Merge branch 'master' into usesystpl

ami-iit · Sep 23, 2024 · 7d290b2 · 7d290b2
2 parents 26d838f + 0ee61e7
commit 7d290b2
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diff --git a/.github/workflows/conda-forge-ci.yml b/.github/workflows/conda-forge-ci.yml
@@ -10,6 +10,11 @@ on:
   # Execute a "nightly" build at 2 AM UTC
   - cron:  '0 2 * * *'
 
+# Workaround for https://github.com/conda-forge/mumps-feedstock/issues/125
+# and https://github.com/conda-forge/mumps-feedstock/pull/126#issuecomment-2355357834
+env:
+  OMP_NUM_THREADS: 1
+
 jobs:
   build:
     name: '[${{ matrix.os }}@${{ matrix.build_type }}@conda]'
@@ -41,7 +46,7 @@ jobs:
                       liblie-group-controllers eigen qhull "casadi>=3.5.5" cppad spdlog \
                       nlohmann_json manif manifpy pybind11 numpy pytest scipy opencv pcl \
                       tomlplusplus libunicycle-footstep-planner "icub-models>=1.23.4" \
-                      ros-humble-rclcpp onnxruntime-cpp libbayes-filters-lib cmake-package-check
+                      ros-humble-rclcpp onnxruntime-cpp libbayes-filters-lib cmake-package-check catch2
 
     - name: Linux-only Dependencies [Linux]
       if: contains(matrix.os, 'ubuntu')
@@ -79,7 +84,7 @@ jobs:
         mkdir -p build
         cd build
         cmake -GNinja -DBUILD_TESTING:BOOL=ON -DFRAMEWORK_COMPILE_IK:BOOL=OFF -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
-              -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+              -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON -DUSE_SYSTEM_Catch2:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
 
     - name: Build [Linux&macOS]
       if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
@@ -101,7 +106,7 @@ jobs:
       run: |
         mkdir -p build
         cd build
-        cmake -GNinja -DBUILD_TESTING:BOOL=ON -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+        cmake -GNinja -DBUILD_TESTING:BOOL=ON -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON -DUSE_SYSTEM_Catch2:BOOL=ON -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
 
     - name: Build [Windows]
       if: contains(matrix.os, 'windows')

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,8 +1,13 @@
 # Changelog
 All notable changes to this project are documented in this file.
 
+## [unreleased]
 ### Added
-- Add USE_SYSTEM_tiny-process-library CMake option to use tiny-process-library found in system (https://github.com/ami-iit/bipedal-locomotion-framework/pull/891)
+- Add `USE_SYSTEM_tiny-process-library` CMake option to use `tiny-process-library` found in system (https://github.com/ami-iit/bipedal-locomotion-framework/pull/891)
+
+### Changed
+
+### Fixed
 
 ## [0.19.0] - 2024-09-06
 ### Added

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -6,7 +6,7 @@ cmake_minimum_required(VERSION 3.16.0)
 
 ## MAIN project
 project(BipedalLocomotionFramework
-  VERSION 0.19.0)
+  VERSION 0.19.100)
 
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 

diff --git a/cmake/AddBipedalLocomotionUnitTest.cmake b/cmake/AddBipedalLocomotionUnitTest.cmake
@@ -16,7 +16,7 @@ if (BUILD_TESTING)
     include(FetchContent)
     FetchContent_Declare(Catch2
       GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-      GIT_TAG        v3.0.1)
+      GIT_TAG        v3.7.1)
 
     FetchContent_GetProperties(Catch2)
     if(NOT Catch2_POPULATED)

diff --git a/docs/pages/main-page.dox b/docs/pages/main-page.dox
@@ -18,37 +18,37 @@ The minimum required dependencies are `Eigen3`, `iDynTree` and `spdlog`. If you
 
 \section exported-components 📙 Exported components
 
-The **bipedal-locomotion-framework** project consists of several components. The components are stored in the [`src`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src) folder and their compilation depends on the installed dependencies.
+The **bipedal-locomotion-framework** project consists of several components. The components are stored in the [`src`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src) folder and their compilation depends on the installed dependencies.
 
 |                    Component                   |                         Description                          |                   Additional Dependencies                    |
 | :--------------------------------------------: | :----------------------------------------------------------: | :----------------------------------------------------------: |
 |                    `Framework`                 |    Interface library that gathers all the exported components, includable with the file `BipedalLocomotion/Framework.h`     |  -   |
-|          [`AutoDiff`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/AutoDiff)          |                Bridge between CppAD and Eigen                |   [`CppAD`](https://coin-or.github.io/CppAD/doc/cppad.htm)   |
-|     [`ContactModels`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/ContactModels)     | Models to describe the contact between robot and enviroment  |                              -                               |
-|          [`Contacts`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/Contacts)          |              Syntactic description of a contact              |  [`manif`](https://github.com/artivis/manif) [`nlohmann json`](https://github.com/nlohmann/json/) |
-|    [`CommonConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/Conversions)    |      Common conversion utilities used in the framework       |                              -                               |
-|    [`ManifConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/Conversions)     | Library related conversion utilities used in the framework |         [`manif`](https://github.com/artivis/manif)          |
-|    [`matioCppConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/Conversions)  | Library related conversion utilities used in the framework |         [`matio-cpp`](https://github.com/ami-iit/matio-cpp)          |
-|    [`CasadiConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/Conversions)  | Library related conversion utilities used in the framework |         [`CasADi`](https://github.com/casadi/casadi)          |
-|        [`Estimators`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/Estimators)        |                 Library containing observers                 |                              -                               |
-|  [`FloatingBaseEstimator`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/Estimators)   |         Library containing floating base estimators          |         [`manif`](https://github.com/artivis/manif)          |
-|  [`RobotDynamicsEstimator`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/Estimators)   |         Library containing floating base estimators          |         [`manif`](https://github.com/artivis/manif)          |
-|  [`GenericContainer`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/GenericContainer)  |      Data structure similar to ``span`` but resizable.       |                              -                               |
-|               [`IK`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/IK)                 |                      Inverse kinematics                      | [`manif`](https://github.com/artivis/manif) [`osqp-eigen`](https://github.com/robotology/osqp-eigen) |
-|              [`Math`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/Math)              |          Library containing mathematical algorithms          |      [`manif`](https://github.com/artivis/manif)             |
-|              [`ML`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/ML)              |          Library containing deep learning algorithms           |      [`onnxruntime`](https://onnxruntime.ai/)             |
-| [`ParametersHandler`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/ParametersHandler) |  Library for retrieving parameters from configuration files  | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) [`tomlplusplus`](https://github.com/marzer/tomlplusplus/) (only if you want the `toml` implementation) |
-| [`PerceptionInterface`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/RobotInterface)  | Generic interface classes to adapt to perception data formats like images and point clouds | [`OpenCV`](https://github.com/opencv/opencv) [`PCL`](https://github.com/PointCloudLibrary/pcl) |
-|    [`PerceptionCapture`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/Perception)     |   Library containing driver classes for perception devices   | [`OpenCV`](https://github.com/opencv/opencv) [`PCL`](https://github.com/PointCloudLibrary/pcl) [`realsense2`](https://github.com/IntelRealSense/librealsense) |
-|    [`PerceptionFeatures`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/Perception)     |   Library containing perception algorithms useful for locomotion   | [`OpenCV`](https://github.com/opencv/opencv) |
-|          [`Planners`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/Planners)          |       Library containing planner useful for locomotion       | [`manif`](https://github.com/artivis/manif) [`CasADi`](https://web.casadi.org/) [`qhull`](http://www.qhull.org/) |
-|    [`ReducedModelControllers`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/ReducedModelsController)    | Controller based on reduced models, e.g., `CentroidalMPC` | [`CasADi`](https://github.com/casadi/casadi)|
-| [`RobotInterface`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/RobotInterface) |  Library for communicating with the robot  | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) |
-|            [`SimplifiedModelControllers`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/SimplifiedModelControllers)            |   Controllers based on simplified models, i.e, LIPM.   |                              -                               |
-|            [`System`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/System)            |   Description of discrete and continuous dynamical systems   |                              -                               |
-|              [`TSID`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/TSID)              |                 Task space inverse dynamics                  | [`manif`](https://github.com/artivis/manif) [`lie-group-controllers`](https://github.com/ami-iit/lie-group-controllers) |
-|              [`TextLogging`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/TextLogging)              |   Helper library to display messages into the console               | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) [`ros-humble`](https://docs.ros.org/en/humble/) (if you want the `ros2` implementation) |
-|     [`YarpUtilities`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.19.0/src/YarpUtilities)     | Utilities library for retrieving data and from YARP structures |          [`YARP`](https://www.yarp.it/git-master/)           |
+|          [`AutoDiff`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/AutoDiff)          |                Bridge between CppAD and Eigen                |   [`CppAD`](https://coin-or.github.io/CppAD/doc/cppad.htm)   |
+|     [`ContactModels`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/ContactModels)     | Models to describe the contact between robot and enviroment  |                              -                               |
+|          [`Contacts`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Contacts)          |              Syntactic description of a contact              |  [`manif`](https://github.com/artivis/manif) [`nlohmann json`](https://github.com/nlohmann/json/) |
+|    [`CommonConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Conversions)    |      Common conversion utilities used in the framework       |                              -                               |
+|    [`ManifConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Conversions)     | Library related conversion utilities used in the framework |         [`manif`](https://github.com/artivis/manif)          |
+|    [`matioCppConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Conversions)  | Library related conversion utilities used in the framework |         [`matio-cpp`](https://github.com/ami-iit/matio-cpp)          |
+|    [`CasadiConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Conversions)  | Library related conversion utilities used in the framework |         [`CasADi`](https://github.com/casadi/casadi)          |
+|        [`Estimators`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Estimators)        |                 Library containing observers                 |                              -                               |
+|  [`FloatingBaseEstimator`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Estimators)   |         Library containing floating base estimators          |         [`manif`](https://github.com/artivis/manif)          |
+|  [`RobotDynamicsEstimator`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Estimators)   |         Library containing floating base estimators          |         [`manif`](https://github.com/artivis/manif)          |
+|  [`GenericContainer`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/GenericContainer)  |      Data structure similar to ``span`` but resizable.       |                              -                               |
+|               [`IK`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/IK)                 |                      Inverse kinematics                      | [`manif`](https://github.com/artivis/manif) [`osqp-eigen`](https://github.com/robotology/osqp-eigen) |
+|              [`Math`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Math)              |          Library containing mathematical algorithms          |      [`manif`](https://github.com/artivis/manif)             |
+|              [`ML`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/ML)              |          Library containing deep learning algorithms           |      [`onnxruntime`](https://onnxruntime.ai/)             |
+| [`ParametersHandler`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/ParametersHandler) |  Library for retrieving parameters from configuration files  | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) [`tomlplusplus`](https://github.com/marzer/tomlplusplus/) (only if you want the `toml` implementation) |
+| [`PerceptionInterface`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/RobotInterface)  | Generic interface classes to adapt to perception data formats like images and point clouds | [`OpenCV`](https://github.com/opencv/opencv) [`PCL`](https://github.com/PointCloudLibrary/pcl) |
+|    [`PerceptionCapture`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Perception)     |   Library containing driver classes for perception devices   | [`OpenCV`](https://github.com/opencv/opencv) [`PCL`](https://github.com/PointCloudLibrary/pcl) [`realsense2`](https://github.com/IntelRealSense/librealsense) |
+|    [`PerceptionFeatures`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Perception)     |   Library containing perception algorithms useful for locomotion   | [`OpenCV`](https://github.com/opencv/opencv) |
+|          [`Planners`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Planners)          |       Library containing planner useful for locomotion       | [`manif`](https://github.com/artivis/manif) [`CasADi`](https://web.casadi.org/) [`qhull`](http://www.qhull.org/) |
+|    [`ReducedModelControllers`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/ReducedModelsController)    | Controller based on reduced models, e.g., `CentroidalMPC` | [`CasADi`](https://github.com/casadi/casadi)|
+| [`RobotInterface`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/RobotInterface) |  Library for communicating with the robot  | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) |
+|            [`SimplifiedModelControllers`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/SimplifiedModelControllers)            |   Controllers based on simplified models, i.e, LIPM.   |                              -                               |
+|            [`System`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/System)            |   Description of discrete and continuous dynamical systems   |                              -                               |
+|              [`TSID`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/TSID)              |                 Task space inverse dynamics                  | [`manif`](https://github.com/artivis/manif) [`lie-group-controllers`](https://github.com/ami-iit/lie-group-controllers) |
+|              [`TextLogging`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/TextLogging)              |   Helper library to display messages into the console               | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) [`ros-humble`](https://docs.ros.org/en/humble/) (if you want the `ros2` implementation) |
+|     [`YarpUtilities`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/YarpUtilities)     | Utilities library for retrieving data and from YARP structures |          [`YARP`](https://www.yarp.it/git-master/)           |
 
 
 \warning ⚠️  Including `BipedalLocomotion/Framework.h` may result in higher compilation time because of the inclusion of headers which may not be used in your project. It is always suggested to follow the [IWYU](https://github.com/include-what-you-use/include-what-you-use/blob/cc0fad4be0db26e40713b6076263f204a311b573/docs/WhyIWYU.md) paradigm. This applies also for the CMake targets. It is suggested to link only the targets used in your project.