A (partial) list of bug fixed and issues resolved in this release can be found here.
YARP_CONF
environment variable has been deprecated for a long time (since April 2013) and it is no longer used. Since there was not a proper warning, the warning is printed now at runtime when the variable is set. See ResourceFinder::getConfigHome()
documentation for information about paths used by YARP to detect the configuration files. If you still need to use the YARP_CONF
for some reason, you can use the YARP_CONFIG_HOME
environment variable instead.YarpPlugin
BEGIN_PLUGIN_LIBRARY
ADD_PLUGIN_NORMALIZED
PREPARE_PLUGIN
PREPARE_DEVICE
PREPARE_CARRIER
END_PLUGIN_LIBRARY
ADD_PLUGIN_LIBRARY_EXECUTABLE
YARP_ADD_PLUGIN_LIBRARY_EXECUTABLE
YARP_HAS_NAME_LIB
variable has been removed since YARP_name
is always available, and is considered a private library.include_directories(${YARP_INCLUDE_DIRS})
should no longer be required.YarpPlugin.cmake
and YarpInstallationHelpers.cmake
are now automatically included from YARPConfig.cmake
, therefore all commands defined in these files are available after find_package(YARP)
. Including them explicitly is now considered deprecated. For the same reason, adding YARP_MODULE_PATH
to the CMAKE_MODULE_PATH
variable is considered deprecated. If you need some modules not available in CMake, please consider using YCM.YARP_conf
header only library target. Formerly these files existed but they did not belong to any target.i
command is now enabled only in Debug
and DebugFull
builds.yarp::os::exit()
yarp::os::abort()
yarp::os::signal()
yarp::os::ResourceFinder::setContext(const char* contextName)
(device (device (foo bar)))
is now deprecated, use (device (foo bar))
instead.setPositionDirectMode()
, setPositionMode()
, setVelocityMode()
, setOpenLoopMode(),
setTorqueMode()`, etc.setPid(const PidControlTypeEnum& pidtype, int j, const Pid &pid)
. Currently, pidtype can be one of the following types:VOCAB_PIDTYPE_POSITION
,VOCAB_PIDTYPE_VELOCITY
,VOCAB_PIDTYPE_TORQUE
,VOCAB_PIDTYPE_CURRENT
.setTorquePid(int j, const Pid &pid)
calls setPid(VOCAB_PIDTYPE_TORQUE,int j,const PID &pid)
)IControlMode2::setControlMode(int, VOCAB_CM_XXX)
instead:IControlMode::setPositionMode(int)
IControlMode::setVelocityMode(int)
IControlMode::setTorqueMode(int)
IControlMode::setImpedancePositionMode(int)
IControlMode::setImpedanceVelocityMode(int)
IControlModeRaw
counterpartsYARP_math
can no longer be built using GSL. The CREATE_LIB_MATH_USING_GSL
option was removed. Only Eigen is supported. FindGSL.cmake
is no longer installed.YarpPlugin
YarpInstallationHelpers
yarp_configure_plugins_installation
has been introduced to simplify installation of YARP plugins when yarp_configure_external_installation
is not invoked.libYARP_rtf
to simplify the creation of unit tests using the Robot Testing Framework (RTF) and YARP. This is a slightly modified version of the RTF_YARP_utilities library in RTF 1.0. It can be enabled with the option YARP_COMPILE_RTF_ADDONS
.yarp::os
namespace:
yarp::os::Publisher
class:virtual void onRead(T &datum)
void useCallback(TypedReaderCallback< T > &callback)
void useCallback()
void disableCallback()
yarp::os::Subscriber
class:void setStrict(bool strict = true)
yarp::os::ResourceFinder
class:bool setDefaultContext(const yarp::os::ConstString& contextName)
clear()
method to PID class.yarp::os::Route
was refactored:addFromName()
addToName()
addCarrierName()
addToContact()
setFromName()
setToName()
setCarrierName()
setToContact()
swapNames()
getRgbResolution
and getRgbSupportedConfigurations
to the IRgbVisualParams
interface.yarp::dev::IJoypadController
interface and the new JoypadControlClient
and JoypadControlServer
devices.get_transform
: print the transform from src to dstlist_frames
: print all the available reference frameslist_ports
: print all the opened ports for transform broadcastingpublish_transform
: opens a port to publish transform from src to dstunpublish_transform
: closes a previously opened port to publish a transformunpublish_all
: closes a all previously opened ports to publish a transformIMap2D
interface.yarp::dev::MapGrid2D
data type.IHapticDevice
interface.yarp::sig::Vector dcm2ypr(const yarp::sig::Matrix&)
yarp::sig::Matrix ypr2dcm(const yarp::sig::Vector&)
Vec2d<>
. can be only instantiated as int or double.clear()
method.--autosize
and checkbox to force yarpview to resize whenever a frame of a different size is received.RobotDescriptionClient
to automatically get the names of robot parts.yarpmotorgui
now enforces the correct "go to home" behaviour:Calibrator
, see this comment in QA#108yarpmotorgui
documentation. #1160zfp
portmonitor for compressing floating point arrays using the ZFP library (see http://computation.llnl.gov/projects/floating-point-compression).RobotDescriptionServer
device to store devices info.RobotDescriptionClient
device. User module can ask a list of registered devices using the iRobotDescription interface.Map2DServer
to store navigation maps.Map2DClient
. User module can perform operations on the stored maps using the iMap2D
interface.SDLJoypad
device.rpLidar2
device.fakeDepthCamera
device.ServerGrabber
to handle one or two camera devices in function of the configuration.joint_names
to jointNames
like the controlBoardWrapper
. The old name is deprecated.TestFrameGrabber
was removed from libYARP_dev and it is now an optional plugin.a05fec65e7bc67cceba5c59f26881e98590fccf7
from git history.--multisample
, --no-overdrive
, --no-hqdistortion
, and --no-timewarp
) and the relative toggles were removed, since they can no longer be enabled/disabled from the SDK .--no-logo
from command line or toggle with [T]
while running). This is useful to ensure that the device is working while waiting for the connection.--no-crosshairs
from command line or toggle with [C]
while running).--no-battery
from command line or toggle with [B]
while running)controlboardwrapper2
devices that does not have the stateExt:o
port. The state:o
port in the wrapper is still available for encoder reading.ServerFrameGrabber
now implements the interface yarp::dev::IRgbVisualParams for parsing rgb camera parameters.'mode = size
option to broadcast a simple video with variable frame size.TestFrameGrabber
now implements the interface yarp::dev::IRgbVisualParams for parsing rgb camera parameters.yarpmanager
RTF Fixture Managers was imported from robotology/robot-testing, and allows one to start a fixture using yarpmanager. It can be enabled with the option YARP_COMPILE_RTF_ADDONS
.yarpplugin
RTF Fixture Managers was imported from robotology/icub-tests (Originally YarpPluginFixture), and allows one to check if a yarp plugin is available. It can be enabled with the option YARP_COMPILE_RTF_ADDONS
.yarp/os/Log.h
and yarp/os/LogStream.h
. It allows the following: FrameTransformClient::getTransform()
(#1184)FrameTransformClient
(if running without the FrameTransformServer
)FrameTransformClient
. Beware: we are currently using yarp time, not ros timestampsall
to attach to all yarprobotinterface devices (used by RobotDescriptionServer
).QT_DEVICE_PIXEL_RATIO
with Qt::AA_EnableHighDpiScaling
when supported by the installed Qt5 version. (#837, #1122, #1038, #1267)run()
and read()
methods.This is a list of people that contributed to this release (generated from the git history using git shortlog -ens --no-merges v2.3.68..v2.3.70
):