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YARP
Yet Another Robot Platform
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YARP
Yet Another Robot Platform
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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.YarpPluginBEGIN_PLUGIN_LIBRARYADD_PLUGIN_NORMALIZEDPREPARE_PLUGINPREPARE_DEVICEPREPARE_CARRIEREND_PLUGIN_LIBRARYADD_PLUGIN_LIBRARY_EXECUTABLEYARP_ADD_PLUGIN_LIBRARY_EXECUTABLEYARP_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.Removed Interface IOpenLoopControl, deprecated since yarp 2.3.65.Removed deprecated device ClientControlBoard and related tests.Removed deprecated device ServerControlBoard and related tests.Major changes to iPIDControl methods. Now they aren't bound anymore to Position Control. (#499) They accept a new parameter PidControlTypeEnum which defines the PID id on which the method will operate. For example 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.All pid-related methods from interfaces different from iPidControl have been deprecated. To provide backward-compatibility, old methods automatically call the new methods (e.g.setTorquePid(int j, const Pid &pid)calls setPid(VOCAB_PIDTYPE_TORQUE,int j,const PID &pid))The following methods have been deprecated, use IControlMode2::setControlMode(int, VOCAB_CM_XXX)instead: -IControlMode::setPositionMode(int) -IControlMode::setVelocityMode(int) -IControlMode::setTorqueMode(int) -IControlMode::setImpedancePositionMode(int) -IControlMode::setImpedanceVelocityMode(int)
- ...plus theirIControlModeRaw` counterparts
YARP_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.YarpPluginYarpInstallationHelpersyarp_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:char* yarp::os::getcwd(char *buf, size_t size)int yarp::os::fork(void)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):
1.9.8