YARP 3.1.0 Released

[mbrunettini]

YARP 3.1.0 was released today and is now available for download at: https://github.com/robotology/yarp/releases/. This release is a major release and introduces several new features and important breaking changes since YARP 3.0.0.
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 <[email protected]>
    69	Nicolò Genesio <[email protected]>
    26	Damiano Enerli <[email protected]>
    17	Marco Randazzo <[email protected]>
     8	Nuno Guedelha <[email protected]>
     4	Valentina Gaggero <[email protected]>
     2	Bartek Łukawski <[email protected]>
     2	Emilio Cartoni <[email protected]>
     2	Lorenzo Rapetti <[email protected]>
     2	Matteo Brunettini <[email protected]>
     2	Ugo Pattacini <[email protected]>
     1	Alberto Cardellino <[email protected]>
     1	Andrea Ruzzenenti <[email protected]>
     1	Claudio Fantacci <[email protected]>
     1	Mohamed Babiker Mohamed Elobaid <[email protected]>