Fix robotology#997 (robotology#978)

marcoaccame · Aug 2, 2024 · 1fa8c66 · 1fa8c66
1 parent 9019b41
commit 1fa8c66
Show file tree

Hide file tree

Showing 20 changed files with 37 additions and 58 deletions.
diff --git a/README.md b/README.md
@@ -17,10 +17,8 @@ This repository is maintained by:
 
 See COPYING and AUTHORS for licensing info, authors and copyright holders.
 
-The iCub manual contains more details about the structure of the 
-repository and how the code is organized. The manual is available
-online at: http://wiki.icub.org/wiki/Manual and is the most
-up to date source of information.
+The [iCub manual](https://icub-tech-iit.github.io/documentation/) contains more details about the structure of the 
+repository and how the code is organized, being the most up-to-date source of information.
 
 Direct link to installation instructions:
 https://icub-tech-iit.github.io/documentation/sw_installation.

diff --git a/app/faceExpressions/doc.dox b/app/faceExpressions/doc.dox
@@ -31,7 +31,7 @@ Run and execute through \e yarpmanager .
 There are two applications:
 
 - Face Expressions (faceExpressions.xml). This can run out of the box, since it assumes you have a pc104 and a real iCub.
-- FaceSim (faceExpressionsSim.xml). This is the equivalent application to be used with the <a href="http://wiki.icub.org/wiki/Simulator_README#FACE_EXPRESSIONS:">robot simulator</a>.
+- FaceSim (faceExpressionsSim.xml). This is the equivalent application to be used with the robot simulator.
 
 Now from any machine you can rpc to the port "/icub/face/emotions/in" and send high level commands.
 Be aware that some commands are only available on the latest robots mounting the RFE board.

diff --git a/src/doc/cmake_usage.dox b/src/doc/cmake_usage.dox
@@ -8,9 +8,7 @@ environments to compile the code.
 
 @section cmake_usage_basics Getting started
 
-For basic information about
-how to install use CMake, see:
- - <a href="http://wiki.icub.org/wiki/CMake">Installing and Using CMake</A>
+Refer to the <a href="https://cmake.org/"><CMake> documentation for more information.
 
 If your module is independent of others in the repository at the code
 level, you don't have to do anything special.  Here's about the

diff --git a/src/doc/main.dox b/src/doc/main.dox
@@ -8,27 +8,20 @@
 
 \image html icub_small_new-white.gif "Welcome to my brain!"
 
-This is the iCub online code documentation (the iCub manual can be found
-elsewhere: http://wiki.icub.org/wiki/Manual). This is the result of an 
-automatic process that parses the doxygen documentation in the repository. 
+This is the iCub online code documentation.
+This is the result of an automatic process that parses the doxygen documentation in the repository. 
 For this reason the information here at times can be innaccurate or 
 completely broken!
 
 Topics:
 
- - <a href="http://wiki.icub.org/wiki/ICub_Software_Installation">Software installation</a>.
+ - <a href="https://icub-tech-iit.github.io/documentation/sw_installation">Software installation</a>.
  - \ref icub_modules_all - most of the software (including \ref icub_module and \ref icub_mod_library)
  - \ref icub_applications - a list of documented applications 
    (collections of modules)
  - \ref icub_tutorials - a set of tutorials to learn how to use the software
- - The documentation for contributed software is here: <a href="http://wiki.icub.org/iCub/contrib"> Contrib documentation </A> 
- - Programmer's checklist:
-  - <a href="http://wiki.icub.org/wiki/Licensing"> Licensing </A> - have you declared your authorship, and rights granted?
-  - <a href="http://wiki.icub.org/wiki/Manual#Eleven._Guidelines"> Coding guidelines </A> - some tips on how to write your code
-  - <a href="http://wiki.icub.org/wiki/Manual#Ten._Standardization_of_methods"> Modules and CMake</A> - some tips on how to make your code compilable
-  - <a href="http://wiki.icub.org/wiki/Committing_changes_to_the_software_repository"> Committing to the repository </A> - things to check before committing files to the repository
  - Reference material:
-  - The <a href="http://wiki.icub.org/wiki/Manual">The iCub manual</a>
+  - The <a href="https://icub-tech-iit.github.io/documentation/">The iCub manual</a>.
   - The <a href="http://www.robotcub.org/">RobotCub Website</a>.
   - Our software architecture, <a href="http://www.yarp.it/">YARP</a>.
 

diff --git a/src/libraries/actionPrimitives/include/iCub/action/actionPrimitives.h b/src/libraries/actionPrimitives/include/iCub/action/actionPrimitives.h
@@ -742,15 +742,15 @@ class ActionPrimitives : protected yarp::os::PeriodicThread
     virtual bool getGraspModel(perception::Model *&model) const;
 
     /**
-    * Return the cartesian interface used internally to control the 
-    * limb. 
-    * @param ctrl the cartesian interface.
-    * @return true/false on success/fail. 
-    *  
-    * @note Useful to access solver's options through the <a 
-    *       href="http://wiki.icub.org/yarpdoc/dd/de6/classyarp_1_1dev_1_1ICartesianControl.html">Cartesian
-    *       Interface</a>.
-    */
+     * Return the cartesian interface used internally to control the
+     * limb.
+     * @param ctrl the cartesian interface.
+     * @return true/false on success/fail.
+     *
+     * @note Useful to access solver's options through the <a
+     *       href="https://www.yarp.it/latest/classyarp_1_1dev_1_1ICartesianControl.html">Cartesian
+     *       Interface</a>.
+     */
     virtual bool getCartesianIF(yarp::dev::ICartesianControl *&ctrl) const;
 
     /**

diff --git a/src/libraries/iDyn/src/iDyn.cpp b/src/libraries/iDyn/src/iDyn.cpp
@@ -2542,7 +2542,7 @@ void iCubNeckInertialDyn::allocate(const string &_type)
     pushLink(new iDynLink(1.3368659,                  0,             0,              0,                     0,                0,                   0,            0,              0,             0,       0.0225,    0.1005, -M_PI/2.0,  M_PI/2.0, -55.0*CTRL_DEG2RAD, 55.0*CTRL_DEG2RAD));
     // NOTE: VERIFY THE DYNAMIC PARAMETERS OF THE HEAD (WRITTEN ABOVE)
 
-    // virtual links that describe T_nls (see http://wiki.icub.org/wiki/ICubInertiaSensorKinematics)
+    // virtual links that describe T_nls (https://icub-tech-iit.github.io/documentation/icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-imu/)
     // The link below must have no dynamic parameters.
     pushLink(new iDynLink(0         ,                 0,             0,              0,                     0,                0,                   0,            0,              0,             0,          0.0,    0.0066,  M_PI/2.0,       0.0,                0.0,               0.0));
 
@@ -2608,7 +2608,7 @@ void iCubNeckInertialDynV2::allocate(const string &_type)
     pushLink(new iDynLink(1.3368659*mhd,  0,0,0,  0,0,0,0,0,0,      0.0185,  0.1108, -M_PI/2.0,  M_PI/2.0, -55.0*CTRL_DEG2RAD, 55.0*CTRL_DEG2RAD));
     // NOTE: VERIFY THE DYNAMIC PARAMETERS OF THE HEAD (WRITTEN ABOVE)
 
-    // virtual links that describe T_nls (see http://wiki.icub.org/wiki/ICubInertiaSensorKinematics)
+    // virtual links that describe T_nls (https://icub-tech-iit.github.io/documentation/icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-imu/)
     // The link below must have no dynamic parameters.
     pushLink(new iDynLink(0*mhd,           0,0,0,  0,0,0,0,0,0,     0.0,    0.0066,  M_PI/2.0,       0.0,                0.0,               0.0));
 

diff --git a/src/libraries/iKin/include/iCub/iKin/iKinFwd.h b/src/libraries/iKin/include/iCub/iKin/iKinFwd.h
@@ -21,8 +21,7 @@
  *
  * \section dep_sec Dependencies 
  * - ctrlLib 
- * - IPOPT: see the <a
- *   href="http://wiki.icub.org/wiki/Installing_IPOPT">wiki</a>.
+ * - IPOPT
  *  
  * \note <b>If you're going to use iKin for your work, please
  *       quote it within any resulting publication</b>: <i>

diff --git a/src/libraries/iKin/include/iCub/iKin/iKinInv.h b/src/libraries/iKin/include/iCub/iKin/iKinInv.h
@@ -752,8 +752,7 @@ class LMCtrl_GPM : public LMCtrl
 * \ingroup iKinInv
 *
 * A class derived from iKinCtrl implementing the 
-* multi-referential approach (<a 
-* href="http://wiki.icub.org/images/c/cf/CartesianControllersEvaluation.pdf">pdf</a>).
+* multi-referential approach. 
 * @note Minimum-Jerk controllers in Task Space and Joint Space 
 */
 class MultiRefMinJerkCtrl : public iKinCtrl

diff --git a/src/libraries/iKin/include/iCub/iKin/iKinIpOpt.h b/src/libraries/iKin/include/iCub/iKin/iKinIpOpt.h
@@ -14,8 +14,7 @@
  * @ingroup iKin 
  *
  * Classes for inverse kinematics of serial-links chains and 
- * iCub limbs based on IpOpt. To install IpOpt see the <a
- * href="http://wiki.icub.org/wiki/Installing_IPOPT">wiki</a>.
+ * iCub limbs based on IpOpt.
  *
  * Date: first release 23/06/2008
  *

diff --git a/src/libraries/iKin/include/iCub/iKin/iKinSlv.h b/src/libraries/iKin/include/iCub/iKin/iKinSlv.h
@@ -14,8 +14,7 @@
  * @ingroup iKin
  *
  * Classes for on-line solution of inverse kinematic of iCub
- * limbs based on <a
- * href="http://wiki.icub.org/wiki/Installing_IPOPT">IpOpt</a>.
+ * limbs based on IPOPT.
  * The solvers run as on-line daemons which connect to the robot
  * to retrieve information on the current joints configuration
  * (along with the bounds) and by requesting a desired pose with

diff --git a/src/libraries/iKin/src/iKinFwd.cpp b/src/libraries/iKin/src/iKinFwd.cpp
@@ -2849,7 +2849,7 @@ void iCubInertialSensor::allocate(const string &_type)
 
     setH0(H0);
 
-    // T_nls (see http://wiki.icub.org/wiki/ICubInertiaSensorKinematics )
+    // T_nls: see https://icub-tech-iit.github.io/documentation/icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-imu/
     Matrix HN(4,4);
     HN.zero();
     HN(0,0)=1.0;

diff --git a/src/libraries/icubmod/embObjFTsensor/embObjFTsensor.h b/src/libraries/icubmod/embObjFTsensor/embObjFTsensor.h
@@ -14,7 +14,7 @@
  * Driver for Ethernet communication with Force-Torque sensors, the Strain2 board.
  * It is also possible read the temperature of tthe sensor.
  *
- * The parameters accepted in the config argument of the open method are described in http://wiki.icub.org/wiki/Robot_configuration.
+ * The parameters accepted in the config argument of the open method are described in https://icub-tech-iit.github.io/documentation/icub_robot_configuration/icub_robot_configuration_index/.
  */
 
 

diff --git a/src/libraries/icubmod/embObjIMU/embObjIMU.h b/src/libraries/icubmod/embObjIMU/embObjIMU.h
@@ -28,7 +28,7 @@
  *        mounted on Strain2 board.
  *
  * It is possible to read from multiple strain2 board.
- * The parameters accepted in the config argument of the open method are described in http://wiki.icub.org/wiki/Robot_configuration.
+ * The parameters accepted in the config argument of the open method are described in https://icub-tech-iit.github.io/documentation/icub_robot_configuration/icub_robot_configuration_index/.
  */
 
 

diff --git a/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp b/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp
@@ -1240,7 +1240,7 @@ bool embObjMotionControl::fromConfig(yarp::os::Searchable &config)
         yError() << "embObjMC" << getBoardInfo() << "------ ATTENTION!!!! Wrong value of <MotioncontrolVersion> parameter !!!! ---------------------------------------------------------------------------------------";
         yError() << "embObjMC" << getBoardInfo() << "------ This means that the configuration files of this device are not compatible with my parser, so I cannot start. ";
         yError() << "embObjMC" << getBoardInfo() << "------ I need version " << PARSER_MOTION_CONTROL_VERSION << ", but in configuration files have version " << currentMCversion << ".";
-        yError() << "embObjMC" << getBoardInfo() << "------ Please update configuration files in robots-configuration repository. (see http://wiki.icub.org/wiki/Robot_configuration for more information). ";
+        yError() << "embObjMC" << getBoardInfo() << "------ Please update configuration files in robots-configuration repository. (see https://icub-tech-iit.github.io/documentation/icub_robot_configuration/icub_robot_configuration_index/ for more information). ";
         yError() << "embObjMC" << getBoardInfo() << "------ If the problem persists contact [email protected] DO NOT DO IT BY YOURSELF.";
         yError() << "embObjMC" << getBoardInfo() << "----------------------------------------------------------------------------------------------------------------------------------------------------------------";
         return false;

diff --git a/src/libraries/icubmod/embObjMotionControl/measuresConverter.h b/src/libraries/icubmod/embObjMotionControl/measuresConverter.h
@@ -23,7 +23,7 @@
  * @ingroup icub_hardware_modules
  * \defgroup eth2ems eth2ems
  *
- * Implements <a href="http://wiki.icub.org/yarpdoc/d3/d5b/classyarp_1_1dev_1_1ICanBus.html" ICanBus interface <\a> for a ems to can bus device.
+ * Implements <a href="https://yarp.it/latest/classyarp_1_1dev_1_1ICanBus.html"> ICanBus interface <\a> for a ems to can bus device.
  * This is the eth2ems module device.
  *
  * Copyright (C) 2012 Department of Robotics Brain and Cognitive Sciences - Istituto Italiano di Tecnologia

diff --git a/src/modules/gravityCompensator/main.cpp b/src/modules/gravityCompensator/main.cpp
@@ -19,7 +19,7 @@ This module estimates the gravitational term acting on joints due to links weigh
 The estimation is perfomed relying on rigid body dynamics using CAD 
 parameters. 
 For further information about the use of this module and of the iCub force control interface, please refer to the force control page:
-http://wiki.icub.org/wiki/Force_Control
+https://icub-tech-iit.github.io/documentation/icub_force_control/icub-force-control/.
 
 \section lib_sec Libraries 
 - YARP libraries. 

diff --git a/src/modules/iKinCartesianSolver/main.cpp b/src/modules/iKinCartesianSolver/main.cpp
@@ -35,9 +35,7 @@ See \ref iKinSlv "Cartesian Solver" for documentation.
 
 \section lib_sec Libraries
 - YARP libraries.
-- \ref iKin "iKin" library (it requires IPOPT: see the
-  <a
-  href="http://wiki.icub.org/wiki/Installing_IPOPT">wiki</a>).
+- \ref iKin "iKin" library (it requires IPOPT).
 
 \section parameters_sec Parameters
 --part \e type [mandatory]

diff --git a/src/modules/iKinGazeCtrl/src/main.cpp b/src/modules/iKinGazeCtrl/src/main.cpp
@@ -49,7 +49,7 @@ along with the vergence angle can be given to the module both in
 absolute and relative mode.
 
 Moreover, this module also implements the server part of the <a
-href="http://wiki.icub.org/yarpdoc/classyarp_1_1dev_1_1IGazeControl.html">Gaze
+href="https://www.yarp.it/latest/classyarp_1_1dev_1_1IGazeControl.html">Gaze
 Control Interface</a>. For a tutorial on how to use the
 interface, please go \ref icub_gaze_interface "here".
 
@@ -80,17 +80,12 @@ robot setup; you should find something similar to:
 Shifts 8 8 8 8 8 8 ...
 \endcode
 
-Read more on <a
-href="http://wiki.icub.org/wiki/ControlBoard_configuration_file#Shifts">Shifts
-Factors</a>.
-
 \note A video on iCub gazing can be seen <a
       href="https://youtu.be/I4ZKfAvs1y0">here</a>.
 
 \section lib_sec Libraries
 - YARP libraries.
-- \ref iKin "iKin" library (it requires IPOPT lib: see the <a
-  href="http://wiki.icub.org/wiki/Installing_IPOPT">wiki</a>).
+- \ref iKin "iKin" library (it requires IPOPT).
 
 \section parameters_sec Parameters
 --context \e dir
@@ -119,7 +114,7 @@ Factors</a>.
 --torso \e name
 - The parameter \e name selects the robot's torso port to
   connect to; if not specified, \e torso is assumed. The special
- *string \e off can be used to skip opening the torso device.  
+ *string \e off can be used to skip opening the torso device.
 
 --trajectory_time::neck \e time
 - Specify the neck trajectory execution time in point-to-point
@@ -511,7 +506,7 @@ following ports:
 \section coor_sys_sec Coordinate System
 Positions (meters) refer to the root reference frame attached to
 the waist as in the <a
-href="http://wiki.icub.org/wiki/ICubForwardKinematics">wiki</a>.
+href="https://icub-tech-iit.github.io/documentation/icub_kinematics/icub-forward-kinematics/icub-forward-kinematics/">official documentation</a>.
 
 \section in_files_sec Input Data Files
 None.

diff --git a/src/modules/wholeBodyDynamics/main.cpp b/src/modules/wholeBodyDynamics/main.cpp
@@ -43,7 +43,7 @@ The model of the sensor measurements considers a fixed base, with z-axis
 pointing upwards. The estimation of the external wrench applied at the
 end-effector of the limb has the same orientation of the fixed base frame.
 For further information about the use of this module and of the iCub force control interface, please refer to the force control page:
-http://wiki.icub.org/wiki/Force_Control
+https://icub-tech-iit.github.io/documentation/icub_force_control/icub-force-control/.
 
 \section lib_sec Libraries
 - YARP libraries.

diff --git a/src/tools/stereoCalib/src/main.cpp b/src/tools/stereoCalib/src/main.cpp
@@ -56,7 +56,8 @@ your old calibration file (e.g. icubEyes.ini) with this new one.
 \note If you are using low resolution images (320x240) you should use a big
 chessboard pattern (i.e. with square side length of ~4cm). \note Make sure to
 show the pattern horizontally. \note Further information can be found in the <a
-      href="http://wiki.icub.org/wiki/Stereo_calibration">wiki</a>.
+      href="https://icub-tech-iit.github.io/documentation/icub_robot_calibration/icub-stereo-calib/">official
+documentation</a>.
 
 \section lib_sec Libraries
 YARP libraries and OpenCV