Merge pull request #697 from robotology/remove_deprecated_kdl

Remove IDYNTREE_USES_KDL option
robotology · Jun 15, 2020 · 97fbdc6 · 97fbdc6
2 parents ba43b00 + 87788eb
commit 97fbdc6
Show file tree

Hide file tree

Showing 312 changed files with 9,502 additions and 87,825 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -67,15 +67,14 @@ jobs:
     - name: Dependencies [macOS]
       if: matrix.os == 'macOS-latest'
       run: |
-        brew install ace assimp boost eigen swig qt5 orocos-kdl octave
+        brew install ace assimp boost eigen swig qt5 octave
     
     - name: Dependencies [Ubuntu]
       if: contains(matrix.os, 'ubuntu')
       run: |
         sudo apt-get update
-        sudo apt-get install git build-essential cmake libace-dev coinor-libipopt-dev  libboost-system-dev libboost-filesystem-dev \
-                             libboost-thread-dev liborocos-kdl-dev libeigen3-dev swig qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev libqt5charts5-dev \
-                             libxml2-dev liburdfdom-dev libtinyxml-dev liburdfdom-dev liboctave-dev python-dev valgrind libassimp-dev
+        sudo apt-get install git build-essential cmake libace-dev coinor-libipopt-dev libeigen3-dev swig qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev libqt5charts5-dev \
+                             libxml2-dev liboctave-dev python-dev valgrind libassimp-dev
         
     - name: Cache Source-based Dependencies
       id: cache-source-deps
@@ -168,12 +167,12 @@ jobs:
               -DIDYNTREE_USES_ICUB_MAIN:BOOL=ON -DIDYNTREE_USES_Qt5:BOOL=ON  -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DIDYNTREE_USES_ASSIMP:BOOL=ON \
               -DIDYNTREE_USES_OCTAVE:BOOL=ON -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
 
-    - name: Enable additional Ubuntu options (Valgrind, Python, legacy KDL) [Ubuntu] 
+    - name: Enable additional Ubuntu options (Valgrind, Python) [Ubuntu] 
       if: contains(matrix.os, 'ubuntu')
       run: |
         cd build
         # Assimp is disabled on Ubuntu as a workaround for https://github.com/robotology/idyntree/issues/663
-        cmake -DIDYNTREE_USES_PYTHON:BOOL=ON -DIDYNTREE_RUN_VALGRIND_TESTS:BOOL=ON -DIDYNTREE_USES_KDL:BOOL=ON  -DIDYNTREE_USES_ASSIMP:BOOL=OFF  .
+        cmake -DIDYNTREE_USES_PYTHON:BOOL=ON -DIDYNTREE_RUN_VALGRIND_TESTS:BOOL=ON -DIDYNTREE_USES_ASSIMP:BOOL=OFF  .
         # For some reason, Ubuntu 18.04 image in GitHub Actions contain OpenBLAS 0.3.5, that is affected by https://github.com/xianyi/OpenBLAS/issues/2003
         # As a workaround, we test against the regular blas instead of openblas
         sudo apt-get install libblas-dev libatlas-base-dev

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -7,6 +7,10 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+### Removed 
+
+- Remove the CMake option IDYNTREE_USES_KDL and all the classes available when enabling it. They were deprecated in iDynTree 1.0 .
+
 ## [1.1.0] - 2020-06-08
 
 ### Added

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -8,7 +8,7 @@
 
 cmake_minimum_required(VERSION 3.5)
 
-project(iDynTree VERSION 1.1.0
+project(iDynTree VERSION 1.99.0
                  LANGUAGES C CXX)
 
 # Disable in source build, unless Eclipse is used
@@ -60,9 +60,6 @@ if(NOT IDYNTREE_ONLY_DOCS)
     if(IDYNTREE_USES_ICUB_MAIN)
         list(APPEND _IDYNTREE_EXPORTED_DEPENDENCIES ICUB)
     endif()
-    if(IDYNTREE_USES_KDL)
-        list(APPEND _IDYNTREE_EXPORTED_DEPENDENCIES orocos_kdl)
-    endif()
 
     # List exported CMake package dependencies when the library is compiled as static
     set(_IDYNTREE_EXPORTED_DEPENDENCIES_ONLY_STATIC "")

diff --git a/bindings/iDynTree.i b/bindings/iDynTree.i
@@ -129,10 +129,6 @@
 // SolidShapes related classes
 #include "iDynTree/InertialParametersSolidShapesHelpers.h"
 
-// Regressors related data structures
-#include "iDynTree/Regressors/DynamicsRegressorParameters.h"
-#include "iDynTree/Regressors/DynamicsRegressorGenerator.h"
-
 // High level interfaces
 #include "iDynTree/KinDynComputations.h"
 
@@ -143,9 +139,6 @@
 #include "iDynTree/ConvexHullHelpers.h"
 #include "iDynTree/InverseKinematics.h"
 
-// Legacy high level interfaces
-#include "iDynTree/HighLevel/DynamicsComputations.h"
-
 %}
 
 //Wrap std::vector<BerdySensors>
@@ -346,10 +339,6 @@ TEMPLATE_WRAP_MOTION_FORCE(ForceVector3, WRAP_FORCE, SET_NAME_FOR_WRAPPER,,)
 // SolidShapes related classes
 %include "iDynTree/InertialParametersSolidShapesHelpers.h"
 
-// Regressors related data structures
-%include "iDynTree/Regressors/DynamicsRegressorParameters.h"
-%include "iDynTree/Regressors/DynamicsRegressorGenerator.h"
-
 // High level interfaces
 %include "iDynTree/KinDynComputations.h"
 
@@ -367,5 +356,3 @@ TEMPLATE_WRAP_MOTION_FORCE(ForceVector3, WRAP_FORCE, SET_NAME_FOR_WRAPPER,,)
 %include "iDynTree/ConvexHullHelpers.h"
 %include "iDynTree/InverseKinematics.h"
 
-// Legacy high level interfaces
-%include "iDynTree/HighLevel/DynamicsComputations.h"
diff --git a/bindings/matlab/autogenerated/+iDynTree/ColorViz.m b/bindings/matlab/autogenerated/+iDynTree/ColorViz.m
@@ -7,40 +7,40 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(2022, self);
+        varargout{1} = iDynTreeMEX(1972, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(2023, self, varargin{1});
+        iDynTreeMEX(1973, self, varargin{1});
       end
     end
     function varargout = g(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(2024, self);
+        varargout{1} = iDynTreeMEX(1974, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(2025, self, varargin{1});
+        iDynTreeMEX(1975, self, varargin{1});
       end
     end
     function varargout = b(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(2026, self);
+        varargout{1} = iDynTreeMEX(1976, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(2027, self, varargin{1});
+        iDynTreeMEX(1977, self, varargin{1});
       end
     end
     function varargout = a(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(2028, self);
+        varargout{1} = iDynTreeMEX(1978, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(2029, self, varargin{1});
+        iDynTreeMEX(1979, self, varargin{1});
       end
     end
     function self = ColorViz(varargin)
@@ -49,14 +49,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(2030, varargin{:});
+        tmp = iDynTreeMEX(1980, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(2031, self);
+        iDynTreeMEX(1981, self);
         self.SwigClear();
       end
     end

diff --git a/bindings/matlab/autogenerated/+iDynTree/ConvexHullProjectionConstraint.m b/bindings/matlab/autogenerated/+iDynTree/ConvexHullProjectionConstraint.m
@@ -4,133 +4,133 @@
       this = iDynTreeMEX(3, self);
     end
     function varargout = setActive(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2130, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2080, self, varargin{:});
     end
     function varargout = isActive(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2131, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2081, self, varargin{:});
     end
     function varargout = getNrOfConstraints(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2132, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2082, self, varargin{:});
     end
     function varargout = projectedConvexHull(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(2133, self);
+        varargout{1} = iDynTreeMEX(2083, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(2134, self, varargin{1});
+        iDynTreeMEX(2084, self, varargin{1});
       end
     end
     function varargout = A(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(2135, self);
+        varargout{1} = iDynTreeMEX(2085, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(2136, self, varargin{1});
+        iDynTreeMEX(2086, self, varargin{1});
       end
     end
     function varargout = b(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(2137, self);
+        varargout{1} = iDynTreeMEX(2087, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(2138, self, varargin{1});
+        iDynTreeMEX(2088, self, varargin{1});
       end
     end
     function varargout = P(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(2139, self);
+        varargout{1} = iDynTreeMEX(2089, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(2140, self, varargin{1});
+        iDynTreeMEX(2090, self, varargin{1});
       end
     end
     function varargout = Pdirection(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(2141, self);
+        varargout{1} = iDynTreeMEX(2091, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(2142, self, varargin{1});
+        iDynTreeMEX(2092, self, varargin{1});
       end
     end
     function varargout = AtimesP(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(2143, self);
+        varargout{1} = iDynTreeMEX(2093, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(2144, self, varargin{1});
+        iDynTreeMEX(2094, self, varargin{1});
       end
     end
     function varargout = o(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(2145, self);
+        varargout{1} = iDynTreeMEX(2095, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(2146, self, varargin{1});
+        iDynTreeMEX(2096, self, varargin{1});
       end
     end
     function varargout = buildConvexHull(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2147, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2097, self, varargin{:});
     end
     function varargout = supportFrameIndices(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(2148, self);
+        varargout{1} = iDynTreeMEX(2098, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(2149, self, varargin{1});
+        iDynTreeMEX(2099, self, varargin{1});
       end
     end
     function varargout = absoluteFrame_X_supportFrame(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(2150, self);
+        varargout{1} = iDynTreeMEX(2100, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(2151, self, varargin{1});
+        iDynTreeMEX(2101, self, varargin{1});
       end
     end
     function varargout = project(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2152, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2102, self, varargin{:});
     end
     function varargout = computeMargin(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2153, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2103, self, varargin{:});
     end
     function varargout = setProjectionAlongDirection(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2154, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2104, self, varargin{:});
     end
     function varargout = projectAlongDirection(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(2155, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(2105, self, varargin{:});
     end
     function self = ConvexHullProjectionConstraint(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
         if ~isnull(varargin{1})
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(2156, varargin{:});
+        tmp = iDynTreeMEX(2106, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(2157, self);
+        iDynTreeMEX(2107, self);
         self.SwigClear();
       end
     end

diff --git a/bindings/matlab/autogenerated/+iDynTree/DIRECTIONAL_LIGHT.m b/bindings/matlab/autogenerated/+iDynTree/DIRECTIONAL_LIGHT.m
@@ -1,7 +1,7 @@
 function v = DIRECTIONAL_LIGHT()
   persistent vInitialized;
   if isempty(vInitialized)
-    vInitialized = iDynTreeMEX(0, 51);
+    vInitialized = iDynTreeMEX(0, 33);
   end
   v = vInitialized;
 end