[skinDynLib] Add linkName and frameName to dynContact and skinContact, and forceTorqueEstimateConfidence to skinContact

.travis.yml

@@ -47,6 +47,7 @@ before_script:
 script:
 
   - cmake --build .
+  - ctest --output-on-failure --build .
   - sudo make install
   - sudo make uninstall
 

CMakeLists.txt

@@ -87,6 +87,11 @@ else (NOT ICUB_HAS_GSL)
 endif (NOT ICUB_HAS_GSL)
 
 ### enable testing
+option(BUILD_TESTING "Compile tests" OFF)
+if(BUILD_TESTING)
+    enable_testing()
+endif()
+
 option(ICUB_DASHBOARD_SUBMIT "Submit compile tests to cdash" FALSE)
 
 if (ICUB_DASHBOARD_SUBMIT)

admin/scripts/generate-cmake-options.sh

@@ -8,6 +8,7 @@ CMAKE_OPTIONS="\
    -DTEST_MACHINE_HOSTNAME:STRING=$1 \
    -DTEST_MACHINE_OS_TYPE:STRING=$2 \
    -DTEST_MACHINE_TEST_TYPE:STRING=$3 \
+   -DBUILD_TESTING:BOOL=TRUE \
    -DENABLE_icubmod_cartesiancontrollerclient:BOOL=TRUE \
    -DENABLE_icubmod_cartesiancontrollerserver:BOOL=TRUE \
    -DENABLE_icubmod_gazecontrollerclient:BOOL=TRUE \

conf/iCubVersion.cmake

@@ -6,7 +6,7 @@
 
 set(ICUB_VERSION_MAJOR "1")
 set(ICUB_VERSION_MINOR "9")
-set(ICUB_VERSION_PATCH "0")
+set(ICUB_VERSION_PATCH "1")
 set(ICUB_VERSION "${ICUB_VERSION_MAJOR}.${ICUB_VERSION_MINOR}.${ICUB_VERSION_PATCH}")
 
 set(ICUB_VERSION_MODIFIER "")

src/doc/release/v1_10_0.md

@@ -0,0 +1,16 @@
+iCub 1.10.0 (UNRELEASED)  Release Notes
+========================
+
+New Features
+------------
+
+### Libraries
+
+#### `skinDynLib`
+Add `linkName` and `frameName` attributes to `iCub::skinDynLib::dynContact` and `iCub::skinDynLib::skinContact`, to simplify 
+interfacing with software in which link and frames are identified by names, such as software that load the robot description
+from file formats like URDF and SDF. This attributes have been also added to the on-wire representation of this class, creating 
+an incompatibility between versions of iCub before 1.8 and version after 1.10 , meaning that a module compiled with iCub 1.8 will
+not be able to communicate with a module compiled with iCub 1.10 . Recompiling all your software with iCub 1.10 (without any modification 
+to the source code) should be sufficient to ensure that everything works fine.  
+

src/libraries/skinDynLib/CMakeLists.txt

@@ -45,4 +45,7 @@ icub_export_library(${PROJECTNAME} INTERNAL_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/i
                                    DESTINATION include/iCub/skinDynLib
                                    FILES ${folder_header})
 
+if(BUILD_TESTING)
+    add_subdirectory(test)
+endif()
 

src/libraries/skinDynLib/include/iCub/skinDynLib/common.h

@@ -269,6 +269,29 @@ inline std::list<unsigned int> vectorofIntEqualto(const std::vector<int> vec, co
     return res;
 };
 
+/**
+ * \brief Macro to deprecate functions and methods
+ *
+ * see https://blog.samat.io/2017/02/27/Deprecating-functions-and-methods-in-Cplusplus/
+ */
+// C++14
+#if __cplusplus >= 201402L
+        #if defined(__has_cpp_attribute)
+    #if __has_cpp_attribute(deprecated)
+      #define SKINDYNLIB_DEPRECATED(msg) [[deprecated(msg)]]
+    #endif
+  #endif
+// Earlier standards
+#else
+#if defined(__GNUC__) || defined(__clang__)
+#define SKINDYNLIB_DEPRECATED(msg) __attribute__((deprecated(msg)))
+#elif defined(_MSC_VER)
+    #define SKINDYNLIB_DEPRECATED(msg) __declspec(deprecated(msg))
+  #else
+    #define SKINDYNLIB_DEPRECATED(msg)
+#endif
+#endif
+
 }
 
 }//end namespace

src/libraries/skinDynLib/include/iCub/skinDynLib/dynContact.h

@@ -60,7 +60,7 @@ class dynContact : public yarp::os::Portable
     BodyPart bodyPart;
     /// number of the link where the contact is applied
     unsigned int linkNumber;
-    /// center of pressure of the contact expressed w.r.t. the reference frame of the link
+    /// center of pressure of the contact expressed w.r.t. the reference frame
     yarp::sig::Vector CoP;
     ///contact force direction (unit vector)
     yarp::sig::Vector Fdir;
@@ -79,6 +79,10 @@ class dynContact : public yarp::os::Portable
     ///verbosity flag
     unsigned int verbose;
 
+    /// name of the link on which the contact is applied
+    std::string linkName;
+    /// name of the frame on which all the vector quantities are expressed
+    std::string frameName;
 
     void init(const BodyPart &_bodyPart, unsigned int _linkNumber, const yarp::sig::Vector &_CoP, 
         const yarp::sig::Vector &_Mu=yarp::sig::Vector(0), const yarp::sig::Vector &_Fdir=yarp::sig::Vector(0));
@@ -147,7 +151,7 @@ class dynContact : public yarp::os::Portable
     */
     virtual const yarp::sig::Vector&    getMoment()             const;
     /**
-    * Get the contact center of pressure expressed in the link reference frame.
+    * Get the contact center of pressure expressed in the reference frame.
     * @return a 3-dim vector
     */
     virtual const yarp::sig::Vector&    getCoP()                const;
@@ -171,7 +175,16 @@ class dynContact : public yarp::os::Portable
     * @return the contact id
     */
     virtual unsigned long               getId()                 const;
-
+    /**
+    * Get the name of the link on which the contact is applied.
+    * @return the link name
+    */
+    virtual std::string                 getLinkName()           const;
+    /**
+     * Get the name of the frame in which the quantities of this contact are expressed.
+     * @return the link name
+     */
+    virtual std::string                 getFrameName()           const;
     //~~~~~~~~~~~~~~~~~~~~~~
     //   IS methods
     //~~~~~~~~~~~~~~~~~~~~~~
@@ -228,23 +241,29 @@ class dynContact : public yarp::os::Portable
      */
     virtual bool setForceMoment(const yarp::sig::Vector &_FMu);
     /**
-     * Set the contact center of pressure in link reference frame
+     * Set the contact center of pressure in reference frame
      * @param _CoP a 3x1 vector
      * @return true if the operation succeeded, false otherwise
      */
     virtual bool setCoP(const yarp::sig::Vector &_CoP);
     /**
      * Set the contact link number (0 is the first link)
      * @param _linkNum the link number
-     * @return true if the operation succeeded, false otherwise
      */
     virtual void setLinkNumber(unsigned int _linkNum);
     /**
      * Set the body part of this contact
      * @param _bodyPart the contact body part
-     * @return true if the operation succeeded, false otherwise
      */
     virtual void setBodyPart(BodyPart _bodyPart);
+    /**
+     * Set the name of the link on which the contact is applied.
+     */
+    virtual void setLinkName(const std::string & _linkName);
+    /**
+     * Set the name of the frame in which the quantities of this contact are expressed.
+     */
+    virtual void setFrameName(const std::string & _linkName);
 
     //~~~~~~~~~~~~~~~~~~~~~~
     //   FIX/UNFIX methods
@@ -288,21 +307,23 @@ class dynContact : public yarp::os::Portable
     //   SERIALIZATION methods
     //~~~~~~~~~~~~~~~~~~~~~~ 
     /*
-    * Read dynContact from a connection. It expects a list of 4 elements, that are:
+    * Read dynContact from a connection. It expects a list of 5 elements, that are:
     * - a list of 3 int, containing contactId, bodyPart and linkNumber
     * - a list of 3 double, containing the CoP
     * - a list of 3 double, containing the force
     * - a list of 3 double, containing the moment
+    * - a list of 2 strings, containing linkName, frameName
     * @param connection the connection to read from
     * @return true iff a dynContact was read correctly
     */
     virtual bool read(yarp::os::ConnectionReader& connection);
     /**
-    * Write dynContact to a connection as a list of 4 elements, that are:
+    * Write dynContact to a connection as a list of 5 elements, that are:
     * - a list of 3 int, containing contactId, bodyPart, linkNumber
     * - a list of 3 double, containing the CoP
     * - a list of 3 double, containing the force
     * - a list of 3 double, containing the moment
+    * - a list of 2 strings, containing linkName, frameName
     * @param connection the connection to write to
     * @return true iff the dynContact was written correctly
     */
@@ -313,7 +334,8 @@ class dynContact : public yarp::os::Portable
      * Convert this contact into a string. Useful to print some information.
      * @param precision number of decimal digits to use in the string representation
      * @return a string representation of this contact in this format:
-     * "Contact id: "<< contactId<< "Body part: "<< bodyPartName<< ", link: "<< linkNumber<< 
+     * "Contact id: "<< contactId<< ", link name: "<< linkName << ", frame name: " << frameName <<
+     * ", Body part: "<< bodyPartName<< ", link index: "<< linkNumber<<
      * ", CoP: "<< CoP<< ", F: "<< F<< ", M: "<< Mu
      */
     virtual std::string toString(int precision=-1) const;

src/libraries/skinDynLib/include/iCub/skinDynLib/skinContact.h

@@ -62,7 +62,10 @@ class skinContact : public dynContact
     unsigned int activeTaxels;
     // list of active taxel ids
     std::vector<unsigned int> taxelList;
-
+    // non-zero integer representing the confidence on the provided force/torque estimate provided (default: 0)
+    unsigned int forceTorqueEstimateConfidence;
+
+
 public:
     //~~~~~~~~~~~~~~~~~~~~~~
     //   CONSTRUCTORS
@@ -187,6 +190,12 @@ class skinContact : public dynContact
     * @return the list of taxels' id's
     */
     std::vector<unsigned int>           getTaxelList()          const{ return taxelList; }
+    /**
+    * Get a non-zero integer representing the confidence in the provided force/torque estimate.
+    * @return the forceTorqueEstimateConfidence
+    * @note the concrete meaning of this parameter is implementation defined.
+    */
+    unsigned int                        getForceTorqueEstimateConfidence() const{ return forceTorqueEstimateConfidence; }
 
 
     //~~~~~~~~~~~~~~~~~~~~~~
@@ -228,6 +237,12 @@ class skinContact : public dynContact
      * @return true if the operation succeeded, false otherwise
      */
     void setTaxelList(const std::vector<unsigned int> &list);
+    /**
+     * Set a non-zero integer representing the confidence in the provided force/torque estimate.
+     * @param forceTorqueEstimateConfidence
+     * @note the concrete meaning of this parameter is implementation defined.
+     */
+    void setForceTorqueEstimateConfidence(unsigned int forceTorqueEstimateConfidence);
 
     //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
     //   SERIALIZATION methods
@@ -250,6 +265,8 @@ class skinContact : public dynContact
     * - a list of 3 double, i.e. the normal direction
     * - a list of N int, i.e. the active taxel ids
     * - a double, i.e. the pressure
+    * - a list of 2 strings, containing linkName, frameName
+    * - a int, the forceTorqueEstimateConfidence
     * @param connection connection to write to
     * @return true iff a skinContact was written correctly
     */
@@ -271,7 +288,11 @@ class skinContact : public dynContact
     * 20-?: list of the id's of the activated taxels; 
     * ?: pressure;
     * @return a Vector representation of this skinContact
+    * @deprecated This method is deprecated since iCub 1.10, as it is not able to serialize string attribute
+    *            such as linkName and frameName . Please use yarp::os::Portable facilities to serialize this class.
     */
+    SKINDYNLIB_DEPRECATED("toVector is not able to serialize string attributes such as "
+                          "linkName and frameName. Please use yarp::os::Portable facilities to serialize this class.")
     virtual yarp::sig::Vector toVector() const;
 
     /**
@@ -291,7 +312,11 @@ class skinContact : public dynContact
     * ?: pressure;
     * @param v the vector to convert into a skinContact
     * @return true iff operation succeeded, false otherwise
+    * @deprecated This method is deprecated since iCub 1.10, as it is not able to serialize string attribute
+     *            such as linkName and frameName . Please use yarp::os::Portable facilities to serialize this class.
     */
+    SKINDYNLIB_DEPRECATED("fromVector is not able to serialize string attributes such as "
+                          "linkName and frameName. Please use yarp::os::Portable facilities to serialize this class.")
     virtual bool fromVector(const yarp::sig::Vector &v);
 
     /**