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

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Apr 5, 2024
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Resolve iDynTree deprecation warnings and require iDynTree v10.0.0 #832

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d691a59
Resolve iDynTree deprecation working, and require iDynTree v10.0.0
GiulioRomualdi Apr 5, 2024
9bab008
Update the CHANGELOG
GiulioRomualdi Apr 5, 2024
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Expand Up @@ -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)
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4 changes: 2 additions & 2 deletions bindings/python/Conversions/src/ManifConversions.cpp
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#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>
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2 changes: 1 addition & 1 deletion bindings/python/ML/src/MANNAutoregressive.cpp
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* 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>
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2 changes: 1 addition & 1 deletion bindings/python/ML/src/MANNAutoregressiveInputBuilder.cpp
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* 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>
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2 changes: 1 addition & 1 deletion bindings/python/ML/src/MANNTrajectoryGenerator.cpp
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* 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>
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2 changes: 1 addition & 1 deletion bindings/python/RobotDynamicsEstimator/src/RobotDynamicsEstimator.cpp
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#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>
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2 changes: 1 addition & 1 deletion bindings/python/TSID/src/JointDynamicsTask.cpp
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* 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>
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4 changes: 2 additions & 2 deletions cmake/BipedalLocomotionFrameworkDependencies.cmake
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Expand Up @@ -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)
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2 changes: 1 addition & 1 deletion devices/FloatingBaseEstimatorDevice/include/BipedalLocomotion/FloatingBaseEstimatorDevice.h
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#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>
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4 changes: 2 additions & 2 deletions devices/FloatingBaseEstimatorDevice/src/FloatingBaseEstimatorDevice.cpp
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#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;
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2 changes: 1 addition & 1 deletion ...ces/RobotDynamicsEstimatorDevice/include/BipedalLocomotion/RobotDynamicsEstimatorDevice.h
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Expand Up @@ -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>
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4 changes: 2 additions & 2 deletions devices/RobotDynamicsEstimatorDevice/src/RobotDynamicsEstimatorDevice.cpp
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#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;
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12 changes: 6 additions & 6 deletions src/ContactModels/include/BipedalLocomotion/ContactModels/ContactModel.h
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#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>

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6 changes: 3 additions & 3 deletions src/ContactModels/include/BipedalLocomotion/ContactModels/ContinuousContactModel.h
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#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>
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2 changes: 1 addition & 1 deletion src/ContactModels/src/ContinuousContactModel.cpp
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* 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>
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4 changes: 2 additions & 2 deletions src/ContactModels/tests/ContinousContactModelTest.cpp
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// 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>
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2 changes: 1 addition & 1 deletion ...amicalSystem/include/BipedalLocomotion/ContinuousDynamicalSystem/CompliantContactWrench.h
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#include <memory>

#include <BipedalLocomotion/ContactModels/ContactModel.h>
#include <iDynTree/Model/Indices.h>
#include <iDynTree/Indices.h>

namespace BipedalLocomotion
{
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2 changes: 1 addition & 1 deletion ...tinuousDynamicalSystem/include/BipedalLocomotion/ContinuousDynamicalSystem/ForwardEuler.h
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#include <tuple>
#include <type_traits>

#include <iDynTree/Core/EigenHelpers.h>
#include <iDynTree/EigenHelpers.h>

#include <BipedalLocomotion/ContinuousDynamicalSystem/FixedStepIntegrator.h>
#include <BipedalLocomotion/GenericContainer/NamedTuple.h>
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2 changes: 1 addition & 1 deletion src/ContinuousDynamicalSystem/include/BipedalLocomotion/ContinuousDynamicalSystem/RK4.h
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#include <tuple>
#include <type_traits>

#include <iDynTree/Core/EigenHelpers.h>
#include <iDynTree/EigenHelpers.h>

#include <BipedalLocomotion/ContinuousDynamicalSystem/FixedStepIntegrator.h>
#include <BipedalLocomotion/GenericContainer/NamedTuple.h>
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6 changes: 3 additions & 3 deletions src/ContinuousDynamicalSystem/src/FixedBaseDynamics.cpp
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* 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>
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6 changes: 3 additions & 3 deletions src/ContinuousDynamicalSystem/src/FloatingBaseDynamicsWithCompliantContacts.cpp
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* 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>
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6 changes: 3 additions & 3 deletions src/Conversions/include/BipedalLocomotion/Conversions/ManifConversions.h
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#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>

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6 changes: 3 additions & 3 deletions src/Conversions/include/BipedalLocomotion/Conversions/matioCppConversions.h
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#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>

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2 changes: 1 addition & 1 deletion src/Conversions/tests/ManifConversionsTest.cpp
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#include <BipedalLocomotion/Conversions/CommonConversions.h>
#include <BipedalLocomotion/Conversions/ManifConversions.h>
#include <iDynTree/Core/EigenHelpers.h>
#include <iDynTree/EigenHelpers.h>

TEST_CASE("Manif Conversions")
{
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2 changes: 1 addition & 1 deletion src/Conversions/tests/matioCppConversionsTest.cpp
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// 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>
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2 changes: 1 addition & 1 deletion src/Estimators/include/BipedalLocomotion/FloatingBaseEstimators/BaseEstimatorFromFootIMU.h
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#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>

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2 changes: 1 addition & 1 deletion src/Estimators/include/BipedalLocomotion/RobotDynamicsEstimator/KinDynWrapper.h
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#include <map>

// iDynTree
#include <iDynTree/Core/EigenHelpers.h>
#include <iDynTree/EigenHelpers.h>
#include <iDynTree/KinDynComputations.h>

// Eigen
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4 changes: 2 additions & 2 deletions src/Estimators/include/BipedalLocomotion/RobotDynamicsEstimator/SubModel.h
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// 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>
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2 changes: 1 addition & 1 deletion src/Estimators/src/FloatingBaseEstimator.cpp
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#include <chrono>

#include <iDynTree/Model/Model.h>
#include <iDynTree/Model.h>

using namespace BipedalLocomotion;
using namespace BipedalLocomotion::Estimators;
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2 changes: 1 addition & 1 deletion src/Estimators/src/InvariantEKFBaseEstimator.cpp
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*/

#include <BipedalLocomotion/FloatingBaseEstimators/InvariantEKFBaseEstimator.h>
#include <iDynTree/Core/EigenHelpers.h>
#include <iDynTree/EigenHelpers.h>

#include <manif/manif.h>

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6 changes: 3 additions & 3 deletions src/Estimators/src/KinDynWrapper.cpp
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#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>
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4 changes: 2 additions & 2 deletions src/Estimators/src/LeggedOdometry.cpp
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#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;
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8 changes: 4 additions & 4 deletions src/Estimators/src/SubModel.cpp
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*/

// 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>
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4 changes: 2 additions & 2 deletions src/Estimators/tests/FloatingBaseEstimators/BaseEstimatorFromFootIMUTest.cpp
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#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>
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4 changes: 2 additions & 2 deletions src/Estimators/tests/FloatingBaseEstimators/FloatingBaseEstimatorTest.cpp
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#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>

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8 changes: 4 additions & 4 deletions src/Estimators/tests/FloatingBaseEstimators/InvariantEKFBaseEstimatorTest.cpp
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#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>

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