Merge branch 'master' into devel

.github/workflows/ci.yml

@@ -79,7 +79,7 @@ jobs:
       run: |
         # Additional dependencies only useful on Linux
         # See https://github.com/robotology/robotology-superbuild/issues/477
-        mamba install expat-cos6-x86_64 freeglut libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesalib mesa-libgl-cos6-x86_64
+        mamba install expat-cos6-x86_64 freeglut libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesa-libgl-cos6-x86_64 mesa-libgl-devel-cos6-x86_64
 
     - name: Configure [Conda/Linux&macOS]
       if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')

.github/workflows/gh-pages.yml

@@ -0,0 +1,74 @@
+name: gh-pages
+on:
+  push:
+    branches:
+      - '*'
+      - '!gh-pages'
+
+jobs:
+  build:
+    runs-on: ubuntu-20.04
+    steps:
+      - uses: actions/checkout@master
+
+      - uses: conda-incubator/setup-miniconda@v2
+        with:
+          mamba-version: "*"
+          channels: conda-forge
+          channel-priority: true
+
+      - name: Dependencies [apt]
+        shell: bash -l {0}
+        run: |
+          # The following dependencies are not available in conda
+          # See: https://github.com/conda-forge/texlive-core-feedstock/issues/19
+          sudo apt update
+          sudo apt install -y xsltproc texlive ghostscript graphviz texlive-base texlive-latex-extra texlive-fonts-extra texlive-fonts-recommended flex bison
+
+      - name: Dependencies
+        shell: bash -l {0}
+        run: |
+          # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186
+          conda config --remove channels defaults
+
+          # Dependencies
+          mamba install doxygen toml pygments docutils jinja2
+
+      - name: Fetch m.css
+        shell: bash -l {0}
+        run: |
+          # Use an unofficial version of m.css because of https://github.com/mosra/m.css/pull/189
+          cd ${GITHUB_WORKSPACE}
+          git clone https://github.com/crisluengo/m.css.git
+          cd m.css
+          git checkout fix-class-parsed-as-function
+
+      - name: Build docs
+        shell: bash -l {0}
+        run: |
+          cd docs
+          git clone https://github.com/robotology/idyntree.git
+          python3 ./generate_website.py --mcss_path ${GITHUB_WORKSPACE}/m.css/documentation/doxygen.py
+
+      - name: Archive artifacts
+        uses: actions/upload-artifact@v2
+        with:
+          name: site
+          path: docs/site
+
+  deploy:
+    runs-on: ubuntu-20.04
+    needs: [build]
+    if: github.ref == 'refs/heads/master'
+    steps:
+      - name: Download artifacts
+        uses: actions/download-artifact@v2
+        with:
+          name: site
+          path: site
+      - name: Deploy
+        uses: JamesIves/github-pages-deploy-action@3.7.1
+        with:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          BRANCH: gh-pages
+          FOLDER: site

.github/workflows/matlab.yml

@@ -57,7 +57,7 @@ jobs:
       run: |
         # Additional dependencies only useful on Linux
         # See https://github.com/robotology/robotology-superbuild/issues/477
-        mamba install expat-cos6-x86_64 freeglut libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesalib mesa-libgl-cos6-x86_64
+        mamba install expat-cos6-x86_64 freeglut libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesa-libgl-cos6-x86_64 mesa-libgl-devel-cos6-x86_64
 
     - name: Configure
       if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')

CHANGELOG.md

@@ -6,6 +6,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased Major]
 
+## [4.3.0] - 2021-11-22
+
 ### Added
 - Added the possibility to draw in different portions of the visualizer window and textures at the same time. Allow disabling the drawing on textures (https://github.com/robotology/idyntree/pull/903).
 

README.md

@@ -122,8 +122,7 @@ idyntree-model-simplify-shapes -m <location-of-the-input-model> -o <desired-loca
 
 ## Reference Documentation
 The documentation for the complete API of iDynTree is automatically extracted from the C++ code using [Doxygen](http://www.doxygen.org),
-and is available at the URL : [https://robotology.github.io/idyntree/master/](https://robotology.github.io/idyntree/master/).
-The documentation generated from the `devel` branch is available at the URL : [https://robotology.github.io/idyntree/devel/](https://robotology.github.io/idyntree/devel/).
+and is available at the URL : [https://robotology.github.io/idyntree](https://robotology.github.io/idyntree).
 
 ## Announcements
 Announcements on new releases, API changes or other news are done on [`robotology/QA` GitHub repository](https://github.com/robotology/QA). You can watch that repository to get all the iDynTree-related announcements, that will always tagged with the `announcement` tag.

doc/main.dox

@@ -1,6 +1,6 @@
 
 /*
- * Copyright (C) 2015 Fondazione Istituto Italiano di Tecnologia
+ * Copyright (C) 2015-2021 Fondazione Istituto Italiano di Tecnologia
  * Authors: See AUTHORS file.
  * CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
  *
@@ -92,46 +92,41 @@
 
 
 
-
-
 /**
-\mainpage Welcome to %iDynTree
+\mainpage Welcome to %iDynTree reference documentation.
 
-%iDynTree is a library of robots dynamics algorithms for control, estimation and simulation.
+%iDynTree is a library of robots dynamics algorithms for control, estimation and simulation. %iDynTree is specifically designed for free-floating robots, but it is possible to use it also with fixed-base robots.
 
-%iDynTree is specifically designed for free-floating robots, but it is possible to use it also with fixed-base robots.
+This is %iDynTree's reference documentation, that is automatically generated from the C++ headers.
+It contains specific details for each class, method and function contained in %iDynTree.
 
-\li Source code: https://github.com/robotology/idyntree
-\li File an issue: https://github.com/robotology/idyntree/issues/new
-\li Installation and Tutorials: https://github.com/robotology/idyntree/blob/master/README.md
+For how to install iDynTree and tutorial on how to use iDynTree, please check the README at https://github.com/robotology/idyntree/blob/master/README.md .
+If you have a problem using iDynTree or you do not understand something in iDynTree documentation, please file an issue: https://github.com/robotology/idyntree/issues/new
 
 %iDynTree is written in C++ language, but thanks to SWIG it is possible to use the iDynTree algorithms in several other languages. Support and documentation is provided in particular for C++, Matlab, Python and Lua. If you are interested in using %iDynTree with another programming language, feel free to create a new issue requesting support for it.
 
-This documentation is automatically generated from the C++ headers, and
-can be used as a reference documentation for the classes and functions
-contained in iDynTree .
-
 %iDynTree is divided in several parts:
-\li  \ref iDynTreeCore "Core" :  Basic data structures for kinematics and dynamics of rigid bodies.
-\li  \ref iDynTreeModel "Model": Data structures and algorithms for modeling articulated body structures.
-\li  \ref iDynTreeSensors "Sensors" : Data structures for modeling sensors distribude on articulated body structures.
+
+\li \ref iDynTreeCore "Core" :  Basic data structures for kinematics and dynamics of rigid bodies.
+\li \ref iDynTreeModel "Model": Data structures and algorithms for modeling articulated body structures.
+\li \ref iDynTreeSensors "Sensors" : Data structures for modeling sensors distribude on articulated body structures.
 \li  \ref iDynTreeModelIO "ModelIO" : Function to read and write %iDynTree models and sensors to external files (such as [URDF](http://wiki.ros.org/urdf) or [iKin DH parameters](http://wiki.icub.org/brain/classiCub_1_1iKin_1_1iKinLimb.html#a76c93aae76bb0f7ef9470b81d0da0e26) ).
 \li  \ref iDynTreeEstimation "Estimation" : Algorithms related to whole-body estimation.
-\li  \ref iDynTreeRegressors "Regressors" : Algorithms related to whole-body dynamics identification.
 \li  \ref iDynTreeHighLevel "HighLevel"   : High level interfaces to access algorithms contained in %iDynTree.
-\li  \ref iDynTreeYARP "YARP" : Function and classes for simplifying integration of %iDynTree with [YARP](http://yarp.it/).
+
 <br>
 
-As iDynTree is mainly developed to support the research effort of [iCub Facility department](https://www.iit.it/research/lines/icub) of the [Italian Institute of Technology](https://www.iit.it),
+%iDynTree has a few classes that are particular used, those are linked in the following for quick access:
+\li iDynTree::Model : Class used to represent a multibody model.
+\li iDynTree::KinDynComputations : Class used to compute forward kinematics and dynamics quantities.
+
+
+As iDynTree is mainly developed to support the research effort of [Artificial and Mechanical Intelligence research line](https://ami.iit.it) of the [Italian Institute of Technology](https://www.iit.it),
 some parts of it are activly developed and their interface can abroutly change between iDynTree releases.
 Until this components are ready to be integrated in a proper part of iDynTree, we keep them in the "experimental" part of iDynTree :
 
 \li  \ref iDynTreeExperimental "Experimental" : Experimental data structures and algorithms, whose interface is not guaranteed to be stable.
 
-iDynTree started as a tiny wrapper of code between [YARP](http://yarp.it/) and [KDL](https://github.com/orocos/orocos_kinematics_dynamics).
-For this reason, in the repository there is still some legacy code, that should not be used by users, as it is going to be removed from iDynTree.
-
-\li  \ref iDynTreeDeprecated "Deprecated" : Deprecated data structures and algorithms, that are going to be removed from iDynTree.
 
 
  *

docs/Doxyfile-mcss.in

@@ -0,0 +1,14 @@
+@INCLUDE                = Doxyfile-@BLF_TAG@
+
+USE_MDFILE_AS_MAINPAGE  = "@BLF_MAIN_PAGE@"
+
+
+GENERATE_HTML           = NO
+GENERATE_XML            = YES
+XML_PROGRAMLISTING      = NO
+XML_NS_MEMB_FILE_SCOPE  = YES
+
+XML_OUTPUT              = "site/@BLF_VERSION_PATH@/xml"
+HTML_OUTPUT             = "site/@BLF_VERSION_PATH@"
+
+PROJECT_BRIEF          =  "@BLF_TAG@"