Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

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

Merged
merged 2 commits into from
Apr 5, 2024
Merged
Changes from all commits
Commits
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 1 addition & 0 deletions CHANGELOG.md
Original file line number Diff line number Diff line change
@@ -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)
4 changes: 2 additions & 2 deletions bindings/python/Conversions/src/ManifConversions.cpp
Original file line number Diff line number Diff line change
@@ -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>
2 changes: 1 addition & 1 deletion bindings/python/ML/src/MANNAutoregressive.cpp
Original file line number Diff line number Diff line change
@@ -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>
Original file line number Diff line number Diff line change
@@ -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>
2 changes: 1 addition & 1 deletion bindings/python/ML/src/MANNTrajectoryGenerator.cpp
Original file line number Diff line number Diff line change
@@ -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>
Original file line number Diff line number Diff line change
@@ -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>
2 changes: 1 addition & 1 deletion bindings/python/TSID/src/JointDynamicsTask.cpp
Original file line number Diff line number Diff line change
@@ -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>
4 changes: 2 additions & 2 deletions cmake/BipedalLocomotionFrameworkDependencies.cmake
Original file line number Diff line number Diff line change
@@ -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)
Original file line number Diff line number Diff line change
@@ -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>
Original file line number Diff line number Diff line change
@@ -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;
Original file line number Diff line number Diff line change
@@ -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>
Original file line number Diff line number Diff line change
@@ -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;
Original file line number Diff line number Diff line change
@@ -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>

Original file line number Diff line number Diff line change
@@ -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>
2 changes: 1 addition & 1 deletion src/ContactModels/src/ContinuousContactModel.cpp
Original file line number Diff line number Diff line change
@@ -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>
4 changes: 2 additions & 2 deletions src/ContactModels/tests/ContinousContactModelTest.cpp
Original file line number Diff line number Diff line change
@@ -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>
Original file line number Diff line number Diff line change
@@ -11,7 +11,7 @@
#include <memory>

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

namespace BipedalLocomotion
{
Original file line number Diff line number Diff line change
@@ -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>
Original file line number Diff line number Diff line change
@@ -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>
6 changes: 3 additions & 3 deletions src/ContinuousDynamicalSystem/src/FixedBaseDynamics.cpp
Original file line number Diff line number Diff line change
@@ -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>
Original file line number Diff line number Diff line change
@@ -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>
Original file line number Diff line number Diff line change
@@ -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>

Original file line number Diff line number Diff line change
@@ -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>

2 changes: 1 addition & 1 deletion src/Conversions/tests/ManifConversionsTest.cpp
Original file line number Diff line number Diff line change
@@ -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")
{
2 changes: 1 addition & 1 deletion src/Conversions/tests/matioCppConversionsTest.cpp
Original file line number Diff line number Diff line change
@@ -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>
Original file line number Diff line number Diff line change
@@ -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>

Original file line number Diff line number Diff line change
@@ -11,7 +11,7 @@
#include <map>

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

// Eigen
Original file line number Diff line number Diff line change
@@ -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>
2 changes: 1 addition & 1 deletion src/Estimators/src/FloatingBaseEstimator.cpp
Original file line number Diff line number Diff line change
@@ -11,7 +11,7 @@

#include <chrono>

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

using namespace BipedalLocomotion;
using namespace BipedalLocomotion::Estimators;
2 changes: 1 addition & 1 deletion src/Estimators/src/InvariantEKFBaseEstimator.cpp
Original file line number Diff line number Diff line change
@@ -6,7 +6,7 @@
*/

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

#include <manif/manif.h>

6 changes: 3 additions & 3 deletions src/Estimators/src/KinDynWrapper.cpp
Original file line number Diff line number Diff line change
@@ -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>
4 changes: 2 additions & 2 deletions src/Estimators/src/LeggedOdometry.cpp
Original file line number Diff line number Diff line change
@@ -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;
8 changes: 4 additions & 4 deletions src/Estimators/src/SubModel.cpp
Original file line number Diff line number Diff line change
@@ -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>
Original file line number Diff line number Diff line change
@@ -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>
Original file line number Diff line number Diff line change
@@ -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>

Original file line number Diff line number Diff line change
@@ -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>

Loading