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Shorten header structure and merge Model and Sensors libraries #1104

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merged 16 commits into from
Sep 6, 2023
Merged

Shorten header structure and merge Model and Sensors libraries #1104

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cf3be47
Shorten header structure for Core component
traversaro Sep 6, 2023
385808c
Shorten header structure for Model and Sensors and merge Model and Se…
traversaro Sep 6, 2023
6584e34
Shorten header structure for ModelIO component
traversaro Sep 6, 2023
8e6b644
Shorten header structure for Estimation component
traversaro Sep 6, 2023
5e69784
Shorten header structure for yarp component
traversaro Sep 6, 2023
efba34e
Remove use of deprecated target idyntree-sensors
traversaro Sep 6, 2023
2067257
Remove use of deprecated iDynTree/Core headers
traversaro Sep 6, 2023
0bd9fd1
Remove use of deprecated iDynTree/Model headers
traversaro Sep 6, 2023
f00b38f
Remove use of deprecated iDynTree/Sensors headers
traversaro Sep 6, 2023
ca87b91
Remove use of deprecated iDynTree/ModelO headers
traversaro Sep 6, 2023
ead5c07
Remove use of deprecated iDynTree/Estimation headers
traversaro Sep 6, 2023
d410034
Remove use of deprecated iDynTree/yarp headers
traversaro Sep 6, 2023
8b590e0
Fix warning message in deprecated headers
traversaro Sep 6, 2023
14a31a0
Move ReducedModelWithFT to Integration tests as Model does not depend…
traversaro Sep 6, 2023
aac2b2a
Fix installaton of Estimation deprecated headers
traversaro Sep 6, 2023
d506e09
Update changelog with shorter header path information
traversaro Sep 6, 2023
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7 changes: 7 additions & 0 deletions CHANGELOG.md
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Expand Up @@ -17,6 +17,13 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0

- The license of the library is changed to `BSD-3-Clause` (https://github.com/robotology/idyntree/pull/1089).
- The `iDynTree::ModelExporterOptions` class was changed to be defined as a struct (https://github.com/robotology/idyntree/pull/1088).
- The header structure has been shortened, from `<iDynTree/@component@/@headername@.h>` to `<iDynTree/@headername@.h>` (https://github.com/robotology/idyntree/pull/1104).
- `iDynTree::idyntree-sensors` library has been merged in `iDynTree::idyntree-model` (https://github.com/robotology/idyntree/pull/1104).

### Deprecated

- Linking `iDynTree::idyntree-sensors` is deprecated, you can just link `iDynTree::idyntree-model` instead, or just search and replace `iDynTree::idyntree-sensors` with an empty string if you are already linking `iDynTree::idyntree-model` (https://github.com/robotology/idyntree/pull/1104).
- Including `<iDynTree/Core/@headername@.h>`, `<iDynTree/Model/@headername@.h>`, `<iDynTree/Sensors/@headername@.h>`, `<iDynTree/ModelIO/@headername@.h>`, `<iDynTree/Estimation/@headername@.h>`, `<iDynTree/yarp/@headername@.h>` is deprecated, just include `<iDynTree/@headername@.h>` . To perform this migration, just search and replace `<iDynTree/Core/` with `<iDynTree/`, `<iDynTree/Model/` with `<iDynTree/`, `<iDynTree/Sensors/` with `<iDynTree/`, `<iDynTree/ModelIO/` with `<iDynTree/`, `<iDynTree/Estimation/` with `<iDynTree/`, `<iDynTree/yarp/` with `<iDynTree/` (https://github.com/robotology/idyntree/pull/1104).


## [9.1.0] - 2023-05-25
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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -9,7 +9,7 @@ The **major characteristic features** of iDynTree are:
* It contains support for **reading and writing URDF files** from a `iDynTree::Model`, making it useful to write tools that modify robot models and saves them back to file. This is done as iDynTree was meant to develop **tools for identification of kinematics and dynamics parameters**.
* It defaults to use the **mixed representation** to represent link quantities (including the velocity and acceleration of the base link), but it can optionally use also **body (left-trivialized)** or **inertial (right-trivialized)** representation if requested. This is done because iDynTree was developed to satisfy the needs of **research in synthesis of floating-base whole-body controllers**. If you are not familiar with the different representation for 6D quantities, check [Section 6 of "Multibody dynamics notation (version 2)"](
https://pure.tue.nl/ws/portalfiles/portal/139293126/A_Multibody_Dynamics_Notation_Revision_2_.pdf).
* It contains an implementation of the algorithm used in the iCub humanoid robot to **estimate the joint torques without the need of collocated joint torque sensors**, exploting the specific **undirected graph data structure** . This is done as this was one of the originally goal for the implementation of iDynTree. See the class [`iDynTree::ExtWrenchesAndJointTorquesEstimator`](https://github.com/robotology/idyntree/blob/master/src/estimation/include/iDynTree/Estimation/ExtWrenchesAndJointTorquesEstimator.h) and [Chapter 6 of "Modelling, Estimation and Identification of Humanoid Robots Dynamics"](https://traversaro.github.io/traversaro-phd-thesis/traversaro-phd-thesis.pdf).
* It contains an implementation of the algorithm used in the iCub humanoid robot to **estimate the joint torques without the need of collocated joint torque sensors**, exploting the specific **undirected graph data structure** . This is done as this was one of the originally goal for the implementation of iDynTree. See the class [`iDynTree::ExtWrenchesAndJointTorquesEstimator`](https://github.com/robotology/idyntree/blob/master/src/estimation/include/iDynTree/ExtWrenchesAndJointTorquesEstimator.h) and [Chapter 6 of "Modelling, Estimation and Identification of Humanoid Robots Dynamics"](https://traversaro.github.io/traversaro-phd-thesis/traversaro-phd-thesis.pdf).

To avoid confusion, it is also useful to clarify what **iDynTree is not**:
* It is not the **fastest C++ library** for kinematics and dynamics multibody computations for robotics. It is not slow, but if have an application in which you need the absolute fastest library, check out [Pinocchio](https://github.com/stack-of-tasks/pinocchio).
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278 changes: 139 additions & 139 deletions bindings/iDynTree.i
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Expand Up @@ -38,94 +38,94 @@
#include <cmath>

//Utils
#include "iDynTree/Core/Utils.h"
#include "iDynTree/Utils.h"

// Basic math classes
#include "iDynTree/Core/MatrixDynSize.h"
#include "iDynTree/Core/MatrixFixSize.h"
#include "iDynTree/Core/SparseMatrix.h"
#include "iDynTree/MatrixDynSize.h"
#include "iDynTree/MatrixFixSize.h"
#include "iDynTree/SparseMatrix.h"

#include "iDynTree/Core/VectorDynSize.h"
#include "iDynTree/Core/VectorFixSize.h"
#include "iDynTree/VectorDynSize.h"
#include "iDynTree/VectorFixSize.h"

// Basic Vectors: Point Vectors and Spatial Vectors
#include "iDynTree/Core/PositionRaw.h"
#include "iDynTree/Core/Position.h"
#include "iDynTree/Core/SpatialForceVector.h"
#include "iDynTree/Core/SpatialMotionVector.h"
#include "iDynTree/Core/Twist.h"
#include "iDynTree/Core/Wrench.h"
#include "iDynTree/Core/SpatialMomentum.h"
#include "iDynTree/Core/SpatialAcc.h"
#include "iDynTree/Core/ClassicalAcc.h"
#include "iDynTree/Core/Direction.h"
#include "iDynTree/Core/Axis.h"
#include "iDynTree/PositionRaw.h"
#include "iDynTree/Position.h"
#include "iDynTree/SpatialForceVector.h"
#include "iDynTree/SpatialMotionVector.h"
#include "iDynTree/Twist.h"
#include "iDynTree/Wrench.h"
#include "iDynTree/SpatialMomentum.h"
#include "iDynTree/SpatialAcc.h"
#include "iDynTree/ClassicalAcc.h"
#include "iDynTree/Direction.h"
#include "iDynTree/Axis.h"

// Inertias
#include "iDynTree/Core/RotationalInertiaRaw.h"
#include "iDynTree/Core/SpatialInertiaRaw.h"
#include "iDynTree/Core/SpatialInertia.h"
#include "iDynTree/Core/ArticulatedBodyInertia.h"
#include "iDynTree/Core/InertiaNonLinearParametrization.h"
#include "iDynTree/RotationalInertiaRaw.h"
#include "iDynTree/SpatialInertiaRaw.h"
#include "iDynTree/SpatialInertia.h"
#include "iDynTree/ArticulatedBodyInertia.h"
#include "iDynTree/InertiaNonLinearParametrization.h"

// Transformations: Rotation and Transform
#include "iDynTree/Core/RotationRaw.h"
#include "iDynTree/Core/Rotation.h"
#include "iDynTree/Core/Transform.h"
#include "iDynTree/Core/TransformDerivative.h"
#include "iDynTree/Core/Span.h"
#include "iDynTree/RotationRaw.h"
#include "iDynTree/Rotation.h"
#include "iDynTree/Transform.h"
#include "iDynTree/TransformDerivative.h"
#include "iDynTree/Span.h"

// Model related data structures
#include "iDynTree/Model/Indices.h"
#include "iDynTree/Model/LinkState.h"
#include "iDynTree/Model/Link.h"
#include "iDynTree/Model/IJoint.h"
#include "iDynTree/Model/FixedJoint.h"
#include "iDynTree/Model/MovableJointImpl.h"
#include "iDynTree/Model/RevoluteJoint.h"
#include "iDynTree/Model/PrismaticJoint.h"
#include "iDynTree/Model/Traversal.h"
#include "iDynTree/Model/SolidShapes.h"
#include "iDynTree/Model/Model.h"
#include "iDynTree/Model/JointState.h"
#include "iDynTree/Model/FreeFloatingMatrices.h"
#include "iDynTree/Model/FreeFloatingState.h"
#include "iDynTree/Model/ContactWrench.h"
#include "iDynTree/Model/ModelTestUtils.h"
#include "iDynTree/Model/ModelTransformers.h"
#include "iDynTree/Model/SubModel.h"
#include "iDynTree/Indices.h"
#include "iDynTree/LinkState.h"
#include "iDynTree/Link.h"
#include "iDynTree/IJoint.h"
#include "iDynTree/FixedJoint.h"
#include "iDynTree/MovableJointImpl.h"
#include "iDynTree/RevoluteJoint.h"
#include "iDynTree/PrismaticJoint.h"
#include "iDynTree/Traversal.h"
#include "iDynTree/SolidShapes.h"
#include "iDynTree/Model.h"
#include "iDynTree/JointState.h"
#include "iDynTree/FreeFloatingMatrices.h"
#include "iDynTree/FreeFloatingState.h"
#include "iDynTree/ContactWrench.h"
#include "iDynTree/ModelTestUtils.h"
#include "iDynTree/ModelTransformers.h"
#include "iDynTree/SubModel.h"

// Kinematics & Dynamics related functions
#include "iDynTree/Model/ForwardKinematics.h"
#include "iDynTree/Model/Dynamics.h"
#include "iDynTree/Model/DenavitHartenberg.h"
#include "iDynTree/ForwardKinematics.h"
#include "iDynTree/Dynamics.h"
#include "iDynTree/DenavitHartenberg.h"

// Sensors related data structures
#include "iDynTree/Sensors/Sensors.h"
#include "iDynTree/Sensors/SixAxisForceTorqueSensor.h"
#include "iDynTree/Sensors/AccelerometerSensor.h"
#include "iDynTree/Sensors/GyroscopeSensor.h"
#include "iDynTree/Sensors/ThreeAxisAngularAccelerometerSensor.h"
#include "iDynTree/Sensors/ThreeAxisForceTorqueContactSensor.h"
#include "iDynTree/Sensors/PredictSensorsMeasurements.h"
#include "iDynTree/Sensors.h"
#include "iDynTree/SixAxisForceTorqueSensor.h"
#include "iDynTree/AccelerometerSensor.h"
#include "iDynTree/GyroscopeSensor.h"
#include "iDynTree/ThreeAxisAngularAccelerometerSensor.h"
#include "iDynTree/ThreeAxisForceTorqueContactSensor.h"
#include "iDynTree/PredictSensorsMeasurements.h"

// Model loading from external formats
#include "iDynTree/ModelIO/URDFDofsImport.h"
#include "iDynTree/ModelIO/ModelLoader.h"
#include "iDynTree/ModelIO/ModelExporter.h"
#include "iDynTree/ModelIO/ModelCalibrationHelper.h"
#include "iDynTree/URDFDofsImport.h"
#include "iDynTree/ModelLoader.h"
#include "iDynTree/ModelExporter.h"
#include "iDynTree/ModelCalibrationHelper.h"


// Estimation related classes
#include "iDynTree/Estimation/ExternalWrenchesEstimation.h"
#include "iDynTree/Estimation/ExtWrenchesAndJointTorquesEstimator.h"
#include "iDynTree/Estimation/SimpleLeggedOdometry.h"
#include "iDynTree/Estimation/BerdyHelper.h"
#include "iDynTree/Estimation/BerdySparseMAPSolver.h"
#include "iDynTree/Estimation/AttitudeEstimator.h"
#include "iDynTree/Estimation/AttitudeMahonyFilter.h"
#include "iDynTree/Estimation/ExtendedKalmanFilter.h"
#include "iDynTree/Estimation/AttitudeQuaternionEKF.h"
#include "iDynTree/ExternalWrenchesEstimation.h"
#include "iDynTree/ExtWrenchesAndJointTorquesEstimator.h"
#include "iDynTree/SimpleLeggedOdometry.h"
#include "iDynTree/BerdyHelper.h"
#include "iDynTree/BerdySparseMAPSolver.h"
#include "iDynTree/AttitudeEstimator.h"
#include "iDynTree/AttitudeMahonyFilter.h"
#include "iDynTree/ExtendedKalmanFilter.h"
#include "iDynTree/AttitudeQuaternionEKF.h"

// SolidShapes related classes
#include "iDynTree/InertialParametersSolidShapesHelpers.h"
Expand All @@ -149,19 +149,19 @@ namespace std {
}

//Utils
%include "iDynTree/Core/Utils.h"
%include "iDynTree/Utils.h"

/* Note : always include headers following the inheritance order */
// Basic math classes
%include "iDynTree/Core/MatrixDynSize.h"
%include "iDynTree/Core/MatrixFixSize.h"
%include "iDynTree/Core/SparseMatrix.h"
%include "iDynTree/MatrixDynSize.h"
%include "iDynTree/MatrixFixSize.h"
%include "iDynTree/SparseMatrix.h"
%template(SparseMatrixRowMajor) iDynTree::SparseMatrix<iDynTree::RowMajor>;
%template(SparseMatrixColMajor) iDynTree::SparseMatrix<iDynTree::ColumnMajor>;


%include "iDynTree/Core/VectorDynSize.h"
%include "iDynTree/Core/VectorFixSize.h"
%include "iDynTree/VectorDynSize.h"
%include "iDynTree/VectorFixSize.h"

#ifdef SWIGMATLAB
%include "./matlab/matlab_matvec.i"
Expand All @@ -186,12 +186,12 @@ namespace std {
%template(Vector16) iDynTree::VectorFixSize<16>;

// Basic Vectors: Point Vectors and Spatial Vectors
%include "iDynTree/Core/PositionRaw.h"
%include "iDynTree/Core/Position.h"
%include "iDynTree/PositionRaw.h"
%include "iDynTree/Position.h"

%include "iDynTree/Core/GeomVector3.h"
%include "iDynTree/GeomVector3.h"

%include "iDynTree/Core/SpatialVector.h"
%include "iDynTree/SpatialVector.h"

%template() iDynTree::DualSpace<iDynTree::SpatialMotionVector>;
%template() iDynTree::DualSpace<iDynTree::SpatialForceVector>;
Expand All @@ -207,41 +207,41 @@ namespace std {
%template(SpatialMotionVectorBase) iDynTree::SpatialVector<iDynTree::SpatialMotionVector>;
%template(SpatialForceVectorBase) iDynTree::SpatialVector<iDynTree::SpatialForceVector>;

%include "iDynTree/Core/SpatialMotionVector.h"
%include "iDynTree/Core/SpatialForceVector.h"
%include "iDynTree/Core/Twist.h"
%include "iDynTree/Core/Wrench.h"
%include "iDynTree/Core/SpatialMomentum.h"
%include "iDynTree/Core/SpatialAcc.h"
%include "iDynTree/Core/ClassicalAcc.h"
%include "iDynTree/Core/Direction.h"
%include "iDynTree/Core/Axis.h"
%include "iDynTree/SpatialMotionVector.h"
%include "iDynTree/SpatialForceVector.h"
%include "iDynTree/Twist.h"
%include "iDynTree/Wrench.h"
%include "iDynTree/SpatialMomentum.h"
%include "iDynTree/SpatialAcc.h"
%include "iDynTree/ClassicalAcc.h"
%include "iDynTree/Direction.h"
%include "iDynTree/Axis.h"

// Inertias
%include "iDynTree/Core/RotationalInertiaRaw.h"
%include "iDynTree/Core/SpatialInertiaRaw.h"
%include "iDynTree/Core/SpatialInertia.h"
%include "iDynTree/Core/ArticulatedBodyInertia.h"
%include "iDynTree/Core/InertiaNonLinearParametrization.h"
%include "iDynTree/RotationalInertiaRaw.h"
%include "iDynTree/SpatialInertiaRaw.h"
%include "iDynTree/SpatialInertia.h"
%include "iDynTree/ArticulatedBodyInertia.h"
%include "iDynTree/InertiaNonLinearParametrization.h"

// Transformations: Rotation and Transform
%include "iDynTree/Core/RotationRaw.h"
%include "iDynTree/Core/Rotation.h"
%include "iDynTree/Core/Transform.h"
%include "iDynTree/Core/TransformDerivative.h"
%include "iDynTree/Core/Span.h"
%include "iDynTree/Core/MatrixView.h"
%include "iDynTree/RotationRaw.h"
%include "iDynTree/Rotation.h"
%include "iDynTree/Transform.h"
%include "iDynTree/TransformDerivative.h"
%include "iDynTree/Span.h"
%include "iDynTree/MatrixView.h"

%template(DynamicSpan) iDynTree::Span<double, iDynTree::dynamic_extent>;
%template(DynamicMatrixView) iDynTree::MatrixView<double>;

// Model related data structures
%include "iDynTree/Model/Indices.h"
%include "iDynTree/Model/LinkState.h"
%include "iDynTree/Model/Link.h"
%include "iDynTree/Model/IJoint.h"
%include "iDynTree/Model/FixedJoint.h"
%include "iDynTree/Model/MovableJointImpl.h"
%include "iDynTree/Indices.h"
%include "iDynTree/LinkState.h"
%include "iDynTree/Link.h"
%include "iDynTree/IJoint.h"
%include "iDynTree/FixedJoint.h"
%include "iDynTree/MovableJointImpl.h"

%template(MovableJointImpl1) iDynTree::MovableJointImpl<1,1>;
%template(MovableJointImpl2) iDynTree::MovableJointImpl<2,2>;
Expand All @@ -250,18 +250,18 @@ namespace std {
%template(MovableJointImpl5) iDynTree::MovableJointImpl<5,5>;
%template(MovableJointImpl6) iDynTree::MovableJointImpl<6,6>;

%include "iDynTree/Model/RevoluteJoint.h"
%include "iDynTree/Model/PrismaticJoint.h"
%include "iDynTree/Model/Traversal.h"
%include "iDynTree/Model/SolidShapes.h"
%include "iDynTree/Model/Model.h"
%include "iDynTree/Model/JointState.h"
%include "iDynTree/Model/FreeFloatingMatrices.h"
%include "iDynTree/Model/FreeFloatingState.h"
%include "iDynTree/Model/ContactWrench.h"
%include "iDynTree/Model/ModelTestUtils.h"
%include "iDynTree/Model/ModelTransformers.h"
%include "iDynTree/Model/SubModel.h"
%include "iDynTree/RevoluteJoint.h"
%include "iDynTree/PrismaticJoint.h"
%include "iDynTree/Traversal.h"
%include "iDynTree/SolidShapes.h"
%include "iDynTree/Model.h"
%include "iDynTree/JointState.h"
%include "iDynTree/FreeFloatingMatrices.h"
%include "iDynTree/FreeFloatingState.h"
%include "iDynTree/ContactWrench.h"
%include "iDynTree/ModelTestUtils.h"
%include "iDynTree/ModelTransformers.h"
%include "iDynTree/SubModel.h"

%include "joints.i"

Expand All @@ -270,37 +270,37 @@ namespace std {


// Kinematics & Dynamics related functions
%include "iDynTree/Model/ForwardKinematics.h"
%include "iDynTree/Model/Dynamics.h"
%include "iDynTree/Model/DenavitHartenberg.h"
%include "iDynTree/ForwardKinematics.h"
%include "iDynTree/Dynamics.h"
%include "iDynTree/DenavitHartenberg.h"

// Sensors related data structures
%include "iDynTree/Sensors/Sensors.h"
%include "iDynTree/Sensors/SixAxisForceTorqueSensor.h"
%include "iDynTree/Sensors/AccelerometerSensor.h"
%include "iDynTree/Sensors/GyroscopeSensor.h"
%include "iDynTree/Sensors/ThreeAxisAngularAccelerometerSensor.h"
%include "iDynTree/Sensors/ThreeAxisForceTorqueContactSensor.h"
%include "iDynTree/Sensors/PredictSensorsMeasurements.h"
%include "iDynTree/Sensors.h"
%include "iDynTree/SixAxisForceTorqueSensor.h"
%include "iDynTree/AccelerometerSensor.h"
%include "iDynTree/GyroscopeSensor.h"
%include "iDynTree/ThreeAxisAngularAccelerometerSensor.h"
%include "iDynTree/ThreeAxisForceTorqueContactSensor.h"
%include "iDynTree/PredictSensorsMeasurements.h"

%include "sensors.i"

// Model loading from external formats
%include "iDynTree/ModelIO/URDFDofsImport.h"
%include "iDynTree/ModelIO/ModelLoader.h"
%include "iDynTree/ModelIO/ModelExporter.h"
%include "iDynTree/ModelIO/ModelCalibrationHelper.h"
%include "iDynTree/URDFDofsImport.h"
%include "iDynTree/ModelLoader.h"
%include "iDynTree/ModelExporter.h"
%include "iDynTree/ModelCalibrationHelper.h"

// Estimation related classes
%include "iDynTree/Estimation/ExternalWrenchesEstimation.h"
%include "iDynTree/Estimation/ExtWrenchesAndJointTorquesEstimator.h"
%include "iDynTree/Estimation/SimpleLeggedOdometry.h"
%include "iDynTree/Estimation/BerdyHelper.h"
%include "iDynTree/Estimation/BerdySparseMAPSolver.h"
%include "iDynTree/Estimation/AttitudeEstimator.h"
%include "iDynTree/Estimation/AttitudeMahonyFilter.h"
%include "iDynTree/Estimation/ExtendedKalmanFilter.h"
%include "iDynTree/Estimation/AttitudeQuaternionEKF.h"
%include "iDynTree/ExternalWrenchesEstimation.h"
%include "iDynTree/ExtWrenchesAndJointTorquesEstimator.h"
%include "iDynTree/SimpleLeggedOdometry.h"
%include "iDynTree/BerdyHelper.h"
%include "iDynTree/BerdySparseMAPSolver.h"
%include "iDynTree/AttitudeEstimator.h"
%include "iDynTree/AttitudeMahonyFilter.h"
%include "iDynTree/ExtendedKalmanFilter.h"
%include "iDynTree/AttitudeQuaternionEKF.h"

// SolidShapes related classes
%include "iDynTree/InertialParametersSolidShapesHelpers.h"
Expand Down
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