YARP 3.1.0 (2018-07-31)

Table of Contents

• YARP 3.1.0 Release Notes
  • New Features
    • Libraries
      • YARP_OS
      • YARP_DEV
      • YARP_sig
    • Devices
      • imuBosch_BNO055
      • yarp_test_grabber
    • Tools
      • yarp
    • Bindings
      • IInteractionMode interface bindings
      • Multiple Analog Sensors interfaces bindings
  • Contributors

YARP 3.1.0 Release Notes

A (partial) list of bug fixed and issues resolved in this release can be found here.

New Features

Libraries

YARP_OS

• Vocab is now a namespace, and yarp::os::createVocab replaces VOCAB1\2\3\4 that are now deprecated.

YARP_DEV

• The following files have been renamed:
  • yarp/dev/ImplementControlLimits.h (from yarp/dev/IControlLimitsImpl.h)
  • yarp/dev/ImplementControlLimits2.h (from yarp/dev/IControlLimits2Impl.h)
  • yarp/dev/ImplementInteractionMode.h (from yarp/dev/IInteractionModeImpl.h)
  • yarp/dev/ImplementPidControl.h (from yarp/dev/IPidControlImpl.h)
  • yarp/dev/ImplementPositionControl.h (from yarp/dev/IPositionControlImpl.h)
  • yarp/dev/ImplementPositionControl2.h (from yarp/dev/IPositionControl2Impl.h)
  • yarp/dev/ImplementPositionDirect.h (from yarp/dev/IPositionDirectImpl.h)
  • yarp/dev/ImplementVelocityControl.h (from yarp/dev/IVelocityControlImpl.h)
  • yarp/dev/ImplementVelocityControl2.h (from yarp/dev/IVelocityControl2Impl.h)
  • yarp/dev/ImplementVirtualAnalogSensor.h (from yarp/dev/IVirtualAnalogSensorImpl.h)
• The following classes have been refactored.
  • These classes are no more template classes:
    • ImplementControlCalibration
    • ImplementAmplifierControl
    • ImplementEncoders
  • Class definitions were moved from yarp/dev/ImplementControlBoardInterfaces.h to:
    • yarp/dev/ImplementControlCalibration.h
    • yarp/dev/ImplementAmplifierControl.h
    • yarp/dev/ImplementEncoders.h
  • File yarp/dev/ControlBoardInterfacesImpl-inl.h has been removed.
• Class IControlCalibration refactored. The following methods were renamed:
  • done(int j) -> calibrationDone(int j)
  • doneRaw(int j) -> calibrationDoneRaw(int j)
  • calibrate() -> calibrateRobot()
• Class IControlCalibrationRaw refactored. The following methods were renamed:
  • calibrateRaw(int, unsigned int, double, double, double) -> calibrateAxisWithParamsRaw(int, unsigned int, double, double, double)
  • calibrate(int, unsigned int, double, double, double) -> calibrateAxisWithParams(int, unsigned int, double, double, double)
• The file yarp/dev/ControlBoardInterfaces.h has been split into multiple files:
  • yarp/dev/IAmplifierControl.h
  • yarp/dev/IAxisInfo.h
  • yarp/dev/IControlDebug.h
  • yarp/dev/IControlLimits.h

YARP_sig

• Vector made typedef of VectorOf<double>(#1598).

Devices

imuBosch_BNO055

• Added support for i2c.

yarp_test_grabber

• Added test [time] which draws a text timestamp directly on the image.

Tools

yarp

• Added yarp name runners command to get a list of the ports offering yarprun utilities

Bindings

IInteractionMode interface bindings

• Added bindings for the interface IInteractionMode. The change extends the yarp::dev::IInteractionMode and the yarp::dev::IImpedanceControl classes.

Multiple Analog Sensors interfaces bindings

• Minor refactoring of main header MultipleAnalogSensorsInterfaces.h defining the interfaces: IThreeAxisGyroscopes, IThreeAxisLinearAccelerometers, IThreeAxisMagnetometers, IOrientationSensors, ITemperatureSensors, ISixAxisForceTorqueSensors, IContactLoadCellArrays, IEncoderArrays, ISkinPatches.
• Extended these interfaces for wrapping the cast functions (PolyDriver*)->view(<sensor_interface*>).
• For this purpose, defined and used a new macro CAST_POLYDRIVER_TO_INTERFACE.
• extended the new interfaces for wrapping all other methods which Swig struggles to handle, using a new Swig macro defined in macrosForMultipleAnalogSensors.i
• refactored the from/toMatlab() wrappers and extended them to the classes: std::vector<double>, std::vector<bool>, std::vector<int>, yarp::sig::Vector.

Contributors

This is a list of people that contributed to this release (generated from the git history using git shortlog -ens --no-merges v3.0.0..v3.1.0):

100  Daniele E. Domenichelli <daniele.domenichelli@iit.it>
 69  Nicolò Genesio <nicolo.genesio@iit.it>
 26  Damiano Enerli <damiano.enerli@iit.it>
 17  Marco Randazzo <marco.randazzo@iit.it>
  8  Nuno Guedelha <nuno.guedelha@iit.it>
  4  Valentina Gaggero <valentina.gaggero@iit.it>
  3  Matteo Brunettini <matteo.brunettini@iit.it>
  2  Bartek Łukawski <bwmn.peter@gmail.com>
  2  Emilio Cartoni <emilio.cartoni@yahoo.it>
  2  Lorenzo Rapetti <lorenzo.rapetti@iit.it>
  2  Ugo Pattacini <ugo.pattacini@iit.it>
  1  Alberto Cardellino <alberto.cardellino@iit.it>
  1  Andrea Ruzzenenti <andrea.ruzzenenti@iit.it>
  1  Claudio Fantacci <claudio.fantacci@iit.it>
  1  Mohamed Babiker Mohamed Elobaid <mohamed.elobaid@iit.it>