Merge pull request #66 from robotology/fix_idyntree_deprecations

Fix idyntree deprecations
robotology · May 31, 2024 · be2771d · be2771d
2 parents ddd2a72 + be3f51e
commit be2771d
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Showing 30 changed files with 65 additions and 66 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -3,10 +3,10 @@ name: C++ CI Workflow
 on:
   push:
   pull_request:
-  
+
 env:
-  iDynTree_TAG: v4.3.0
-  
+  iDynTree_TAG: v10.0.0
+
 
 jobs:
   build:
@@ -48,15 +48,15 @@ jobs:
       run: |
         sudo apt-get update
         sudo apt-get install libeigen3-dev
-        
+
     - name: Cache Source-based Dependencies
       id: cache-source-deps
       uses: actions/cache@v1
       with:
         path: ${{ github.workspace }}/install/deps
         # Including ${{ runner.temp }} is a workaround taken from https://github.com/robotology/whole-body-estimators/pull/62 to fix macos configuration failure on https://github.com/dic-iit/bipedal-locomotion-framework/pull/45
         key: source-deps-${{ runner.os }}-${{runner.temp}}-build-type-${{ matrix.build_type }}-iDynTree-${{ env.iDynTree_TAG }}
-        
+
     - name: Source-based Dependencies [Ubuntu/macOS]
       if: steps.cache-source-deps.outputs.cache-hit != 'true' && (startsWith(matrix.os, 'ubuntu') || matrix.os == 'macos-latest')
       shell: bash
@@ -108,4 +108,4 @@ jobs:
       run: |
         cd build
         ctest --output-on-failure -C ${{ matrix.build_type }} .
-        
+
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -54,7 +54,7 @@ if(NOT CMAKE_CONFIGURATION_TYPES)
   endif()
 endif()
 
-find_package(iDynTree 4.3.0 REQUIRED)
+find_package(iDynTree 10.0.0 REQUIRED)
 find_package(Eigen3 REQUIRED)
 
 set(UCPLANNER_SOURCES src/ControlledUnicycle.cpp

diff --git a/include/ControlledUnicycle.h b/include/ControlledUnicycle.h
@@ -10,8 +10,8 @@
 
 #include <iDynTree/DynamicalSystem.h>
 #include <iDynTree/Controller.h>
-#include <iDynTree/Core/VectorDynSize.h>
-#include <iDynTree/Core/VectorFixSize.h>
+#include <iDynTree/VectorDynSize.h>
+#include <iDynTree/VectorFixSize.h>
 #include <memory>
 
 class ControlledUnicycle : public iDynTree::optimalcontrol::DynamicalSystem{

diff --git a/include/DCMTrajectoryGenerator.h b/include/DCMTrajectoryGenerator.h
@@ -9,7 +9,7 @@
 
 #include <StepPhase.h>
 #include <FootPrint.h>
-#include <iDynTree/Core/VectorFixSize.h>
+#include <iDynTree/VectorFixSize.h>
 
 #include <vector>
 #include <memory>

diff --git a/include/DCMTrajectoryGeneratorHelper.h b/include/DCMTrajectoryGeneratorHelper.h
@@ -17,7 +17,7 @@
 #include <Eigen/Dense>
 
 // iDynTree
-#include <iDynTree/Core/VectorFixSize.h>
+#include <iDynTree/VectorFixSize.h>
 
 #include <FootPrint.h>
 #include <StepPhase.h>

diff --git a/include/FeetCubicSplineGenerator.h b/include/FeetCubicSplineGenerator.h
@@ -12,7 +12,7 @@
 #include <FootPrint.h>
 #include <FeetGenerator.h>
 
-#include <iDynTree/Core/Transform.h>
+#include <iDynTree/Transform.h>
 
 #include <vector>
 #include <memory>

diff --git a/include/FeetGenerator.h b/include/FeetGenerator.h
@@ -10,7 +10,7 @@
 #include <StepPhase.h>
 #include <FootPrint.h>
 
-#include <iDynTree/Core/Transform.h>
+#include <iDynTree/Transform.h>
 
 #include <vector>
 

diff --git a/include/FeetMinimumJerkGenerator.h b/include/FeetMinimumJerkGenerator.h
@@ -11,7 +11,7 @@
 #include <FootPrint.h>
 #include <FeetGenerator.h>
 
-#include <iDynTree/Core/Transform.h>
+#include <iDynTree/Transform.h>
 
 #include <vector>
 #include <memory>

diff --git a/include/FootPrint.h b/include/FootPrint.h
@@ -10,7 +10,7 @@
 
 #include <deque>
 #include <memory>
-#include "iDynTree/Core/VectorFixSize.h"
+#include "iDynTree/VectorFixSize.h"
 
 struct Step{
     iDynTree::Vector2 position;

diff --git a/include/FreeSpaceEllipse.h b/include/FreeSpaceEllipse.h
@@ -8,8 +8,8 @@
 #ifndef FREESPACEELLIPSE_H
 #define FREESPACEELLIPSE_H
 
-#include <iDynTree/Core/MatrixFixSize.h>
-#include <iDynTree/Core/VectorFixSize.h>
+#include <iDynTree/MatrixFixSize.h>
+#include <iDynTree/VectorFixSize.h>
 
 class FreeSpaceEllipse
 {

diff --git a/include/PersonFollowingController.h b/include/PersonFollowingController.h
@@ -11,9 +11,9 @@
 #include "FreeSpaceEllipse.h"
 #include "UnicycleBaseController.h"
 #include <iDynTree/TimeRange.h>
-#include <iDynTree/Core/VectorFixSize.h>
-#include <iDynTree/Core/VectorDynSize.h>
-#include <iDynTree/Core/MatrixDynSize.h>
+#include <iDynTree/VectorFixSize.h>
+#include <iDynTree/VectorDynSize.h>
+#include <iDynTree/MatrixDynSize.h>
 #include <deque>
 
 typedef struct{

diff --git a/include/UnicycleBaseController.h b/include/UnicycleBaseController.h
@@ -9,8 +9,8 @@
 #define UNICYCLEBASECONTROLLER_H
 
 #include <iDynTree/Controller.h>
-#include <iDynTree/Core/VectorFixSize.h>
-#include <iDynTree/Core/VectorDynSize.h>
+#include <iDynTree/VectorFixSize.h>
+#include <iDynTree/VectorDynSize.h>
 
 class UnicycleBaseController : public iDynTree::optimalcontrol::Controller{
 

diff --git a/include/UnicycleFoot.h b/include/UnicycleFoot.h
@@ -12,8 +12,8 @@
 #include <memory>
 #include "FootPrint.h"
 #include "UnicycleState.h"
-#include "iDynTree/Core/VectorFixSize.h"
-#include "iDynTree/Core/MatrixDynSize.h"
+#include "iDynTree/VectorFixSize.h"
+#include "iDynTree/MatrixDynSize.h"
 
 class UnicycleFoot {
     std::shared_ptr<FootPrint> m_steps_ptr;

diff --git a/include/UnicycleOptimization.h b/include/UnicycleOptimization.h
@@ -12,8 +12,8 @@
 #include <iDynTree/Constraint.h>
 #include <iDynTree/Cost.h>
 #include <iDynTree/OptimalControlProblem.h>
-#include <iDynTree/Core/VectorDynSize.h>
-#include <iDynTree/Core/VectorFixSize.h>
+#include <iDynTree/VectorDynSize.h>
+#include <iDynTree/VectorFixSize.h>
 #include <cmath>
 #include <string>
 #include <iostream>

diff --git a/include/UnicycleState.h b/include/UnicycleState.h
@@ -7,7 +7,7 @@
 
 #ifndef UNICYCLE_STATE_H
 #define UNICYCLE_STATE_H
-#include "iDynTree/Core/VectorFixSize.h"
+#include "iDynTree/VectorFixSize.h"
 
 struct UnicycleState
 {

diff --git a/src/CoMHeightTrajectoryGenerator.cpp b/src/CoMHeightTrajectoryGenerator.cpp
@@ -10,8 +10,8 @@
 #include <mutex>
 
 #include <CoMHeightTrajectoryGenerator.h>
-#include <iDynTree/Core/VectorDynSize.h>
-#include <iDynTree/Core/CubicSpline.h>
+#include <iDynTree/VectorDynSize.h>
+#include <iDynTree/CubicSpline.h>
 
 
 class CoMHeightTrajectoryGenerator::CoMHeightTrajectoryGeneratorImplementation {

diff --git a/src/DCMTrajectoryGenerator.cpp b/src/DCMTrajectoryGenerator.cpp
@@ -7,7 +7,7 @@
 
 #include <DCMTrajectoryGenerator.h>
 #include <DCMTrajectoryGeneratorHelper.h>
-#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/EigenHelpers.h>
 #include <cassert>
 #include <iostream>
 #include <cmath>

diff --git a/src/DCMTrajectoryGeneratorHelper.cpp b/src/DCMTrajectoryGeneratorHelper.cpp
@@ -18,8 +18,8 @@
 #include <Eigen/Dense>
 
 // iDynTree
-#include <iDynTree/Core/VectorFixSize.h>
-#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/VectorFixSize.h>
+#include <iDynTree/EigenHelpers.h>
 
 //--------General Support Trajectory definition
 

diff --git a/src/FeetCubicSplineGenerator.cpp b/src/FeetCubicSplineGenerator.cpp
@@ -6,11 +6,11 @@
  */
 
 #include <FeetCubicSplineGenerator.h>
-#include <iDynTree/Core/EigenHelpers.h>
-#include <iDynTree/Core/VectorDynSize.h>
-#include <iDynTree/Core/CubicSpline.h>
-#include <iDynTree/Core/Twist.h>
-#include <iDynTree/Core/SpatialAcc.h>
+#include <iDynTree/EigenHelpers.h>
+#include <iDynTree/VectorDynSize.h>
+#include <iDynTree/CubicSpline.h>
+#include <iDynTree/Twist.h>
+#include <iDynTree/SpatialAcc.h>
 #include <cassert>
 #include <mutex>
 
@@ -65,7 +65,6 @@ class FeetCubicSplineGenerator::FeetCubicSplineGeneratorImplementation {
         size_t instant = 0;
         iDynTree::Transform newTransform;
         iDynTree::Position newPosition;
-        double dummyAcceleration;
         double swingLength, pitchAngle, yawAngle;
         size_t endOfPhase;
         iDynTree::Vector3 linearVelocity;

diff --git a/src/FeetMinimumJerkGenerator.cpp b/src/FeetMinimumJerkGenerator.cpp
@@ -6,11 +6,11 @@
  */
 
 #include <FeetMinimumJerkGenerator.h>
-#include <iDynTree/Core/VectorDynSize.h>
-#include <iDynTree/Core/CubicSpline.h>
-#include <iDynTree/Core/EigenHelpers.h>
-#include <iDynTree/Core/Twist.h>
-#include <iDynTree/Core/SpatialAcc.h>
+#include <iDynTree/VectorDynSize.h>
+#include <iDynTree/CubicSpline.h>
+#include <iDynTree/EigenHelpers.h>
+#include <iDynTree/Twist.h>
+#include <iDynTree/SpatialAcc.h>
 #include <cassert>
 #include <mutex>
 

diff --git a/src/FreeSpaceEllipse.cpp b/src/FreeSpaceEllipse.cpp
@@ -6,7 +6,7 @@
  */
 
 #include <Eigen/Core>
-#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/EigenHelpers.h>
 #include <FreeSpaceEllipse.h>
 #include <cassert>
 #include <iostream>

diff --git a/src/PersonFollowingController.cpp b/src/PersonFollowingController.cpp
@@ -6,7 +6,7 @@
  */
 
 #include "PersonFollowingController.h"
-#include "iDynTree/Core/EigenHelpers.h"
+#include "iDynTree/EigenHelpers.h"
 #include "Eigen/Core"
 #include <iostream>
 #include <cmath>

diff --git a/src/UnicycleFoot.cpp b/src/UnicycleFoot.cpp
@@ -7,7 +7,7 @@
 
 #include "UnicycleFoot.h"
 #include "Eigen/Core"
-#include "iDynTree/Core/EigenHelpers.h"
+#include "iDynTree/EigenHelpers.h"
 #include <cmath>
 #include <iostream>
 

diff --git a/src/UnicycleGenerator.cpp b/src/UnicycleGenerator.cpp
@@ -14,7 +14,7 @@
 #include <cstddef>
 #include <mutex>
 
-#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/EigenHelpers.h>
 
 typedef StepList::const_iterator StepsIndex;
 

diff --git a/src/UnicycleOptimization.cpp b/src/UnicycleOptimization.cpp
@@ -6,7 +6,7 @@
  */
 
 #include "UnicycleOptimization.h"
-#include "iDynTree/Core/VectorFixSize.h"
+#include "iDynTree/VectorFixSize.h"
 
 void UnicycleOptimization::updateState(const iDynTree::Vector2 &rPl, double deltaAngle, double deltaTime, const iDynTree::Vector2 &newStepPosition, const iDynTree::Vector2 &newStepRelativePosition)
 {

diff --git a/src/UnicyclePlanner.cpp b/src/UnicyclePlanner.cpp
@@ -6,9 +6,9 @@
  */
 
 #include "UnicyclePlanner.h"
-#include "iDynTree/Core/Utils.h"
+#include "iDynTree/Utils.h"
 #include "Eigen/Core"
-#include "iDynTree/Core/EigenHelpers.h"
+#include "iDynTree/EigenHelpers.h"
 #include <iostream>
 
 bool UnicyclePlanner::getInitialStateFromFeet(double initTime)

diff --git a/src/ZMPTrajectoryGenerator.cpp b/src/ZMPTrajectoryGenerator.cpp
@@ -6,10 +6,10 @@
  */
 
 #include <ZMPTrajectoryGenerator.h>
-#include <iDynTree/Core/VectorDynSize.h>
-#include <iDynTree/Core/CubicSpline.h>
-#include <iDynTree/Core/Position.h>
-#include <iDynTree/Core/Transform.h>
+#include <iDynTree/VectorDynSize.h>
+#include <iDynTree/CubicSpline.h>
+#include <iDynTree/Position.h>
+#include <iDynTree/Transform.h>
 #include <cassert>
 #include <iostream>
 #include <cmath>

diff --git a/tests/DcmInterpolationTest.cpp b/tests/DcmInterpolationTest.cpp
@@ -13,9 +13,9 @@
 #include <ctime>
 
 // iDynTree
-#include <iDynTree/Core/VectorDynSize.h>
-#include <iDynTree/Core/VectorFixSize.h>
-#include <iDynTree/Core/TestUtils.h>
+#include <iDynTree/VectorDynSize.h>
+#include <iDynTree/VectorFixSize.h>
+#include <iDynTree/TestUtils.h>
 
 #include "utils.h"
 #include <UnicycleGenerator.h>

diff --git a/tests/InterpolationTest.cpp b/tests/InterpolationTest.cpp
@@ -6,12 +6,12 @@
  */
 
 #include "UnicycleGenerator.h"
-#include "iDynTree/Core/TestUtils.h"
+#include "iDynTree/TestUtils.h"
 #include <memory>
-#include "iDynTree/Core/VectorDynSize.h"
-#include "iDynTree/Core/VectorFixSize.h"
-#include "iDynTree/Core/Twist.h"
-#include "iDynTree/Core/SpatialAcc.h"
+#include "iDynTree/VectorDynSize.h"
+#include "iDynTree/VectorFixSize.h"
+#include "iDynTree/Twist.h"
+#include "iDynTree/SpatialAcc.h"
 #include <fstream>
 #include <ctime>
 

diff --git a/tests/UnicycleTest.cpp b/tests/UnicycleTest.cpp
@@ -5,11 +5,11 @@
  *
  */
 #include "UnicyclePlanner.h"
-#include <iDynTree/Core/TestUtils.h>
-#include <iDynTree/Core/Utils.h>
+#include <iDynTree/TestUtils.h>
+#include <iDynTree/Utils.h>
 #include <Eigen/Core>
-#include "iDynTree/Core/EigenHelpers.h"
-#include "iDynTree/Core/MatrixDynSize.h"
+#include "iDynTree/EigenHelpers.h"
+#include "iDynTree/MatrixDynSize.h"
 #include <cmath>
 #include <memory>
 #include <iostream>