Components

[traversaro]

With @naveenoid we started refactoring the sensor part of iDynTree, and the "core" part (as discussed in #29 ) is taking form. Hi will try to brainstorm all the different components in which we can structure iDynTree:

Core (currently core-experimental)

• Public Dependencies : C++ STL ? (subject to [Core] Wrapping std::string as in YARP ?  #33 )
• Private Dependencies : Eigen3
• Namespace : iDynTree

This is the component is containing the base classes of iDynTree, as discussed in #29 and #32 ). It was recently introduced to slowly replace the use of KDL structure.
It will contain classes for geometric quantities (Transform, Position, Wrenches, Mass Matrices, etc etc), and eventually data structures describing the robot (KDL::CoDyCo::UndirectedTree).

Sensors

• Public Dependencies : Core (currently KDL)
• Namespace: iDynTree::Sensors

This component will contain classes useful for representing and process sensor measurements.

KDL (currently core)

• Public Dependencies : KDL, Eigen3
• Namespace: currently KDL::CoDyCo, eventually iDynTree::KDL

This is the old "core" of iDynTree. Data structures here depend heavily on KDL. We will migrate most of them to Core to gain SWIG support. In the meanwhile, we will rely on conversion functions between iDynTree datastructures and KDL provided in iDynTree/KDL/iDynTreeKDLConversions.h . This function will also be useful in the future to maintain a degree of interoperability with

ModelIO

• Public Dependencies : KDL, urdfdom
• Namespace: currently kdl_format_io, eventually iDynTree::ModelIO
  This component contains all the logic for loading or saving the model structure (kinematics and dynamics parameters, sensors information) from and to external file formats, most notably URDF.
  This will be probably the component from which migration will be particularly tricky.

YARP

• Public Dependencies : Core, KDL, Eigen3, YARP (currently also ICUB)
• Namespace: currently: iCub::iDynTree, eventually iDynTree::yarp

This component is made of all the classes related to YARP interoperability, and also the DynTree legacy class. This component is also providing interoperability between iDynTree classes and YARP classes, useful for YARP modules that use iDynTree for computation and YARP for communication .

ICUB

• Public Dependencies : Core, KDL, Eigen3, YARP, ICUB

This component (currently not existing) will contain the conversion function between iDynTree classes and classes defined in ICUB libraries (such as skinDynLib).

cc @francesco-romano @nunoguedelha

[traversaro]

The components have been implemented for a long time.