Merge devel branch in master and release iDynTree 2.0.0

.github/workflows/ci.yml

@@ -65,15 +65,16 @@ jobs:
     - name: Dependencies [macOS]
       if: matrix.os == 'macOS-latest'
       run: |
-        brew install ace assimp boost eigen ipopt swig qt5 orocos-kdl
+        brew install ace assimp boost eigen ipopt swig qt5
 
     - 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 python3-numpy valgrind libassimp-dev
 
     - name: Cache Source-based Dependencies
       id: cache-source-deps
@@ -173,11 +174,12 @@ jobs:
               -DIDYNTREE_USES_ICUB_MAIN:BOOL=ON -DIDYNTREE_USES_Qt5:BOOL=ON  -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DIDYNTREE_USES_ASSIMP:BOOL=ON \
               -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_OCTAVE:BOOL=ON -DCMAKE_INSTALL_PREFIX=${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
-        cmake -DIDYNTREE_USES_PYTHON:BOOL=ON -DIDYNTREE_RUN_VALGRIND_TESTS:BOOL=ON -DIDYNTREE_USES_KDL:BOOL=ON .
+        # 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 .
         # 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

.github/workflows/python.yml

@@ -0,0 +1,126 @@
+name: Python CI/CD
+
+on:
+  push:
+  pull_request:
+  release:
+    types:
+      - published
+
+jobs:
+
+  build_sdist:
+    name: Build source distribution
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version:
+          - 3.8
+
+    steps:
+
+      - uses: actions/checkout@master
+      - run: git fetch --prune --unshallow
+
+      - name: Install Python
+        uses: actions/setup-python@v2
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      - name: Install sdist dependencies
+        run: pip install setuptools_scm cmake_build_extension
+
+      - name: Build sdist
+        run: python setup.py sdist
+
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y \
+            build-essential \
+            coinor-libipopt-dev \
+            libeigen3-dev swig \
+            libxml2-dev \
+            libassimp-dev
+
+      - name: Install sdist
+        run: pip -v install dist/*.tar.gz
+
+      - name: Test import
+        run: python -c 'import idyntree.bindings'
+
+      - uses: actions/upload-artifact@v2
+        with:
+          path: dist/*.tar.gz
+
+  build_linux_wheels:
+
+    name: Build wheels on ubuntu-latest
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+      matrix:
+        python-version:
+          - 3.8
+          # - 3.9
+
+    steps:
+
+      - uses: actions/checkout@master
+      - run: git fetch --prune --unshallow
+
+      - name: Set up Python
+        uses: actions/setup-python@v2
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      - name: Install system dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y --no-install-recommends \
+            build-essential \
+            coinor-libipopt-dev \
+            libeigen3-dev swig \
+            libxml2-dev \
+            libassimp-dev
+
+      - name: '[Linux] Build wheel'
+        run: pip wheel -w wheelhouse .
+
+      - name: Remove other wheels
+        run: find wheelhouse/ -type f -not -name 'idyntree-*' -delete
+
+      # Rename the wheel to manylinux2014 (even if it is not) so that it can be uploaded to PyPI
+      - name: Rename wheels
+        run: |
+          ls wheelhouse/
+          find wheelhouse/ -type f -name "*.whl" -exec rename.ul linux manylinux2014 {} +
+          ls wheelhouse/
+
+      - uses: actions/upload-artifact@v2
+        with:
+          path: ./wheelhouse/*.whl
+
+  upload_pypi:
+    needs:
+      - build_sdist
+      - build_linux_wheels
+    runs-on: ubuntu-latest
+    # Devel branch produces pre-releases
+    # Master branch produces stable releases linked to GitHub releases
+    if: |
+      github.repository == 'robotology/idyntree' &&
+      ((github.event_name == 'release' && github.event.action == 'published') ||
+       (github.event_name == 'push' && github.ref == 'refs/heads/devel'))
+
+    steps:
+
+      - uses: actions/download-artifact@v2
+        with:
+          name: artifact
+          path: dist
+
+      - uses: pypa/gh-action-pypi-publish@master
+        with:
+          user: __token__
+          password: ${{ secrets.PYPI_TOKEN }}

CHANGELOG.md

@@ -7,12 +7,47 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+## [2.0.0] - 2020-11-22
+
+### Added
+- Added a new CMake option `IDYNTREE_COMPILES_TOOLS` to disable compilation of iDynTree tools.
+- Added a `KinDynComputations::getCentroidalTotalMomentumJacobian()` method (https://github.com/robotology/idyntree/pull/706)
+- iDynTree now supports build compiled as a shared library also on Windows.
+- When used in Python, new iDynTree objects can be constructed from generic iterable objects and NumPy arrays (`*.FromPython`),
+  and existing objects can be converted to NumPy arrays (`*.toNumPy`) (https://github.com/robotology/idyntree/pull/726).
+- iDynTree Python bindings can now be installed with `pip3 install git+https://github.com/robotology/idyntree.git` (https://github.com/robotology/idyntree/pull/733).
+- Implement the MatrixView class (https://github.com/robotology/idyntree/pull/734)
+- Add the possibility to use `MatrixView` and `Span` as input/output objects for `KinDynComputations` class (https://github.com/robotology/idyntree/pull/736).
+- New Python bindings based on [pybind11](https://github.com/pybind/pybind11).
+  They can be compiled by specifying the CMake option `IDYNTREE_USES_PYTHON_PYBIND11`. **Note** that the generated bindings are not
+  compatible with the SWIG-generated bindings (e.g. functions have different names). They can be imported as `idyntree.pybind` Python module.
+
+### Fixed
+- Fixed bug in `yarprobotstatepublisher` that caused segmentation fault each time an unknown joint name was read from the input joint states topic (https://github.com/robotology/idyntree/pull/719)
+- Fixed bug in `CubicSpline()` that causes wrong coefficients calculation when boundary conditions are set (https://github.com/robotology/idyntree/pull/723)
+
+### Changed
+- By default  iDynTree is compiled as a shared library also on Windows. The `BUILD_SHARED_LIBS` CMake variable can be used to
+  control if iDynTree is built as a shared or a static library.
+- The Python method `*.fromPyList` is replaced by `*.FromPython` (https://github.com/robotology/idyntree/pull/726).
+- The minimum required CMake version to configure and compile iDynTree is now 3.16 (https://github.com/robotology/idyntree/pull/732).
+- The Python package name of the SWIG bindings changed from `iDynTree` to `idyntree.bindings` (https://github.com/robotology/idyntree/pull/733, https://github.com/robotology/idyntree/pull/735). To continue referring to iDynTree classes as `iDynTree.<ClassName>`, you can change your `import iDynTree` statements to `import idyntree.bindings as iDynTree`. Otherwise, you can use `import idyntree.bindings` to refer them as `idyntree.bindings.<ClassName>`.
+- Improve the use of `const` keyword  in `KinDynComputations`(https://github.com/robotology/idyntree/pull/736).
+- Cleanup size and indices attributes. For consistency with std and Eigen, all sizes and indices have been changed to use std::size_t for unsigned quantities and std::ptrdiff_t for signed quantities. The only exception is the index stored in the triplets of the iDynTree::SparseMatrix data structure, that have been left defined to int for compatibility with Eigen (https://github.com/robotology/idyntree/pull/767).
+
+### Removed
+- Remove the CMake option IDYNTREE_USES_KDL and all the classes available when enabling it. They were deprecated in iDynTree 1.0 .
+- Remove the semantics related classes. They were deprecated in iDynTree 1.0 .
+- Remove unnecessary warning messages from [ModelSensorsTransformers.cpp](https://github.com/robotology/idyntree/blob/master/src/sensors/src/ModelSensorsTransformers.cpp) and [URDFDocument.cpp](https://github.com/robotology/idyntree/blob/master/src/model_io/urdf/src/URDFDocument.cpp) (see [PR 718](https://github.com/robotology/idyntree/pull/718))
+- Python2 will not be maintained past 2020 and its support has been dropped (https://github.com/robotology/idyntree/pull/726).
+- Remove the need to call `iDynTree.init_helpers()` and `iDynTree.init_numpy_helpers()` from Python (https://github.com/robotology/idyntree/pull/726).
+- Remove headers and methods that were deprecated in iDynTree 1.0 (https://github.com/robotology/idyntree/pull/751).
+
 ## [1.2.0] - 2020-10-17
 
 ### Added
 - Added the possibility of reusing an already opened figure with the MATLAB iDynTree Visualizer either if the name coincides or by using gcf.
 
-
 ### Changed
 - `SolidShapes.h` public API **changes**. API changes are back compatible, but as the **ABI has changed**, this means a re-compilation of the dependent projects is needed. In details:
     - Added getters and setters to all classes in `SolidShapes.h` (`idyntree-model`). Public attributes are still available for compatibility but are now **deprecated** and will be removed in the next major release of iDynTree (2.x).

CMakeLists.txt

@@ -6,9 +6,9 @@
 # https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html
 # at your option.
 
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.16)
 
-project(iDynTree VERSION 1.2.0
+project(iDynTree VERSION 2.0.0
                  LANGUAGES C CXX)
 
 # Disable in source build, unless Eclipse is used
@@ -43,11 +43,16 @@ if(NOT IDYNTREE_ONLY_DOCS)
     # anything) feel free to check the logic inside
     add_subdirectory(extern)
 
+    # Create the absolute paths for the BIN DIRS.
+    foreach(item ${IDYNTREE_BINARY_DIRS})
+        list(APPEND ABSOLUTE_BIN_DIRS "${CMAKE_INSTALL_PREFIX}/${item}")
+    endforeach()
+
     include(AddInstallRPATHSupport)
-    add_install_rpath_support(BIN_DIRS "${CMAKE_INSTALL_PREFIX}/bin"
-                            LIB_DIRS "${CMAKE_INSTALL_PREFIX}/lib"
-                            DEPENDS IDYNTREE_ENABLE_RPATH
-                            USE_LINK_PATH)
+    add_install_rpath_support(BIN_DIRS ${ABSOLUTE_BIN_DIRS}
+                              LIB_DIRS "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}"
+                              DEPENDS IDYNTREE_ENABLE_RPATH
+                              USE_LINK_PATH)
 
     # add the actual components of the library
     add_subdirectory(src)
@@ -60,9 +65,6 @@ 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 "")