICUB REQUIRED)
 
 yarp_configure_plugins_installation(${PROJECT_NAME})
 

diff --git a/devices/baseEstimatorV1/CMakeLists.txt b/devices/baseEstimatorV1/CMakeLists.txt
@@ -2,16 +2,6 @@
 # This software may be modified and distributed under the terms of the
 # GNU Lesser General Public License v2.1 or any later version.
 
-set(iDynTree_REQUIRED_VERSION 0.11.0)
-
-find_package(iDynTree ${iDynTree_VERSION} REQUIRED)
-
-find_package(ICUB REQUIRED)
-
-find_package(YARP REQUIRED COMPONENTS
-             eigen
-             os
-             sig)
 
 set(FBE_HEADERS ${CMAKE_CURRENT_SOURCE_DIR}/include/baseEstimatorV1.h
                 ${CMAKE_CURRENT_SOURCE_DIR}/include/WalkingLogger.tpp

diff --git a/devices/baseEstimatorV1/include/Utils.hpp b/devices/baseEstimatorV1/include/Utils.hpp
@@ -20,10 +20,10 @@
 #include <yarp/sig/Vector.h>
 
 // iDynTree
-#include <iDynTree/Core/Triplets.h>
-#include <iDynTree/Core/VectorFixSize.h>
-#include <iDynTree/Core/SparseMatrix.h>
-#include <iDynTree/Core/Rotation.h>
+#include <iDynTree/Triplets.h>
+#include <iDynTree/VectorFixSize.h>
+#include <iDynTree/SparseMatrix.h>
+#include <iDynTree/Rotation.h>
 
 // eigen
 #include <Eigen/Sparse>

diff --git a/devices/baseEstimatorV1/include/baseEstimatorV1.h b/devices/baseEstimatorV1/include/baseEstimatorV1.h
@@ -9,16 +9,16 @@
 #ifndef BASE_ESTIMATOR_V1_H
 #define BASE_ESTIMATOR_V1_H
 
-#include <iDynTree/Estimation/AttitudeMahonyFilter.h>
-#include <iDynTree/Estimation/SimpleLeggedOdometry.h>
-#include <iDynTree/Estimation/BipedFootContactClassifier.h>
-#include <iDynTree/Estimation/AttitudeQuaternionEKF.h>
+#include <iDynTree/AttitudeMahonyFilter.h>
+#include <iDynTree/SimpleLeggedOdometry.h>
+#include <iDynTree/BipedFootContactClassifier.h>
+#include <iDynTree/AttitudeQuaternionEKF.h>
 
-#include <iDynTree/Model/Model.h>
+#include <iDynTree/Model.h>
 #include <iDynTree/KinDynComputations.h>
-#include <iDynTree/ModelIO/ModelLoader.h>
-#include <iDynTree/yarp/YARPConversions.h>
-#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/ModelLoader.h>
+#include <iDynTree/YARPConversions.h>
+#include <iDynTree/EigenHelpers.h>
 
 #include <yarp/os/PeriodicThread.h>
 #include <yarp/os/ResourceFinder.h>
@@ -543,7 +543,6 @@ namespace yarp {
 
         // robot model and sensors
         iDynTree::Model m_model; ///< iDynTree object of loaded robot model
-        iDynTree::SensorsList m_sensors_list; ///< iDynTree object of loaded sensors list from URDF
 
         const double m_sensor_timeout_in_seconds{2.0}; ///< Timeout to check for sensor measurements during dry run initial check
         const size_t m_nr_of_channels_in_YARP_IMU_sensor{12}; ///< Number of channels available in YARP IMU sensor output port

diff --git a/devices/baseEstimatorV1/src/Utils.cpp b/devices/baseEstimatorV1/src/Utils.cpp
@@ -16,7 +16,7 @@
 #include <yarp/os/LogStream.h>
 
 // iDynTree
-#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/EigenHelpers.h>
 #include <Utils.hpp>
 
 iDynTree::Matrix3x3 iDynTreeHelper::Rotation::skewSymmetric(const iDynTree::Matrix3x3& input)

diff --git a/devices/baseEstimatorV1/src/fbeRobotInterface.cpp b/devices/baseEstimatorV1/src/fbeRobotInterface.cpp
@@ -105,8 +105,7 @@ bool yarp::dev::baseEstimatorV1::loadEstimator()
     }
 
     m_model = model_loader.model();
-    m_sensors_list = model_loader.sensors();
-    m_sensor_measurements.resize(m_sensors_list);
+    m_sensor_measurements.resize(m_model.sensors());
 
     // check imu relevant information
     auto imu_frame_idx = m_model.getFrameIndex(m_imu_name);
@@ -136,8 +135,8 @@ bool yarp::dev::baseEstimatorV1::loadEstimator()
     resizeBuffers();
     setPeriod(m_device_period_in_s);
 
-    ok = m_sensors_list.getSensorIndex(iDynTree::SIX_AXIS_FORCE_TORQUE, m_left_foot_ft_sensor, m_left_foot_ft_sensor_index) && ok;
-    ok = m_sensors_list.getSensorIndex(iDynTree::SIX_AXIS_FORCE_TORQUE, m_right_foot_ft_sensor, m_right_foot_ft_sensor_index) && ok;
+    ok = m_model.sensors().getSensorIndex(iDynTree::SIX_AXIS_FORCE_TORQUE, m_left_foot_ft_sensor, m_left_foot_ft_sensor_index) && ok;
+    ok = m_model.sensors().getSensorIndex(iDynTree::SIX_AXIS_FORCE_TORQUE, m_right_foot_ft_sensor, m_right_foot_ft_sensor_index) && ok;
 
     m_r_sole_R_r_ft_sensor = m_kin_dyn_comp.getRelativeTransform(m_model.getFrameIndex(m_right_sole), m_right_foot_ft_sensor_index).getRotation();
     m_l_sole_R_l_ft_sensor = m_kin_dyn_comp.getRelativeTransform(m_model.getFrameIndex(m_left_sole), m_left_foot_ft_sensor_index).getRotation();
@@ -185,16 +184,16 @@ bool yarp::dev::baseEstimatorV1::attachAllForceTorqueSensors(const yarp::dev::Po
         }
     }
 
-    if (ft_sensor_list.size() != m_sensors_list.getNrOfSensors(iDynTree::SIX_AXIS_FORCE_TORQUE))
+    if (ft_sensor_list.size() != m_model.sensors().getNrOfSensors(iDynTree::SIX_AXIS_FORCE_TORQUE))
     {
-        yError() << "floatingBaseEstimatorV1: " <<  "Obtained " << m_sensors_list.getNrOfSensors(iDynTree::SIX_AXIS_FORCE_TORQUE) << "from the model, but trying to attach " << (int)ft_sensor_list.size() << " FT sensors in the attach list.";
+        yError() << "floatingBaseEstimatorV1: " <<  "Obtained " << m_model.sensors().getNrOfSensors(iDynTree::SIX_AXIS_FORCE_TORQUE) << "from the model, but trying to attach " << (int)ft_sensor_list.size() << " FT sensors in the attach list.";
         return false;
     }
 
     m_whole_body_forcetorque_interface.resize(ft_sensor_list.size());
     for (size_t iDyn_sensor_idx = 0; iDyn_sensor_idx < m_whole_body_forcetorque_interface.size(); iDyn_sensor_idx++)
     {
-        std::string sensor_name = m_sensors_list.getSensor(iDynTree::SIX_AXIS_FORCE_TORQUE, iDyn_sensor_idx)->getName();
+        std::string sensor_name = m_model.sensors().getSensor(iDynTree::SIX_AXIS_FORCE_TORQUE, iDyn_sensor_idx)->getName();
         // search in sensors list for ft sensor  with same name as attach list
         int idx_of_device_with_same_name{-1};
         for (size_t dev_idx = 0; dev_idx < ft_sensor_list.size(); dev_idx++)
@@ -262,9 +261,9 @@ bool yarp::dev::baseEstimatorV1::attachAllInertialMeasurementUnits(const yarp::d
     for (size_t imu = 0; imu < m_nr_of_IMUs_detected; imu++)
     {
         bool found_imu{false};
-        for (size_t iDyn_sensor_idx = 0; iDyn_sensor_idx < m_sensors_list.getNrOfSensors(iDynTree::ACCELEROMETER); iDyn_sensor_idx++)
+        for (size_t iDyn_sensor_idx = 0; iDyn_sensor_idx < m_model.sensors().getNrOfSensors(iDynTree::ACCELEROMETER); iDyn_sensor_idx++)
         {
-            std::string imu_name = m_sensors_list.getSensor(iDynTree::ACCELEROMETER, iDyn_sensor_idx)->getName();
+            std::string imu_name = m_model.sensors().getSensor(iDynTree::ACCELEROMETER, iDyn_sensor_idx)->getName();
             if (imu_sensor_name[imu] == imu_name)
             {
                 found_imu = true;
@@ -341,7 +340,7 @@ bool yarp::dev::baseEstimatorV1::readFTSensors(bool verbose)
 
         if (!ok && verbose)
         {
-            yWarning() << "floatingBaseEstimatorV1: " << "unable to read from FT sensor " << m_sensors_list.getSensor(iDynTree::SIX_AXIS_FORCE_TORQUE, ft)->getName() << " correctly. using old measurements.";
+            yWarning() << "floatingBaseEstimatorV1: " << "unable to read from FT sensor " << m_model.sensors().getSensor(iDynTree::SIX_AXIS_FORCE_TORQUE, ft)->getName() << " correctly. using old measurements.";
         }
 
         bool is_NaN = false;
@@ -356,7 +355,7 @@ bool yarp::dev::baseEstimatorV1::readFTSensors(bool verbose)
 
         if (is_NaN)
         {
-            yError() << "floatingBaseEstimatorV1: " << "FT sensor " << m_sensors_list.getSensor(iDynTree::SIX_AXIS_FORCE_TORQUE, ft)->getName() << " contains nan: . using old measurements."<< m_ft_measurements_from_yarp_server.toString();
+            yError() << "floatingBaseEstimatorV1: " << "FT sensor " << m_model.sensors().getSensor(iDynTree::SIX_AXIS_FORCE_TORQUE, ft)->getName() << " contains nan: . using old measurements."<< m_ft_measurements_from_yarp_server.toString();
             return false;
         }
 

diff --git a/devices/genericSensorClient/CMakeLists.txt b/devices/genericSensorClient/CMakeLists.txt
@@ -2,8 +2,6 @@
 # Authors: Silvio Traversaro <[email protected]>
 # CopyPolicy: Released under the terms of the GNU LGPL v2+
 
-find_package(YARP REQUIRED)
-
 yarp_prepare_plugin(genericSensorClient CATEGORY device
                                         TYPE yarp::dev::GenericSensorClient
                                         INCLUDE "GenericSensorClient.h"

diff --git a/devices/virtualAnalogClient/CMakeLists.txt b/devices/virtualAnalogClient/CMakeLists.txt
@@ -2,9 +2,6 @@
 # Authors: Silvio Traversaro <[email protected]>
 # CopyPolicy: Released under the terms of the GNU LGPL v2+
 
-find_package(YARP REQUIRED)
-
-
 yarp_prepare_plugin(virtualAnalogClient CATEGORY device
                                         TYPE yarp::dev::VirtualAnalogClient
                                         INCLUDE "VirtualAnalogClient.h"

diff --git a/devices/virtualAnalogRemapper/CMakeLists.txt b/devices/virtualAnalogRemapper/CMakeLists.txt
@@ -2,8 +2,6 @@
 # Authors: Silvio Traversaro <[email protected]>
 # CopyPolicy: Released under the terms of the GNU LGPL v2+
 
-find_package(YARP REQUIRED)
-
 yarp_prepare_plugin(virtualAnalogRemapper CATEGORY device
                                           TYPE yarp::dev::VirtualAnalogRemapper
                                           INCLUDE "VirtualAnalogRemapper.h"

diff --git a/devices/wholeBodyDynamics/CMakeLists.txt b/devices/wholeBodyDynamics/CMakeLists.txt
@@ -2,10 +2,6 @@
 # Authors: Silvio Traversaro <[email protected]>
 # CopyPolicy: Released under the terms of the GNU LGPL v2+
 
-find_package(YARP REQUIRED)
-# ICUB is required for skinDynLib
-find_package(ICUB REQUIRED)
-find_package(iDynTree REQUIRED)
 
 yarp_prepare_plugin(wholebodydynamics CATEGORY device
                                       TYPE yarp::dev::WholeBodyDynamicsDevice

diff --git a/devices/wholeBodyDynamics/GravityCompensationHelpers.cpp b/devices/wholeBodyDynamics/GravityCompensationHelpers.cpp
@@ -1,11 +1,11 @@
 #include "GravityCompensationHelpers.h"
 
-#include <iDynTree/Model/Dynamics.h>
-#include <iDynTree/Core/EigenHelpers.h>
-#include <iDynTree/Core/Utils.h>
-#include <iDynTree/Core/ClassicalAcc.h>
+#include <iDynTree/Dynamics.h>
+#include <iDynTree/EigenHelpers.h>
+#include <iDynTree/Utils.h>
+#include <iDynTree/ClassicalAcc.h>
 
-#include <iDynTree/Estimation/ExternalWrenchesEstimation.h>
+#include <iDynTree/ExternalWrenchesEstimation.h>
 
 using namespace iDynTree;
 

diff --git a/devices/wholeBodyDynamics/GravityCompensationHelpers.h b/devices/wholeBodyDynamics/GravityCompensationHelpers.h
@@ -2,9 +2,9 @@
 #define GRAVITY_COMPENSATION_HELPERS_H
 
 // iDynTree includes
-#include <iDynTree/Model/FreeFloatingState.h>
-#include <iDynTree/Model/Model.h>
-#include <iDynTree/Model/Traversal.h>
+#include <iDynTree/FreeFloatingState.h>
+#include <iDynTree/Model.h>
+#include <iDynTree/Traversal.h>
 
 
 namespace wholeBodyDynamics

diff --git a/devices/wholeBodyDynamics/SixAxisForceTorqueMeasureHelpers.cpp b/devices/wholeBodyDynamics/SixAxisForceTorqueMeasureHelpers.cpp
@@ -1,5 +1,5 @@
 #include "SixAxisForceTorqueMeasureHelpers.h"
-#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/EigenHelpers.h>
 
 
 namespace wholeBodyDynamics

diff --git a/devices/wholeBodyDynamics/SixAxisForceTorqueMeasureHelpers.h b/devices/wholeBodyDynamics/SixAxisForceTorqueMeasureHelpers.h
@@ -2,8 +2,8 @@
 #define SIX_AXIS_FORCE_TORQUE_MEASURE_PROCESSOR_H
 
 // iDynTree includes
-#include <iDynTree/Core/Wrench.h>
-#include <iDynTree/Core/MatrixFixSize.h>
+#include <iDynTree/Wrench.h>
+#include <iDynTree/MatrixFixSize.h>
 
 
 namespace wholeBodyDynamics