Resolve iDynTree deprecation warnings and require iDynTree v10.0.0 (#832

)
ami-iit · Apr 5, 2024 · eef9275 · eef9275
1 parent 9f16190
commit eef9275
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -17,6 +17,7 @@ All notable changes to this project are documented in this file.
 ### Changed
 - 🤖 [ergoCubSN001] Add logging of the wrist and fix the name of the waist imu (https://github.com/ami-iit/bipedal-locomotion-framework/pull/810)
 - Export the CoM velocity and the angular momentum trajectory in the `CentroidalMPC` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/818)
+- Require `iDynTree v10.0.0` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/832)
 
 ### Fixed
 - Fix the barrier logic for threads synchronization (https://github.com/ami-iit/bipedal-locomotion-framework/pull/811)

diff --git a/bindings/python/Conversions/src/ManifConversions.cpp b/bindings/python/Conversions/src/ManifConversions.cpp
@@ -10,8 +10,8 @@
 
 #include <Eigen/Dense>
 
-#include <iDynTree/Core/Rotation.h>
-#include <iDynTree/Core/Transform.h>
+#include <iDynTree/Rotation.h>
+#include <iDynTree/Transform.h>
 
 #include <BipedalLocomotion/Conversions/ManifConversions.h>
 #include <BipedalLocomotion/bindings/type_caster/swig.h>

diff --git a/bindings/python/ML/src/MANNAutoregressive.cpp b/bindings/python/ML/src/MANNAutoregressive.cpp
@@ -5,7 +5,7 @@
  * distributed under the terms of the BSD-3-Clause license.
  */
 
-#include <iDynTree/Model/Model.h>
+#include <iDynTree/Model.h>
 #include <pybind11/eigen.h>
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>

diff --git a/bindings/python/ML/src/MANNAutoregressiveInputBuilder.cpp b/bindings/python/ML/src/MANNAutoregressiveInputBuilder.cpp
@@ -5,7 +5,7 @@
  * distributed under the terms of the BSD-3-Clause license.
  */
 
-#include <iDynTree/Model/Model.h>
+#include <iDynTree/Model.h>
 #include <pybind11/chrono.h>
 #include <pybind11/eigen.h>
 #include <pybind11/pybind11.h>

diff --git a/bindings/python/ML/src/MANNTrajectoryGenerator.cpp b/bindings/python/ML/src/MANNTrajectoryGenerator.cpp
@@ -5,7 +5,7 @@
  * distributed under the terms of the BSD-3-Clause license.
  */
 
-#include <iDynTree/Model/Model.h>
+#include <iDynTree/Model.h>
 #include <pybind11/chrono.h>
 #include <pybind11/eigen.h>
 #include <pybind11/pybind11.h>

diff --git a/bindings/python/RobotDynamicsEstimator/src/RobotDynamicsEstimator.cpp b/bindings/python/RobotDynamicsEstimator/src/RobotDynamicsEstimator.cpp
@@ -9,7 +9,7 @@
 #include <pybind11/eigen.h>
 #include <pybind11/stl.h>
 
-#include <iDynTree/Model/Model.h>
+#include <iDynTree/Model.h>
 
 #include <BipedalLocomotion/System/Advanceable.h>
 #include <BipedalLocomotion/ParametersHandler/IParametersHandler.h>

diff --git a/bindings/python/TSID/src/JointDynamicsTask.cpp b/bindings/python/TSID/src/JointDynamicsTask.cpp
@@ -5,7 +5,7 @@
  * distributed under the terms of the BSD-3-Clause license.
  */
 
-#include <iDynTree/Model/JointState.h>
+#include <iDynTree/JointState.h>
 #include <pybind11/eigen.h>
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>

diff --git a/cmake/BipedalLocomotionFrameworkDependencies.cmake b/cmake/BipedalLocomotionFrameworkDependencies.cmake
@@ -17,8 +17,8 @@ endif()
 ################################################################################
 ########################## Mandatory dependencies ##############################
 
-find_package(iDynTree 3.0.0 REQUIRED)
-dependency_classifier(iDynTree MINIMUM_VERSION 3.0.0 IS_USED TRUE PUBLIC)
+find_package(iDynTree 10.0.0 REQUIRED)
+dependency_classifier(iDynTree MINIMUM_VERSION 10.0.0 IS_USED TRUE PUBLIC)
 
 find_package(Eigen3 3.2.92 REQUIRED)
 dependency_classifier(Eigen3 MINIMUM_VERSION 3.2.92 IS_USED TRUE PUBLIC)

diff --git a/devices/FloatingBaseEstimatorDevice/include/BipedalLocomotion/FloatingBaseEstimatorDevice.h b/devices/FloatingBaseEstimatorDevice/include/BipedalLocomotion/FloatingBaseEstimatorDevice.h
@@ -13,7 +13,7 @@
 #include <BipedalLocomotion/FloatingBaseEstimators/FloatingBaseEstimator.h>
 
 #include <iDynTree/Estimation/ContactStateMachine.h>
-#include <iDynTree/ModelIO/ModelLoader.h>
+#include <iDynTree/ModelLoader.h>
 
 #include <yarp/os/PeriodicThread.h>
 #include <yarp/dev/DeviceDriver.h>

diff --git a/devices/FloatingBaseEstimatorDevice/src/FloatingBaseEstimatorDevice.cpp b/devices/FloatingBaseEstimatorDevice/src/FloatingBaseEstimatorDevice.cpp
@@ -9,8 +9,8 @@
 #include <BipedalLocomotion/YarpUtilities/Helper.h>
 
 #include <BipedalLocomotion/FloatingBaseEstimators/InvariantEKFBaseEstimator.h>
-#include <iDynTree/Core/EigenHelpers.h>
-#include <iDynTree/yarp/YARPConversions.h>
+#include <iDynTree/EigenHelpers.h>
+#include <iDynTree/YARPConversions.h>
 #include <yarp/os/LogStream.h>
 
 using namespace BipedalLocomotion;

diff --git a/...ces/RobotDynamicsEstimatorDevice/include/BipedalLocomotion/RobotDynamicsEstimatorDevice.h b/...ces/RobotDynamicsEstimatorDevice/include/BipedalLocomotion/RobotDynamicsEstimatorDevice.h
@@ -18,7 +18,7 @@
 
 #include <iDynTree/Estimation/ContactStateMachine.h>
 #include <iDynTree/Estimation/ExtWrenchesAndJointTorquesEstimator.h>
-#include <iDynTree/ModelIO/ModelLoader.h>
+#include <iDynTree/ModelLoader.h>
 
 #include <yarp/dev/DeviceDriver.h>
 #include <yarp/dev/IFrameTransform.h>

diff --git a/devices/RobotDynamicsEstimatorDevice/src/RobotDynamicsEstimatorDevice.cpp b/devices/RobotDynamicsEstimatorDevice/src/RobotDynamicsEstimatorDevice.cpp
@@ -10,8 +10,8 @@
 #include <BipedalLocomotion/System/Clock.h>
 #include <BipedalLocomotion/YarpUtilities/Helper.h>
 
-#include <iDynTree/Core/EigenHelpers.h>
-#include <iDynTree/yarp/YARPConversions.h>
+#include <iDynTree/EigenHelpers.h>
+#include <iDynTree/YARPConversions.h>
 #include <yarp/eigen/Eigen.h>
 
 using namespace BipedalLocomotion;

diff --git a/src/ContactModels/include/BipedalLocomotion/ContactModels/ContactModel.h b/src/ContactModels/include/BipedalLocomotion/ContactModels/ContactModel.h
@@ -13,12 +13,12 @@
 #include <string>
 #include <unordered_map>
 
-#include <iDynTree/Core/MatrixDynSize.h>
-#include <iDynTree/Core/MatrixFixSize.h>
-#include <iDynTree/Core/Transform.h>
-#include <iDynTree/Core/Twist.h>
-#include <iDynTree/Core/VectorFixSize.h>
-#include <iDynTree/Core/Wrench.h>
+#include <iDynTree/MatrixDynSize.h>
+#include <iDynTree/MatrixFixSize.h>
+#include <iDynTree/Transform.h>
+#include <iDynTree/Twist.h>
+#include <iDynTree/VectorFixSize.h>
+#include <iDynTree/Wrench.h>
 
 #include <BipedalLocomotion/ParametersHandler/IParametersHandler.h>
 

diff --git a/src/ContactModels/include/BipedalLocomotion/ContactModels/ContinuousContactModel.h b/src/ContactModels/include/BipedalLocomotion/ContactModels/ContinuousContactModel.h
@@ -8,9 +8,9 @@
 #ifndef BIPEDAL_LOCOMOTION_CONTACT_MODELS_CONTINUOUS_CONTACT_MODEL_H
 #define BIPEDAL_LOCOMOTION_CONTACT_MODELS_CONTINUOUS_CONTACT_MODEL_H
 
-#include <iDynTree/Core/Transform.h>
-#include <iDynTree/Core/Twist.h>
-#include <iDynTree/Core/Wrench.h>
+#include <iDynTree/Transform.h>
+#include <iDynTree/Twist.h>
+#include <iDynTree/Wrench.h>
 
 #include <BipedalLocomotion/ContactModels/ContactModel.h>
 #include <BipedalLocomotion/ParametersHandler/IParametersHandler.h>

diff --git a/src/ContactModels/src/ContinuousContactModel.cpp b/src/ContactModels/src/ContinuousContactModel.cpp
@@ -5,7 +5,7 @@
  * distributed under the terms of the BSD-3-Clause license.
  */
 
-#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/EigenHelpers.h>
 
 #include <BipedalLocomotion/ContactModels/ContinuousContactModel.h>
 #include <BipedalLocomotion/ParametersHandler/IParametersHandler.h>

diff --git a/src/ContactModels/tests/ContinousContactModelTest.cpp b/src/ContactModels/tests/ContinousContactModelTest.cpp
@@ -10,8 +10,8 @@
 // Catch2
 #include <catch2/catch_test_macros.hpp>
 
-#include <iDynTree/Core/EigenHelpers.h>
-#include <iDynTree/Core/SpatialAcc.h>
+#include <iDynTree/EigenHelpers.h>
+#include <iDynTree/SpatialAcc.h>
 
 #include <BipedalLocomotion/ContactModels/ContinuousContactModel.h>
 #include <BipedalLocomotion/ParametersHandler/StdImplementation.h>

diff --git a/...amicalSystem/include/BipedalLocomotion/ContinuousDynamicalSystem/CompliantContactWrench.h b/...amicalSystem/include/BipedalLocomotion/ContinuousDynamicalSystem/CompliantContactWrench.h
@@ -11,7 +11,7 @@
 #include <memory>
 
 #include <BipedalLocomotion/ContactModels/ContactModel.h>
-#include <iDynTree/Model/Indices.h>
+#include <iDynTree/Indices.h>
 
 namespace BipedalLocomotion
 {

diff --git a/...tinuousDynamicalSystem/include/BipedalLocomotion/ContinuousDynamicalSystem/ForwardEuler.h b/...tinuousDynamicalSystem/include/BipedalLocomotion/ContinuousDynamicalSystem/ForwardEuler.h
@@ -12,7 +12,7 @@
 #include <tuple>
 #include <type_traits>
 
-#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/EigenHelpers.h>
 
 #include <BipedalLocomotion/ContinuousDynamicalSystem/FixedStepIntegrator.h>
 #include <BipedalLocomotion/GenericContainer/NamedTuple.h>

diff --git a/src/ContinuousDynamicalSystem/include/BipedalLocomotion/ContinuousDynamicalSystem/RK4.h b/src/ContinuousDynamicalSystem/include/BipedalLocomotion/ContinuousDynamicalSystem/RK4.h
@@ -12,7 +12,7 @@
 #include <tuple>
 #include <type_traits>
 
-#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/EigenHelpers.h>
 
 #include <BipedalLocomotion/ContinuousDynamicalSystem/FixedStepIntegrator.h>
 #include <BipedalLocomotion/GenericContainer/NamedTuple.h>

diff --git a/src/ContinuousDynamicalSystem/src/FixedBaseDynamics.cpp b/src/ContinuousDynamicalSystem/src/FixedBaseDynamics.cpp
@@ -5,9 +5,9 @@
  * distributed under the terms of the BSD-3-Clause license.
  */
 
-#include <iDynTree/Model/Model.h>
-#include <iDynTree/Core/Twist.h>
-#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/Model.h>
+#include <iDynTree/Twist.h>
+#include <iDynTree/EigenHelpers.h>
 
 #include <BipedalLocomotion/ContinuousDynamicalSystem/FixedBaseDynamics.h>
 #include <BipedalLocomotion/TextLogging/Logger.h>

diff --git a/src/ContinuousDynamicalSystem/src/FloatingBaseDynamicsWithCompliantContacts.cpp b/src/ContinuousDynamicalSystem/src/FloatingBaseDynamicsWithCompliantContacts.cpp
@@ -5,9 +5,9 @@
  * distributed under the terms of the BSD-3-Clause license.
  */
 
-#include <iDynTree/Core/EigenHelpers.h>
-#include <iDynTree/Core/Twist.h>
-#include <iDynTree/Model/Model.h>
+#include <iDynTree/EigenHelpers.h>
+#include <iDynTree/Twist.h>
+#include <iDynTree/Model.h>
 
 #include <BipedalLocomotion/ContinuousDynamicalSystem/FloatingBaseDynamicsWithCompliantContacts.h>
 #include <BipedalLocomotion/Conversions/CommonConversions.h>

diff --git a/src/Conversions/include/BipedalLocomotion/Conversions/ManifConversions.h b/src/Conversions/include/BipedalLocomotion/Conversions/ManifConversions.h
@@ -8,9 +8,9 @@
 #ifndef BIPEDAL_LOCOMOTION_MANIF_CONVERSIONS_H
 #define BIPEDAL_LOCOMOTION_MANIF_CONVERSIONS_H
 
-#include <iDynTree/Core/EigenHelpers.h>
-#include <iDynTree/Core/Transform.h>
-#include <iDynTree/Core/Twist.h>
+#include <iDynTree/EigenHelpers.h>
+#include <iDynTree/Transform.h>
+#include <iDynTree/Twist.h>
 
 #include <manif/manif.h>
 

diff --git a/src/Conversions/include/BipedalLocomotion/Conversions/matioCppConversions.h b/src/Conversions/include/BipedalLocomotion/Conversions/matioCppConversions.h
@@ -9,9 +9,9 @@
 #define BIPEDAL_LOCOMOTION_MATIOCPPCONVERSIONS_H
 
 #include <Eigen/Core>
-#include <iDynTree/Core/MatrixDynSize.h>
-#include <iDynTree/Core/EigenHelpers.h>
-#include <iDynTree/Core/MatrixFixSize.h>
+#include <iDynTree/MatrixDynSize.h>
+#include <iDynTree/EigenHelpers.h>
+#include <iDynTree/MatrixFixSize.h>
 #include <matioCpp/matioCpp.h>
 #include <BipedalLocomotion/GenericContainer/Vector.h>
 

diff --git a/src/Conversions/tests/ManifConversionsTest.cpp b/src/Conversions/tests/ManifConversionsTest.cpp
@@ -10,7 +10,7 @@
 
 #include <BipedalLocomotion/Conversions/CommonConversions.h>
 #include <BipedalLocomotion/Conversions/ManifConversions.h>
-#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/EigenHelpers.h>
 
 TEST_CASE("Manif Conversions")
 {

diff --git a/src/Conversions/tests/matioCppConversionsTest.cpp b/src/Conversions/tests/matioCppConversionsTest.cpp
@@ -8,7 +8,7 @@
 // Catch2
 #include <catch2/catch_test_macros.hpp>
 #include <BipedalLocomotion/Conversions/matioCppConversions.h>
-#include <iDynTree/Core/VectorDynSize.h>
+#include <iDynTree/VectorDynSize.h>
 #include <unordered_map>
 #include <map>
 #include <set>

diff --git a/src/Estimators/include/BipedalLocomotion/FloatingBaseEstimators/BaseEstimatorFromFootIMU.h b/src/Estimators/include/BipedalLocomotion/FloatingBaseEstimators/BaseEstimatorFromFootIMU.h
@@ -12,7 +12,7 @@
 #include <BipedalLocomotion/ParametersHandler/IParametersHandler.h>
 #include <BipedalLocomotion/System/Advanceable.h>
 #include <iDynTree/KinDynComputations.h>
-#include <iDynTree/Model/Model.h>
+#include <iDynTree/Model.h>
 #include <manif/SE3.h>
 #include <manif/SO3.h>
 

diff --git a/src/Estimators/include/BipedalLocomotion/RobotDynamicsEstimator/KinDynWrapper.h b/src/Estimators/include/BipedalLocomotion/RobotDynamicsEstimator/KinDynWrapper.h
@@ -11,7 +11,7 @@
 #include <map>
 
 // iDynTree
-#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/EigenHelpers.h>
 #include <iDynTree/KinDynComputations.h>
 
 // Eigen

diff --git a/src/Estimators/include/BipedalLocomotion/RobotDynamicsEstimator/SubModel.h b/src/Estimators/include/BipedalLocomotion/RobotDynamicsEstimator/SubModel.h
@@ -15,8 +15,8 @@
 
 // iDynTree
 #include <iDynTree/KinDynComputations.h>
-#include <iDynTree/Model/Model.h>
-#include <iDynTree/ModelIO/ModelLoader.h>
+#include <iDynTree/Model.h>
+#include <iDynTree/ModelLoader.h>
 
 // BLF
 #include <BipedalLocomotion/ParametersHandler/IParametersHandler.h>

diff --git a/src/Estimators/src/FloatingBaseEstimator.cpp b/src/Estimators/src/FloatingBaseEstimator.cpp
@@ -11,7 +11,7 @@
 
 #include <chrono>
 
-#include <iDynTree/Model/Model.h>
+#include <iDynTree/Model.h>
 
 using namespace BipedalLocomotion;
 using namespace BipedalLocomotion::Estimators;

diff --git a/src/Estimators/src/InvariantEKFBaseEstimator.cpp b/src/Estimators/src/InvariantEKFBaseEstimator.cpp
@@ -6,7 +6,7 @@
  */
 
 #include <BipedalLocomotion/FloatingBaseEstimators/InvariantEKFBaseEstimator.h>
-#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/EigenHelpers.h>
 
 #include <manif/manif.h>
 

diff --git a/src/Estimators/src/KinDynWrapper.cpp b/src/Estimators/src/KinDynWrapper.cpp
@@ -7,9 +7,9 @@
 
 #include <Eigen/QR>
 
-#include <iDynTree/Core/EigenHelpers.h>
-#include <iDynTree/Core/MatrixView.h>
-#include <iDynTree/Core/Span.h>
+#include <iDynTree/EigenHelpers.h>
+#include <iDynTree/MatrixView.h>
+#include <iDynTree/Span.h>
 
 // BLF
 #include <BipedalLocomotion/RobotDynamicsEstimator/KinDynWrapper.h>

diff --git a/src/Estimators/src/LeggedOdometry.cpp b/src/Estimators/src/LeggedOdometry.cpp
@@ -8,8 +8,8 @@
 #include <BipedalLocomotion/FloatingBaseEstimators/LeggedOdometry.h>
 #include <BipedalLocomotion/Conversions/ManifConversions.h>
 #include <chrono>
-#include <iDynTree/Core/EigenHelpers.h>
-#include <iDynTree/Model/Model.h>
+#include <iDynTree/EigenHelpers.h>
+#include <iDynTree/Model.h>
 #include <manif/manif.h>
 
 using namespace BipedalLocomotion::Estimators;

diff --git a/src/Estimators/src/SubModel.cpp b/src/Estimators/src/SubModel.cpp
@@ -6,10 +6,10 @@
  */
 
 // iDyn
-#include <iDynTree/Model/SubModel.h>
-#include <iDynTree/Model/Traversal.h>
-#include <iDynTree/Model/ModelTransformers.h>
-#include <iDynTree/Sensors/SixAxisForceTorqueSensor.h>
+#include <iDynTree/SubModel.h>
+#include <iDynTree/Traversal.h>
+#include <iDynTree/ModelTransformers.h>
+#include <iDynTree/SixAxisForceTorqueSensor.h>
 
 // BLF
 #include <BipedalLocomotion/TextLogging/Logger.h>

diff --git a/src/Estimators/tests/FloatingBaseEstimators/BaseEstimatorFromFootIMUTest.cpp b/src/Estimators/tests/FloatingBaseEstimators/BaseEstimatorFromFootIMUTest.cpp
@@ -11,8 +11,8 @@
 #include <BipedalLocomotion/ParametersHandler/IParametersHandler.h>
 #include <BipedalLocomotion/ParametersHandler/StdImplementation.h>
 #include <iCubModels/iCubModels.h>
-#include <iDynTree/Core/TestUtils.h>
-#include <iDynTree/ModelIO/ModelLoader.h>
+#include <iDynTree/TestUtils.h>
+#include <iDynTree/ModelLoader.h>
 
 #include <Eigen/Dense>
 #include <catch2/catch_test_macros.hpp>

diff --git a/src/Estimators/tests/FloatingBaseEstimators/FloatingBaseEstimatorTest.cpp b/src/Estimators/tests/FloatingBaseEstimators/FloatingBaseEstimatorTest.cpp
@@ -14,8 +14,8 @@
 #include <BipedalLocomotion/ParametersHandler/IParametersHandler.h>
 #include <BipedalLocomotion/ParametersHandler/StdImplementation.h>
 
-#include <iDynTree/Core/TestUtils.h>
-#include <iDynTree/ModelIO/ModelLoader.h>
+#include <iDynTree/TestUtils.h>
+#include <iDynTree/ModelLoader.h>
 
 #include <iCubModels/iCubModels.h>
 

diff --git a/src/Estimators/tests/FloatingBaseEstimators/InvariantEKFBaseEstimatorTest.cpp b/src/Estimators/tests/FloatingBaseEstimators/InvariantEKFBaseEstimatorTest.cpp
@@ -16,11 +16,11 @@
 #include <BipedalLocomotion/ParametersHandler/IParametersHandler.h>
 #include <BipedalLocomotion/ParametersHandler/StdImplementation.h>
 
-#include <iDynTree/Core/EigenHelpers.h>
-#include <iDynTree/Core/TestUtils.h>
+#include <iDynTree/EigenHelpers.h>
+#include <iDynTree/TestUtils.h>
 #include <iDynTree/KinDynComputations.h>
-#include <iDynTree/ModelIO/ModelLoader.h>
-#include <iDynTree/Model/Model.h>
+#include <iDynTree/ModelLoader.h>
+#include <iDynTree/Model.h>
 
 #include <iCubModels/iCubModels.h>