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MATLAB bindings: add iDynTree prefix to SwigRef, SwigMem and SwigGet to avoid conflicts with CasADi #868

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merged 6 commits into from
May 15, 2021
Merged

MATLAB bindings: add iDynTree prefix to SwigRef, SwigMem and SwigGet to avoid conflicts with CasADi #868

merged 6 commits into from
May 15, 2021

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traversaro
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Fix #865 . The main difference with respect to the past that after you generate the bindings via CMake passing the IDYNTREE_GENERATE_MATLAB option, you also need to navigate to the bindings/matlab directory and run the appropriate script:

cd bindings/matlab
./fix_generic_names_in_autogenerated_files.sh

However, given that this step is now done automatically by the regenerate-matlab-bindings GitHub Action, this additional step should not be particularly problematic.

@traversaro
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The test is still failing on Octave via CI;

120/120 Test #120: octave_idyntree_tests ..........................................***Failed    0.24 sec
suite: 7 tests
   failure: test_span:  /home/runner/work/idyntree/idyntree/bindings/matlab/tests/EKFTest.m
   failure: test_span_qekf:  /home/runner/work/idyntree/idyntree/bindings/matlab/tests/EKFTest.m
   failure: test_momentum_invariance:  /home/runner/work/idyntree/idyntree/bindings/matlab/tests/InertiaUnitTest.m
   failure: test_joint_constructor:  /home/runner/work/idyntree/idyntree/bindings/matlab/tests/JointUnitTest.m
   failure: test_sparse_matrices:  /home/runner/work/idyntree/idyntree/bindings/matlab/tests/MatrixUnitTest.m
   failure: test_pos_twist_wrench_invariance:  /home/runner/work/idyntree/idyntree/bindings/matlab/tests/TransformUnitTest.m
Errors while running CTest
1/28: testing loadReducedModel...
[loadReducedModel]: loading the following model: ./model.urdf
[High Level Wappers]: test failed. Message: 

  scalar structure containing the fields:

    message = iDynTreeMEX: Cannot allocate pointer
    identifier = SWIG:NewPointerObj
    stack =

      9x1 struct array containing the fields:

        file
        name
        line
        column
        scope
        context

   failure: test__high_level_wrappers:  /home/runner/work/idyntree/idyntree/bindings/matlab/tests/highLevelWrappersSmokeTest.m

--------------------------------------------------

failure: iDynTreeMEX: Cannot allocate pointer
  Vector3:12 (/home/runner/work/idyntree/idyntree/bindings/matlab/autogenerated/+iDynTree/Vector3.m)
  EKFTest>test_span:5 (/home/runner/work/idyntree/idyntree/bindings/matlab/tests/EKFTest.m)
  run:24 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/@MOxUnitFunctionHandleTestCase/run.m)
  run:53 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/@MOxUnitTestSuite/run.m)
  run:53 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/@MOxUnitTestSuite/run.m)
  run_all_tests>@<anonymous>:114 ()
  moxunit_runtests>run_all_tests:162 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/moxunit_runtests.m)
  moxunit_runtests:99 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/moxunit_runtests.m)

failure: iDynTreeMEX: Cannot allocate pointer
  AttitudeQuaternionEKF:14 (/home/runner/work/idyntree/idyntree/bindings/matlab/autogenerated/+iDynTree/AttitudeQuaternionEKF.m)
  EKFTest>test_span_qekf:18 (/home/runner/work/idyntree/idyntree/bindings/matlab/tests/EKFTest.m)
  run:24 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/@MOxUnitFunctionHandleTestCase/run.m)
  run:53 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/@MOxUnitTestSuite/run.m)
  run:53 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/@MOxUnitTestSuite/run.m)
  run_all_tests>@<anonymous>:114 ()
  moxunit_runtests>run_all_tests:162 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/moxunit_runtests.m)
  moxunit_runtests:99 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/moxunit_runtests.m)

failure: iDynTreeMEX: Cannot allocate pointer
  Twist:10 (/home/runner/work/idyntree/idyntree/bindings/matlab/autogenerated/+iDynTree/Twist.m)
  InertiaUnitTest>test_momentum_invariance:7 (/home/runner/work/idyntree/idyntree/bindings/matlab/tests/InertiaUnitTest.m)
  run:24 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/@MOxUnitFunctionHandleTestCase/run.m)
  run:53 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/@MOxUnitTestSuite/run.m)
  run:53 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/@MOxUnitTestSuite/run.m)
  run_all_tests>@<anonymous>:114 ()
  moxunit_runtests>run_all_tests:162 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/moxunit_runtests.m)
  moxunit_runtests:99 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/moxunit_runtests.m)

failure: iDynTreeMEX: Cannot allocate pointer
  Wrench:10 (/home/runner/work/idyntree/idyntree/bindings/matlab/autogenerated/+iDynTree/Wrench.m)
  JointUnitTest>test_joint_constructor:5 (/home/runner/work/idyntree/idyntree/bindings/matlab/tests/JointUnitTest.m)
  run:24 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/@MOxUnitFunctionHandleTestCase/run.m)
  run:53 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/@MOxUnitTestSuite/run.m)
  run:53 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/@MOxUnitTestSuite/run.m)
  run_all_tests>@<anonymous>:114 ()
  moxunit_runtests>run_all_tests:162 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/moxunit_runtests.m)
  moxunit_runtests:99 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/moxunit_runtests.m)

failure: iDynTreeMEX: Cannot allocate pointer
  MatrixDynSize:12 (/home/runner/work/idyntree/idyntree/bindings/matlab/autogenerated/+iDynTree/MatrixDynSize.m)
  MatrixUnitTest>test_sparse_matrices:7 (/home/runner/work/idyntree/idyntree/bindings/matlab/tests/MatrixUnitTest.m)
  run:24 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/@MOxUnitFunctionHandleTestCase/run.m)
  run:53 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/@MOxUnitTestSuite/run.m)
  run:53 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/@MOxUnitTestSuite/run.m)
  run_all_tests>@<anonymous>:114 ()
  moxunit_runtests>run_all_tests:162 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/moxunit_runtests.m)
  moxunit_runtests:99 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/moxunit_runtests.m)

failure: iDynTreeMEX: Cannot allocate pointer
  Position:10 (/home/runner/work/idyntree/idyntree/bindings/matlab/autogenerated/+iDynTree/Position.m)
  TransformUnitTest>test_pos_twist_wrench_invariance:7 (/home/runner/work/idyntree/idyntree/bindings/matlab/tests/TransformUnitTest.m)
  run:24 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/@MOxUnitFunctionHandleTestCase/run.m)
  run:53 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/@MOxUnitTestSuite/run.m)
  run:53 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/@MOxUnitTestSuite/run.m)
  run_all_tests>@<anonymous>:114 ()
  moxunit_runtests>run_all_tests:162 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/moxunit_runtests.m)
  moxunit_runtests:99 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/moxunit_runtests.m)

failure: input does not evaluate to true

Input:0
  assertTrue:45 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/assertTrue.m)
  highLevelWrappersSmokeTest>test__high_level_wrappers:154 (/home/runner/work/idyntree/idyntree/bindings/matlab/tests/highLevelWrappersSmokeTest.m)
  run:24 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/@MOxUnitFunctionHandleTestCase/run.m)
  run:53 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/@MOxUnitTestSuite/run.m)
  run:53 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/@MOxUnitTestSuite/run.m)
  run_all_tests>@<anonymous>:114 ()
  moxunit_runtests>run_all_tests:162 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/moxunit_runtests.m)
  moxunit_runtests:99 (/home/runner/work/idyntree/idyntree/extern/MOxUnit/MOxUnit/moxunit_runtests.m)

--------------------------------------------------

FAILED (failure=7)

And @CarlottaSartore also has a similar failure in MATLAB:

Error using iDynTreeMEX
Cannot allocate pointer

 

Error in iDynTree.ExtWrenchesAndJointTorquesEstimator (line 12)
        tmp = iDynTreeMEX(1477, varargin{:});

 

Error in untitled (line 7)
estimator = iDynTree.ExtWrenchesAndJointTorquesEstimator();

@traversaro
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traversaro commented May 15, 2021 •
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The test is still failing on Octave via CI;

It appears I had forgot to push the last commit that fixed some wrong SwigMem|iDynTreeSwigMem substitutions: 391b1e6 . Now everything is working, @CarlottaSartore if you have the occasion to approve I can go on and release 3.2.0 .

CarlottaSartore
CarlottaSartore approved these changes May 15, 2021
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Thanks @traversaro !

@traversaro traversaro merged commit e8087cc into devel May 15, 2021
@traversaro traversaro deleted the fix/865 branch May 15, 2021 09:32
@traversaro traversaro mentioned this pull request May 19, 2021
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@traversaro traversaro mentioned this pull request Jul 8, 2021
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@CarlottaSartore CarlottaSartore CarlottaSartore approved these changes

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@traversaro @CarlottaSartore