MATLAB bindings: add iDynTree prefix to SwigRef, SwigMem and SwigGet …

…to avoid conflicts with CasADi (#868) * MATLAB bindings: add iDynTree prefix to SwigRef, SwigMem and SwigGet to avoid conflicts with CasADi
robotology · May 15, 2021 · e8087cc · e8087cc
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diff --git a/.github/workflows/regenerate-matlab-bindings.yml b/.github/workflows/regenerate-matlab-bindings.yml
@@ -45,7 +45,10 @@ jobs:
             cmake -DIDYNTREE_USES_ASSIMP:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=ON -DIDYNTREE_USES_OCTAVE:BOOL=ON -DIDYNTREE_GENERATE_MATLAB:BOOL=ON ..
             cat CMakeCache.txt
             make
-            
+            # After bindings are generated, we modify the names of generic files to avoid conflicts with CasADi
+            cd ../bindings/matlab
+            ./fix_generic_names_in_autogenerated_files.sh
+
         - name: Check local changes due to bindings generation
           run: |
             git status

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,4 +1,3 @@
-
 # Changelog
 All notable changes to this project will be documented in this file.
 
@@ -7,7 +6,12 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
-## [3.1.0] - 2020-04-23
+## [3.2.0] - 2021-05-15
+
+### Changed
+- The `SwigRef.m`, `SwigMem.m` and `SwigGet.m` MATLAB files are now named `iDynTreeSwigRef.m`, `iDynTreeSwigMem.m` and `iDynTreeSwigGet.m`. This ensure prevent the possibility that other libraries (such as CasADi) install files with the same name in the MATLAB path with incompatible content (https://github.com/robotology/idyntree/issues/865, https://github.com/robotology/idyntree/pull/868).
+
+## [3.1.0] - 2021-04-23
 
 ### Added
 - Add the possibility to use `MatrixView` and `Span` as input/output objects for `InverseKinematics` class (https://github.com/robotology/idyntree/pull/822).
@@ -22,12 +26,12 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Dynamics: In RNEA Dynamic Loop, return zero for wrench corresponding to non-existing parent joint of base link (https://github.com/robotology/idyntree/pull/857).
 - Fixed compilation when using Eigen 3.4 (https://github.com/robotology/idyntree/pull/861).
 
-## [3.0.2] - 2020-04-11
+## [3.0.2] - 2021-04-11
 
 ### Fixed
 - Fixed compilation of Python bindings on Windows (https://github.com/robotology/idyntree/pull/843).
 
-## [3.0.1] - 2020-03-11
+## [3.0.1] - 2021-03-11
 
 ### Fixed
 - Fixed the `IDYNTREE_USES_ASSIMP` option on Windows if `IDYNTREE_USES_YARP` is also enabled (https://github.com/robotology/idyntree/pull/832).
@@ -38,8 +42,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Deprecated
 - The method `ModelVisualization::getWorldModelTransform()` is deprecated, and will be removed in iDynTree 4.0.
 
-## [3.0.0] - 2020-02-03
-
+## [3.0.0] - 2021-02-03
 ### Added
 - Add the possibility to plot and update frames in the Matlab visualizer.
 - Added ``getFileLocationOnLocalFileSystem`` method in ``ExternalMesh`` that attempts to find the mesh location in the local file system. This is now used by the ``Visualizer`` when loading the robot model (https://github.com/robotology/idyntree/pull/798). This can also be used by the `iDynTreeWrapper.prepareVisualization` MATLAB function, if `meshFilePrefix` is explicitly set to `""` (https://github.com/robotology/idyntree/pull/817).
@@ -54,7 +57,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Fixed the `IDYNTREE_USES_IRRLICHT` option when `irrlicht` is installed via vcpkg (https://github.com/robotology/idyntree/pull/806).
 
 
-## [2.0.3] - 2020-02-03
+## [2.0.3] - 2021-02-03
 
 ### Fixed
 - Fixed use of sphere shape in MATLAB-based Visualizer (https://github.com/robotology/idyntree/pull/796).

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -8,7 +8,7 @@
 
 cmake_minimum_required(VERSION 3.16)
 
-project(iDynTree VERSION 3.1.0
+project(iDynTree VERSION 3.2.0
                  LANGUAGES C CXX)
 
 # Disable in source build, unless Eclipse is used

diff --git a/bindings/matlab/CMakeLists.txt b/bindings/matlab/CMakeLists.txt
@@ -90,6 +90,15 @@ endmacro()
 # COMPILE MATLAB
 # ==============
 
+# The SwigRef, SwigGet and SwigMem files are prefix with iDynTree
+# by the fix_generic_names_in_autogenerated_files.sh script, but
+# if we are generating the bindings we need to use the unprefix one
+if(IDYNTREE_GENERATE_MATLAB)
+  set(SwigHelpersPrefix "")
+else()
+  set(SwigHelpersPrefix "iDynTree")
+endif()
+
 if(IDYNTREE_USES_MATLAB)
   find_package(Matlab REQUIRED)
 
@@ -110,9 +119,9 @@ if(IDYNTREE_USES_MATLAB)
       DESTINATION ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_MATLAB_MFILESDIR})
   install(
       FILES
-      ${MEX_BINDINGS_SOURCE_DIR}/SwigGet.m
-      ${MEX_BINDINGS_SOURCE_DIR}/SwigRef.m
-      ${MEX_BINDINGS_SOURCE_DIR}/SwigMem.m
+      ${MEX_BINDINGS_SOURCE_DIR}/${SwigHelpersPrefix}SwigGet.m
+      ${MEX_BINDINGS_SOURCE_DIR}/${SwigHelpersPrefix}SwigRef.m
+      ${MEX_BINDINGS_SOURCE_DIR}/${SwigHelpersPrefix}SwigMem.m
       DESTINATION
       ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_MATLAB_MFILESDIR})
   install(
@@ -173,9 +182,9 @@ if(IDYNTREE_USES_OCTAVE)
       DESTINATION ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_OCTAVE_MFILESDIR})
   install(
       FILES
-      ${MEX_BINDINGS_SOURCE_DIR}/SwigGet.m
-      ${MEX_BINDINGS_SOURCE_DIR}/SwigRef.m
-      ${MEX_BINDINGS_SOURCE_DIR}/SwigMem.m
+      ${MEX_BINDINGS_SOURCE_DIR}/${SwigHelpersPrefix}SwigGet.m
+      ${MEX_BINDINGS_SOURCE_DIR}/${SwigHelpersPrefix}SwigRef.m
+      ${MEX_BINDINGS_SOURCE_DIR}/${SwigHelpersPrefix}SwigMem.m
       DESTINATION
       ${CMAKE_INSTALL_PREFIX}/${IDYNTREE_INSTALL_OCTAVE_MFILESDIR})
 

diff --git a/bindings/matlab/autogenerated/+iDynTree/AccelerometerSensor.m b/bindings/matlab/autogenerated/+iDynTree/AccelerometerSensor.m
@@ -1,8 +1,8 @@
 classdef AccelerometerSensor < iDynTree.LinkSensor
   methods
     function self = AccelerometerSensor(varargin)
-      self@iDynTree.LinkSensor(SwigRef.Null);
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+      self@iDynTree.LinkSensor(iDynTreeSwigRef.Null);
+      if nargin==1 && strcmp(class(varargin{1}),'iDynTreeSwigRef')
         if ~isnull(varargin{1})
           self.swigPtr = varargin{1}.swigPtr;
         end

diff --git a/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithmInternalBuffers.m b/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithmInternalBuffers.m
@@ -1,10 +1,10 @@
-classdef ArticulatedBodyAlgorithmInternalBuffers < SwigRef
+classdef ArticulatedBodyAlgorithmInternalBuffers < iDynTreeSwigRef
   methods
     function this = swig_this(self)
       this = iDynTreeMEX(3, self);
     end
     function self = ArticulatedBodyAlgorithmInternalBuffers(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+      if nargin==1 && strcmp(class(varargin{1}),'iDynTreeSwigRef')
         if ~isnull(varargin{1})
           self.swigPtr = varargin{1}.swigPtr;
         end

diff --git a/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyInertia.m b/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyInertia.m
@@ -1,10 +1,10 @@
-classdef ArticulatedBodyInertia < SwigRef
+classdef ArticulatedBodyInertia < iDynTreeSwigRef
   methods
     function this = swig_this(self)
       this = iDynTreeMEX(3, self);
     end
     function self = ArticulatedBodyInertia(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+      if nargin==1 && strcmp(class(varargin{1}),'iDynTreeSwigRef')
         if ~isnull(varargin{1})
           self.swigPtr = varargin{1}.swigPtr;
         end

diff --git a/bindings/matlab/autogenerated/+iDynTree/AttitudeEstimatorState.m b/bindings/matlab/autogenerated/+iDynTree/AttitudeEstimatorState.m
@@ -1,4 +1,4 @@
-classdef AttitudeEstimatorState < SwigRef
+classdef AttitudeEstimatorState < iDynTreeSwigRef
   methods
     function this = swig_this(self)
       this = iDynTreeMEX(3, self);
@@ -34,7 +34,7 @@
       end
     end
     function self = AttitudeEstimatorState(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+      if nargin==1 && strcmp(class(varargin{1}),'iDynTreeSwigRef')
         if ~isnull(varargin{1})
           self.swigPtr = varargin{1}.swigPtr;
         end

diff --git a/bindings/matlab/autogenerated/+iDynTree/AttitudeMahonyFilter.m b/bindings/matlab/autogenerated/+iDynTree/AttitudeMahonyFilter.m
@@ -1,8 +1,8 @@
 classdef AttitudeMahonyFilter < iDynTree.IAttitudeEstimator
   methods
     function self = AttitudeMahonyFilter(varargin)
-      self@iDynTree.IAttitudeEstimator(SwigRef.Null);
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+      self@iDynTree.IAttitudeEstimator(iDynTreeSwigRef.Null);
+      if nargin==1 && strcmp(class(varargin{1}),'iDynTreeSwigRef')
         if ~isnull(varargin{1})
           self.swigPtr = varargin{1}.swigPtr;
         end

diff --git a/bindings/matlab/autogenerated/+iDynTree/AttitudeMahonyFilterParameters.m b/bindings/matlab/autogenerated/+iDynTree/AttitudeMahonyFilterParameters.m
@@ -1,4 +1,4 @@
-classdef AttitudeMahonyFilterParameters < SwigRef
+classdef AttitudeMahonyFilterParameters < iDynTreeSwigRef
   methods
     function this = swig_this(self)
       this = iDynTreeMEX(3, self);
@@ -54,7 +54,7 @@
       end
     end
     function self = AttitudeMahonyFilterParameters(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+      if nargin==1 && strcmp(class(varargin{1}),'iDynTreeSwigRef')
         if ~isnull(varargin{1})
           self.swigPtr = varargin{1}.swigPtr;
         end

diff --git a/bindings/matlab/autogenerated/+iDynTree/AttitudeQuaternionEKF.m b/bindings/matlab/autogenerated/+iDynTree/AttitudeQuaternionEKF.m
@@ -4,9 +4,9 @@
       this = iDynTreeMEX(3, self);
     end
     function self = AttitudeQuaternionEKF(varargin)
-      self@iDynTree.IAttitudeEstimator(SwigRef.Null);
-      self@iDynTree.DiscreteExtendedKalmanFilterHelper(SwigRef.Null);
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+      self@iDynTree.IAttitudeEstimator(iDynTreeSwigRef.Null);
+      self@iDynTree.DiscreteExtendedKalmanFilterHelper(iDynTreeSwigRef.Null);
+      if nargin==1 && strcmp(class(varargin{1}),'iDynTreeSwigRef')
         if ~isnull(varargin{1})
           self.swigPtr = varargin{1}.swigPtr;
         end

diff --git a/bindings/matlab/autogenerated/+iDynTree/AttitudeQuaternionEKFParameters.m b/bindings/matlab/autogenerated/+iDynTree/AttitudeQuaternionEKFParameters.m
@@ -1,4 +1,4 @@
-classdef AttitudeQuaternionEKFParameters < SwigRef
+classdef AttitudeQuaternionEKFParameters < iDynTreeSwigRef
   methods
     function this = swig_this(self)
       this = iDynTreeMEX(3, self);
@@ -104,7 +104,7 @@
       end
     end
     function self = AttitudeQuaternionEKFParameters(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+      if nargin==1 && strcmp(class(varargin{1}),'iDynTreeSwigRef')
         if ~isnull(varargin{1})
           self.swigPtr = varargin{1}.swigPtr;
         end

diff --git a/bindings/matlab/autogenerated/+iDynTree/Axis.m b/bindings/matlab/autogenerated/+iDynTree/Axis.m
@@ -1,10 +1,10 @@
-classdef Axis < SwigRef
+classdef Axis < iDynTreeSwigRef
   methods
     function this = swig_this(self)
       this = iDynTreeMEX(3, self);
     end
     function self = Axis(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+      if nargin==1 && strcmp(class(varargin{1}),'iDynTreeSwigRef')
         if ~isnull(varargin{1})
           self.swigPtr = varargin{1}.swigPtr;
         end

diff --git a/bindings/matlab/autogenerated/+iDynTree/BerdyDynamicVariable.m b/bindings/matlab/autogenerated/+iDynTree/BerdyDynamicVariable.m
@@ -1,4 +1,4 @@
-classdef BerdyDynamicVariable < SwigRef
+classdef BerdyDynamicVariable < iDynTreeSwigRef
   methods
     function this = swig_this(self)
       this = iDynTreeMEX(3, self);
@@ -40,7 +40,7 @@
       [varargout{1:nargout}] = iDynTreeMEX(1540, self, varargin{:});
     end
     function self = BerdyDynamicVariable(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+      if nargin==1 && strcmp(class(varargin{1}),'iDynTreeSwigRef')
         if ~isnull(varargin{1})
           self.swigPtr = varargin{1}.swigPtr;
         end

diff --git a/bindings/matlab/autogenerated/+iDynTree/BerdyDynamicVariables.m b/bindings/matlab/autogenerated/+iDynTree/BerdyDynamicVariables.m
@@ -1,4 +1,4 @@
-classdef BerdyDynamicVariables < SwigRef
+classdef BerdyDynamicVariables < iDynTreeSwigRef
   methods
     function this = swig_this(self)
       this = iDynTreeMEX(3, self);
@@ -49,7 +49,7 @@
       [varargout{1:nargout}] = iDynTreeMEX(110, self, varargin{:});
     end
     function self = BerdyDynamicVariables(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+      if nargin==1 && strcmp(class(varargin{1}),'iDynTreeSwigRef')
         if ~isnull(varargin{1})
           self.swigPtr = varargin{1}.swigPtr;
         end

diff --git a/bindings/matlab/autogenerated/+iDynTree/BerdyHelper.m b/bindings/matlab/autogenerated/+iDynTree/BerdyHelper.m
@@ -1,10 +1,10 @@
-classdef BerdyHelper < SwigRef
+classdef BerdyHelper < iDynTreeSwigRef
   methods
     function this = swig_this(self)
       this = iDynTreeMEX(3, self);
     end
     function self = BerdyHelper(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+      if nargin==1 && strcmp(class(varargin{1}),'iDynTreeSwigRef')
         if ~isnull(varargin{1})
           self.swigPtr = varargin{1}.swigPtr;
         end

diff --git a/bindings/matlab/autogenerated/+iDynTree/BerdyOptions.m b/bindings/matlab/autogenerated/+iDynTree/BerdyOptions.m
@@ -1,10 +1,10 @@
-classdef BerdyOptions < SwigRef
+classdef BerdyOptions < iDynTreeSwigRef
   methods
     function this = swig_this(self)
       this = iDynTreeMEX(3, self);
     end
     function self = BerdyOptions(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+      if nargin==1 && strcmp(class(varargin{1}),'iDynTreeSwigRef')
         if ~isnull(varargin{1})
           self.swigPtr = varargin{1}.swigPtr;
         end

diff --git a/bindings/matlab/autogenerated/+iDynTree/BerdySensor.m b/bindings/matlab/autogenerated/+iDynTree/BerdySensor.m
@@ -1,4 +1,4 @@
-classdef BerdySensor < SwigRef
+classdef BerdySensor < iDynTreeSwigRef
   methods
     function this = swig_this(self)
       this = iDynTreeMEX(3, self);
@@ -40,7 +40,7 @@
       [varargout{1:nargout}] = iDynTreeMEX(1530, self, varargin{:});
     end
     function self = BerdySensor(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+      if nargin==1 && strcmp(class(varargin{1}),'iDynTreeSwigRef')
         if ~isnull(varargin{1})
           self.swigPtr = varargin{1}.swigPtr;
         end

diff --git a/bindings/matlab/autogenerated/+iDynTree/BerdySensors.m b/bindings/matlab/autogenerated/+iDynTree/BerdySensors.m
@@ -1,4 +1,4 @@
-classdef BerdySensors < SwigRef
+classdef BerdySensors < iDynTreeSwigRef
   methods
     function this = swig_this(self)
       this = iDynTreeMEX(3, self);
@@ -49,7 +49,7 @@
       [varargout{1:nargout}] = iDynTreeMEX(85, self, varargin{:});
     end
     function self = BerdySensors(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+      if nargin==1 && strcmp(class(varargin{1}),'iDynTreeSwigRef')
         if ~isnull(varargin{1})
           self.swigPtr = varargin{1}.swigPtr;
         end

diff --git a/bindings/matlab/autogenerated/+iDynTree/BerdySparseMAPSolver.m b/bindings/matlab/autogenerated/+iDynTree/BerdySparseMAPSolver.m
@@ -1,10 +1,10 @@
-classdef BerdySparseMAPSolver < SwigRef
+classdef BerdySparseMAPSolver < iDynTreeSwigRef
   methods
     function this = swig_this(self)
       this = iDynTreeMEX(3, self);
     end
     function self = BerdySparseMAPSolver(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+      if nargin==1 && strcmp(class(varargin{1}),'iDynTreeSwigRef')
         if ~isnull(varargin{1})
           self.swigPtr = varargin{1}.swigPtr;
         end

diff --git a/bindings/matlab/autogenerated/+iDynTree/Box.m b/bindings/matlab/autogenerated/+iDynTree/Box.m
@@ -28,8 +28,8 @@ function delete(self)
       [varargout{1:nargout}] = iDynTreeMEX(1016, self, varargin{:});
     end
     function self = Box(varargin)
-      self@iDynTree.SolidShape(SwigRef.Null);
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+      self@iDynTree.SolidShape(iDynTreeSwigRef.Null);
+      if nargin==1 && strcmp(class(varargin{1}),'iDynTreeSwigRef')
         if ~isnull(varargin{1})
           self.swigPtr = varargin{1}.swigPtr;
         end

diff --git a/bindings/matlab/autogenerated/+iDynTree/ClassicalAcc.m b/bindings/matlab/autogenerated/+iDynTree/ClassicalAcc.m
@@ -1,8 +1,8 @@
 classdef ClassicalAcc < iDynTree.Vector6
   methods
     function self = ClassicalAcc(varargin)
-      self@iDynTree.Vector6(SwigRef.Null);
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+      self@iDynTree.Vector6(iDynTreeSwigRef.Null);
+      if nargin==1 && strcmp(class(varargin{1}),'iDynTreeSwigRef')
         if ~isnull(varargin{1})
           self.swigPtr = varargin{1}.swigPtr;
         end

diff --git a/bindings/matlab/autogenerated/+iDynTree/ColorViz.m b/bindings/matlab/autogenerated/+iDynTree/ColorViz.m
@@ -1,4 +1,4 @@
-classdef ColorViz < SwigRef
+classdef ColorViz < iDynTreeSwigRef
   methods
     function this = swig_this(self)
       this = iDynTreeMEX(3, self);
@@ -44,7 +44,7 @@
       end
     end
     function self = ColorViz(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+      if nargin==1 && strcmp(class(varargin{1}),'iDynTreeSwigRef')
         if ~isnull(varargin{1})
           self.swigPtr = varargin{1}.swigPtr;
         end

diff --git a/bindings/matlab/autogenerated/+iDynTree/ContactWrench.m b/bindings/matlab/autogenerated/+iDynTree/ContactWrench.m
@@ -1,4 +1,4 @@
-classdef ContactWrench < SwigRef
+classdef ContactWrench < iDynTreeSwigRef
   methods
     function this = swig_this(self)
       this = iDynTreeMEX(3, self);
@@ -13,7 +13,7 @@
       [varargout{1:nargout}] = iDynTreeMEX(1141, self, varargin{:});
     end
     function self = ContactWrench(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+      if nargin==1 && strcmp(class(varargin{1}),'iDynTreeSwigRef')
         if ~isnull(varargin{1})
           self.swigPtr = varargin{1}.swigPtr;
         end