YARP 3.3.3

YARP 3.3.3 Release Notes

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

Bug Fixes

Build System

• Bison and flex are no longer run when crosscompiling.

Libraries

os

Bottle

• Fixed precision for floating point numbers, to ensure that they are read as
  the original floating point written.
• Fixed toString and fromString when writing or reading infinity, negative
  infinity or nan.
• Fixed fromString when reading a 64 bit integer.

WireReader

• Fixed reading a Float32 from a Float64 (#2227).
  This is not a common use case, but it can happen when a Float32 is written
  on a file, and then read again into YARP (as a Float64), and then restored
  in the original type using copyPortable().

Timer

• Fixed Timer in monothread mode taking 100% of the CPU.
• Fixed Timers in separate threads not updating their settings.

dev

• Fixed dependency from YARP_math that should be PUBLIC. A few headers
  include YARP_math headers.

Devices

batteryClient

• Fixed methods returning int instead of double:
  • getVoltage()
  • getCurrent()
  • getCharge()
  • getTemperature()

batteryWraper

• Fixed parameters accepted by subdevice not printed with --verbose.

Navigation2DClient

• The method checkNearToLocation now correctly checks if two orientations are
  similar (below a certain threshold), also considering the critical points
  0, 180, 360, -180, -180, etc.

controlboardwrapper2

• Exposed missing yarp::dev::IMotor::setGearboxRatio method via RPC.

remote_controlboard

• Implemented missing yarp::dev::IMotor::setGearboxRatio method.
• Fixed group command yarp::dev::IInteractionMode::getInteractionModes.

fakeBattery

• Fixed PeriodicThread using 100% CPU.

GUIs

yarpview

• Now the "checked" state of the two checkable elements in the File menu of
  yarpview (i.e. "Save single image..." and "Save a set of images...") turns
  to false when the corresponding dialogs are closed.

Contributors

This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v3.3.2..v3.3.3):

    28	Daniele E. Domenichelli <[email protected]>
     2	Andrea Ruzzenenti <[email protected]>
     2	Bartek Łukawski <[email protected]>
     1	Ettore Landini <[email protected]>
     1	Marco Randazzo <[email protected]>
     1	Silvio Traversaro <[email protected]>

YARP 3.3.2

YARP 3.3.2 Release Notes

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

Tools

yarpdatadumper

• Fixed generation of video when invoked with the command line option --type video

Devices

usbCamera

• Fixed build with OpenCV 4

ovrheadset

• Fixed race condition causing randomly frame drops.
• Fixed behaviour of the CTRL button. Both CTRL buttons can now be pressed,
  only SHIFT will decide which eye offsets should be modified.
• Fixed --no-logo option.
• Fixed --userpose option.

Contributors

This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v3.3.1..v3.3.2):

    16	Daniele E. Domenichelli <[email protected]>
     1	Ugo Pattacini <[email protected]>

YARP 3.3.1

YARP 3.3.1 Release Notes

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

Important Changes

Dependencies

• OpenCV 4 is now supported.

Bug Fixes

Libraries

YARP_dev

• Fixed missing header for deprecation warning macro.

Devices

grabberDual

• Fixed the double open issue. (#2121)

Tools

yarpdataplayer

• Fixed the part-port mismatch due to bad sorting. (#2173)
• Fixed the clock drifting when the player was paused for long time. (#2139)
• Fixed the rpc request play while it is already running. (#2144)

Bindings

Perl

• The RPATH for installed perl bindings is now correct.

Contributors

This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v3.3.0..v3.3.1):

    16	Nicolò Genesio <[email protected]>
     6	Daniele E. Domenichelli <[email protected]>
     1	Bartek Łukawski <[email protected]>

YARP 3.3.0

YARP 3.3.0 Release Notes

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

Important Changes

Dependencies

• CMake 3.12 or later is now required.
• Optional dependency on YCM now requires version 0.11.0 or later.
• C++14 is now required.
• OpenCV 4 is now explicitly unsupported.
• Visual Studio 2015 is no longer supported.

Build System

• CMake config files are now installed in lib/cmake also on windows.
• The OS component is deprecated in favour of os (lowercase).

Libraries

YARP_os

• The YARP_OS was renamed YARP_os. Using the old name is still supported,
  but deprecated.
• yAssert is now a proper assertion macro (removed when NDEBUG is defined,
  i.e. `Release builds). If the expression tested has side-effects, program
  behavior will be different depending on whether NDEBUG is defined. This may
  create Heisenbugs which go away when debugging is turned on.
• All yarp::os::Mutex related classes and methods are now deprecated in favour
  of std::mutex:
  • Classes:
    • yarp::os::Mutex
    • yarp::os::RecursiveMutex
    • yarp::os::AbstractLockGuard
    • yarp::os::LockGuard
    • yarp::os::RecursiveLockGuard
  • Methods:
    • yarp::os::Contactable::setCallbackLock(yarp::os::Mutex*)
    • yarp::os::AbstractContactable::setCallbackLock(yarp::os::Mutex*)
    • yarp::os::Port::setCallbackLock(yarp::os::Mutex*)
    • yarp::os::Buffered::setCallbackLock(yarp::os::Mutex*)
    • yarp::os::Timer::Timer(..., yarp::os::Mutex*)
• yarp::os::Network::getDirectorySeparator and
  yarp::os::Network::getPathSeparator are now deprecated in favour of
  yarp::conf::filesystem::preferred_separator and
  yarp::conf::filesystem::path_separatorrespectively.
• yarp::os::Runnable is now deprecated.
• yarp::os::RateThreadWrapper is now deprecated.
• The yarp::os::Property constructor using 'hash_size' was deprecated (it was
  already unused since the internal structure was ported to use std::map).
• yarp::os::MessageStack constructor now accepts the max number of thread as
  size_t instead of int.
• yarp::os::MessageStack constructor is now explicit.
• yarp::os::MessageStack copy and move constructors and operators are now
  explicitly deleted.

YARP_dev

• All devices are now plugins. They are enabled by default, but can be disabled
  if required.
• The <yarp/dev/GenericSensorInterfaces.h> include file is deprecated in
  favour of <yarp/dev/IGenericSensor.h>.
• The <yarp/dev/PreciselyTimed.h> include file is deprecated in favour of
  <yarp/dev/IPreciselyTimed.h>.
• The <yarp/dev/SerialInterfaces.h> include file is deprecated in favour of
  <yarp/dev/ISerialDevice.h>.
• The <yarp/dev/Wrapper.h> include file is deprecated in favour of
  <yarp/dev/IWrapper.h> and <yarp/dev/IMultipleWrapper.h>.
• yarp::dev::DataSource and yarp::dev::DataSource2 are now deprecated.
• yarp::dev::DataWriter and yarp::dev::DataWriter2 are now deprecated

New Features

Build System

• The yarp_idl_to_dir command now accepts the PLACEMENT option:
  • MERGED: headers and sources in <OUTPUT_DIR>/<namespace>
  • SEPARATE: headers in <OUTPUT_DIR>/include/<namespace> sources in <OUTPUT_DIR>/src/<namespace>
  • SEPARATE_EVEN: alias for SEPARATE
  • SEPARATE_ODD: headers in <OUTPUT_DIR>/include/<namespace> sources in <OUTPUT_DIR>/src
    For backwards compatibility the default value is SEPARATE_ODD.
• After calling the yarp_add_idl method, the YARP_ADD_IDL_INCLUDE_DIR
  variable contains the include directory for using the header files

Libraries

YARP_conf

• Added yarp::conf::filesystem utilities (#1855).

YARP_os

• Cleanup of the signature of the following methods of yarp::os::Network:
  • static bool connect(const std::string& src, const std::string& dest, const ContactStyle& style)
  • static bool connect(const std::string& src, const std::string& dest, const std::string& carrier = "", bool quiet = true)
  • static bool connect(const char* src, const char* dest, const char* carrier, bool quiet = true)
  • static bool disconnect(const std::string& src, const std::string& dest, bool quiet)
  • static bool disconnect(const std::string& src, const std::string& dest, const ContactStyle& style)
  • static bool disconnect(const std::string& src, const std::string& dest, const std::string& carrier = "", bool quiet = true)
  • static bool disconnect(const char* src, const char* dest, const char* carrier, bool quiet = true)
  • static bool isConnected(const std::string& src, const std::string& dest, bool quiet)
  • static bool isConnected(const std::string& src, const std::string& dest, const ContactStyle& style)
  • static bool isConnected(const std::string& src, const std::string& dest, const std::string& carrier = "", bool quiet = true)
  • static bool isConnected(const char* src, const char* dest, const char* carrier, bool quiet = true)
• Added move constructor and assignment operator to yarp::os::Searchable.
• Added move constructor and assignment operator to yarp::os::Bottle.
• Added move constructor and assignment operator to yarp::os::Property.
• Added constructors that accept std::mutex instead of yarp::os::Mutex to
  yarp::os::Timer.
• The Log colors can now be enabled also on windows when supported
  (#2076)
• Added setCallbackLock overrides to yarp::os::Contactable,
  yarp::os::AbstractContactable, yarp::os::Port, yarp::os::BufferedPort
  to pass a std::mutex instead of a yarp::os::Mutex.

YARP_dev

• Added new interface yarp::dev::IFrameTranformClientControl
• yarp::dev::TransformClient implements the new interface
  yarp::dev::IFrameTranformClientControl.
• The rpc port of the yarp::dev::TransformClient allows to reconnect to the
  server.
• yarp::dev::TransformServer allows the use of wildcard to erase all the
  transforms between a specified source and * or between * and a specified
  destination.
• The rpc port of the yarp::dev::TransformServer allows to delete a given
  transform.

YARP_run

• The ENABLE_YARPRUN_LOG fixed and deprecated in favour of
  YARP_ENABLE_YARPRUN_LOG.

Tools

yarpidl_trift

• yarpidl_thrift now places the source files according to the "separate" layout.

yarpdatadumper

• Fixed creating directories whose name contains not allowed characters (e.g.
  :, *, ...).
• It's now possible to dump PNG images.
• The timestamp info are now provided within info.log.

GUIs

yarpdataplayer

• info.log files containing timestamp info are now handled.

devices

multipleanalogsensorsclient

• Added the option externalConnection(false by default). This option disables
  the automatic connect to the rpc:o and measures:o of the respective
  multipleanalogsensorsserver. This implies that with this configuration the
  metadata is missing, then the device lacks of some informations such as the
  sensor name, the frame name etc. On the other hand it allows to
  connect/disconnect the client to the port measures:o of the server after
  being opened, and to work also when the rpc:o port is missing (e.g with the
  yarpdataplayer).

realsense2

• Deprecated the needAlignment parameter in favour of alignmentFrame.
  The default behaviour has been maintaned, if not specified alignmentFrame
  is RGB. The allowed values are RGB, Depth and None.

mjpeg

• The MJPEG_AUTOCOMPRESS CMake option is deprecated in favour of
  YARP_MJPEG_AUTOCOMPRESS

mpi

• The MPI_DEBUG_MSG CMake option is deprecated in favour of
  YARP_MPI_DEBUG_MSG.

Contributors

This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v3.2.0..v3.3.0):

   332	Daniele E. Domenichelli <[email protected]>
    26	Nicolò Genesio <[email protected]>
     7	Ugo Pattacini <[email protected]>
     5	Vadim Tikhanoff <[email protected]>
     4	Marco Randazzo <[email protected]>
     2	Bartek Łukawski <[email protected]>
     1	Carlotta Sartore <[email protected]>
     1	Giovanni Saponaro <[email protected]>
     1	Giulio Romualdi <[email protected]>
     1	Nicola Piga <[email protected]>
     1	Silvio Traversaro <[email protected]>
     1	Valentina Gaggero <[email protected]>

YARP 3.2.2

YARP 3.2.2 Release Notes

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

Bug Fixes

Build System

• OpenCV 4 is not supported yet, and rejected by the build system.

Devices

ovrheadset

• Added the hands_relative parameter (#2106)

USBCameraDriverRaw

• Do not try to build when missing dependencies

Tools

yarpdataplayer

• Fixed speed control not working

Contributors

This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v3.2.1..v3.2.2):

     7	Daniele E. Domenichelli <[email protected]>
     3	Vadim Tikhanoff <[email protected]>
     1	Giulio Romualdi <[email protected]>
     1	Marco Randazzo <[email protected]>

YARP 3.2.1

YARP 3.2.1 Release Notes

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

Bug Fixes

Carriers

mjpeg

• Fixed mjpeg carrier using BGR images (#2060, #2061).

Devices

MultipleAnalogSensorsRemapper

• Fixed getTemperatureSensorMeasure method (#2056, #2058).

Tools

yarpidl_thrift

• Fixed deserialization for map types (#2054).

yarprun

• Fixed remote commands execution getting stucks with no answer (#2091).

GUIs

yarpdataplayer

• Fixed internal virtual timing in the yarpdataplayer as timestamps were not
  consistent (#2049, #2052).

yarpmanager

Contributors

This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v3.2.0..v3.2.1):

   170	Daniele E. Domenichelli <[email protected]>
     4	Nicolò Genesio <[email protected]>
     2	Vadim Tikhanoff <[email protected]>
     1	Giovanni Saponaro <[email protected]>
     1	Valentina Gaggero <[email protected]>

YARP 3.2.0 (2019-06-27)

YARP 3.2.0 Release Notes

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

Important Changes

Dependencies

• Optional dependency on YCM now requires version 0.10.4 or later.
• Optional dependency on RobotTestingFramework now requires version 2 or later.
• Rplidar SDK updated to 1.9.0
• Thrift updated to 0.12.0
• QCustomPlot 2 is now supported.
• Optional dependency on LibOVR now requires version 1.17 or later.

Bindings

• Removed support for 'Chicken Scheme' and 'Allegro Common Lisp'.
• Swig 4 is now supported.

Devices

• The portaudio and the ServerSoundGrabber device drivers are deprecated.

New Features

Build System

• .ini files for plugins configured with yarp_prepare_plugin can now be
  automatically generated by yarp_add_plugin and installed by passing the
  YARP_INI DESTINATION argument to yarp_install.
• The CREATE_LIB_MATH CMake option was renamed YARP_COMPILE_libYARP_math.
• The CREATE_GUIS CMake option was renamed YARP_COMPILE_GUIS.
• All the CREATE_<UPPERCASE_EXECUTABLE> were renamed
  YARP_COMPILE_<lowercase-executable>
• All the YARP_USE_<UPPERCASEPACKAGENAME> were renamed
  YARP_USE_<PackageName>
• All the YARP_USE_SYSTEM_<UPPERCASEPACKAGENAME> were renamed
  YARP_USE_SYSTEM_<PackageName>
• All the internal CMake variables related to packages now use the same case
  as the relative CMake module (i.e. YARP_HAS_OpenCV instead of
  YARP_HAS_OPENCV)
• yarp_idl_to_dir signature changed, and now supports passing optional
  parameters:

     yarp_idl_to_dir(INPUT_FILES <file> [file]
                     OUTPUT_DIR <dir>
                     [SOURCES_VAR <var>]
                     [HEADERS_VAR <var>]
                     [INCLUDE_DIRS_VAR <var>]
                     [THRIFT_INCLUDE_PREFIX]
                     [THRIFT_NO_NAMESPACE_PREFIX]
                     [THRIFT_NO_COPYRIGHT}
                     [THRIFT_NO_EDITOR]
                     [THRIFT_NO_DOC]
                     [VERBOSE])
  

  The old behaviour is still supported, but deprecated.
• yarp_idl_to_dir always regenerates files if they are not available.
• yarp_idl_to_dir No longer generates build targets.
• Files returned by yarp_idl_to_dir are now relative to current directory.

Libraries

YARP_conf

• The yarp/conf/options.h header file is deprecated.

YARP_OS

• The following methods signatures were changed to accept const char instead
  of int as terminating character:
  • ConnectionReader::expectText()
  • ConnectionWriter::appendString()
  • InputStream::readLine()
• Added YarpPluginSelector::checkPlugin() static method.
• ConnectionWriter::appendString() is deprecated in favour of appendText().
• ConnectionWriter::appendRawString() is deprecated in favour of
  appendString().
• Added ConnectionReader::expectString().
• Added the initiliizer_list constructor in yarp::os::Property.
• Added the initiliizer_list constructor in yarp::os::Bottle.
• yarp::os::NameSpace: All methods in the interface that take ContactStyle
  as parameter, are now passed by reference instead of by value.

  • - virtual bool connectPortToTopic(const Contact& src, const Contact& dest, ContactStyle style) = 0;
    + virtual bool connectPortToTopic(const Contact& src, const Contact& dest, const ContactStyle& style) = 0;

  • - virtual bool connectTopicToPort(const Contact& src, const Contact& dest, ContactStyle style) = 0;
    + virtual bool connectTopicToPort(const Contact& src, const Contact& dest, const ContactStyle& style) = 0;

  • - virtual bool disconnectPortFromTopic(const Contact& src, const Contact& dest, ContactStyle style) = 0;
    + virtual bool disconnectPortFromTopic(const Contact& src, const Contact& dest, const ContactStyle& style) = 0;

  • - virtual bool disconnectTopicFromPort(const Contact& src, const Contact& dest, ContactStyle style) = 0;
    + virtual bool disconnectTopicFromPort(const Contact& src, const Contact& dest, const ContactStyle& style) = 0;

  • - virtual bool connectPortToPortPersistently(const Contact& src, const Contact& dest, ContactStyle style) = 0;
    + virtual bool connectPortToPortPersistently(const Contact& src, const Contact& dest, const ContactStyle& style) = 0;

  • - virtual bool disconnectPortToPortPersistently(const Contact& src, const Contact& dest, ContactStyle style) = 0;
    + virtual bool disconnectPortToPortPersistently(const Contact& src, const Contact& dest, const ContactStyle& style) = 0;

YARP_sig

• Added ImageUtils.h, an header containing the following image utilities:

  • utils::vertSplit
  • utils::horzSplit
  • utils::vertConcat
  • utils::horzConcat

• yarp::sig::file Added support to write .png files

• Added the following methods to VectorOf:

  • VectorOf(std::initializer_list)
  • begin(), end(), cbegin(), cend()
  • reserve(size_t)
  • capacity()
  • push_back(T&&)
  • emplace_back(_Args...)

• Deprecated VectorOf::getFirst() in favour of data() and begin().
  Use either data() if you need the pointer to the first element, or begin()
  if you need the iterator.

• Added yarp::sig::IntrinsicParams and yarp::sig::YarpDistortion emum.

• Added two methods for computing a yarp::sig::PointCloud from depth images:

  • utils::depthToPC
  • utils::depthRgbToPC

• Deprecated getIplImage and wrapIplImage in favour of the new utilities of
  YARP_cv.

• Added move semantics in yarp::sig::Image.

• The yarp::sig::Sound class was heavily refactored:

  • New data types:
    • Sound::audio_sample (short int)
  • Changed signatures:

    • - Sound(int bytesPerSample)
      + Sound(size_t bytesPerSample)

    • - int get(size_t sample, size_t channel) const
      + audio_sample get(size_t sample, size_t channel) const

    • - void set(int value, size_t sample, size_t channel)
      + void set(audio_sample value, size_t sample, size_t channel)

    • - void setSafe(int value, size_t sample, size_t channel)
      + void setSafe(audio_sample value, size_t sample, size_t channel)

    • - size_t getFrequency() const
      + int getFrequency() const

    • - void setFrequency(size_t freq)
      + void setFrequency(int freq)

  • Removed methods:
    • unsigned char *getRawData() const
    • size_t getRawDataSize() const
  • Added methods:
    • bool operator==(const Sound& alt) const
    • bool clearChannel(size_t channel)
    • Sound extractChannelAsSound(size_t channel_id) const
    • std::vector<std::reference_wrapper<audio_sample>> getChannel(size_t channel_id)
    • bool replaceChannel(size_t id, Sound channel)
    • std::vector<std::reference_wrapper<audio_sample>> getInterleavedAudioRawData() const
    • std::vector<std::reference_wrapper<audio_sample>> getNonInterleavedAudioRawData() const
    • std::string toString() const
    • double getDuration() const

YARP_dev

• yarp::dev::IMap2D::clear() method renamed to
  yarp::dev::IMap2D::clearAllMaps().
• yarp::dev::INavigation2D derives from INavigation2DControlActions
  and INavigation2DTargetActions.
• yarp::dev::INavigation2DControlActions. The following methods have been
  added:
  getAllNavigationWaypoints(std::vector<yarp::dev::Map2DLocation>& waypoints)
getCurrentNavigationWaypoint(yarp::dev::Map2DLocation& curr_waypoint)
getCurrentNavigationMap(yarp::dev::NavigationMapTypeEnum map_type, yarp::dev::MapGrid2D& map)
• yarp::dev::INavigation2DTargetActions. The following method has been added:
  gotoTargetByRelativeLocation(double x, double y)
• The following method now accepts a parameter (with default value = infinite
  for backward compatibility):
  yarp::dev::INavigation2DTargetActions::suspendNavigation(const double time_s = std::numeric_limits<double>::infinity())
• yarp::dev::ILocalization2D added the new two following methods:
  • bool getLocalizationStatus(LocalizationStatusEnum& status)
  • bool getEstimatedPoses(std::vector<yarp::dev::Map2DLocation>& poses)
• yarp::dev::ILocalization2D added the new type: LocalizationStatusEnum
• yarp::dev::IBattery::getBatteryStatus() now uses Battery_status enum,
  instead of int.
• yarp::dev::INavigation2D. Added method
  yarp::dev::INavigation2DControlActions::recomputeCurrentNavigationPath().
• yarp::dev::INavigation2D. Added helper static methods:
  • yarp::dev::INavigation2DHelpers::statusToString()
  • yarp::dev::INavigation2DHelpers::stringToStatus()
• yarp::dev::INavigation2D. Added method:
  yarp::dev::INavigation2D::getNameOfCurrentTarget() to the interface.
• yarp::dev::INavigation2D. Method:
  yarp::dev::INavigation2D::gotoTargetByLocationName() now accepts area names.
• yarp::dev::INavigation2D. Added class yarp::dev::Map2DArea.
• yarp::dev::INavigation2D. Added methods getArea(), checkInsideArea() and
  checkNearToLocation().
• yarp::dev::INavigation2DTargetActions. Added method
  applyVelocityCommand().
• yarp::dev::Map2DServer. Changed locations.ini file format to support
  load/save of Map2DLocation and Map2DArea.
• Updated AnalogWrapper to open multiple ros topics for wrenchStamped
  ros msg type.
• Added const counterpart of yarp::dev::CanBuffer::getPointer().
• yarp::dev::IMap2D Added method yarp::dev::IMap2D::renameLocation()
• `yarp::dev:...

YARP 3.1.2 (2019-06-03)

YARP 3.1.2 Release Notes

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

Bug Fixes

CMake

• Fixed issue in YarpPlugin when INTERNAL is enabled and dependencies are not
  available (#2024).

Libraries

YARP_dev

• Fixed PolyDriver linking issues on Ubuntu 18.04.

Devices

realsense2

• Correctly detect color sensor on D435i (#2010).

Contributors

This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v3.1.1..v3.1.2):

     8	Daniele E. Domenichelli <[email protected]>
     2	Alberto Cardellino <[email protected]>
     1	Bartek Łukawski <[email protected]>
     1	Emilio Benenati <[email protected]>

YARP 3.1.1 (2019-04-18)

YARP 3.1.1 Release Notes

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

New Features

Build System

• Added YARP_DISABLE_VERSION_SOURCE cmake variable to disable version source
  when building YARP. This is an useful option for developers, since it
  avoids rebuilding everything whenever the commit or the dirty state changes.
  Please disable this option when including YARP version in bugs reports.

Bug Fixes

CMake Modules

YarpInstallationHelpers

• Changed / in \ path.d under Windows (#1513).

Libraries

YARP_OS

• Fixed write() in BufferedPort after interrupting-resuming(#1834).
• Fixed assertion when YARP_FORWARD_LOG_ENABLE=1 (#1851).
• Fixed impl/PlatformSysStat.h installation.
• Fixed Port from performing resume() operations if not interrupted(#1896).
• Fixes missing initialization value for Network Clock port

YARP_dev

• Fixed IControlLimits.h not being a self-sufficient header (#1845).
• Added missing YARP_dev_API to IRobotDescription.
• Made optional the view of IFrameGrabberControls in RGBDSensorWrapper
  (#1875).
• Fixed header inclusion in ImplementControlLimits2.h.
• Fixed interface pointer checks in ControlBoardWrapper.
• Added timeout check in all data streamed by *\stateExt:o ports (#1833).

YARP_companion

• Fixed api.h installation.

YARP_sig

• Fixed element contruction when calling VectorOf<T>::push_back().
• Fixed build when ZFP is installed.
• Fixed possible buffer overrun in PointCloudTypes

Tools

yarpidl_thrift

• Fixed serialisation / deserialisation of maps (#1802).

Bindings

• Fixed usage of methods that take in input a yarp::sig::Vector in bindings
  (#1828).
• Disabled extended analog sensor interfaces in C# to allow compilation of these
  bindings (#1830).
• Added bindings for yarp::os::Wire and yarp::os::WireLink

GUIs

yarpdataplayer

• Fixed memory leak when using cvLoad(...).

Devices

RemoteControlBoard

• Added timeout parameter.

realsense2

• Fixed set/getDepthAccuracy methods (#1877).

ffmpeg

• Fixed compilation on debian testing (#1849).

imuBosch_BNO055

• Fixed runtime linking issue.
• Fixed shifted read from i2c.

Contributors

This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v3.1.0..v3.1.1):

   112	Daniele E. Domenichelli <[email protected]>
    33	Nicolò Genesio <[email protected]>
     8	Damiano Enerli <[email protected]>
     7	Alberto Cardellino <[email protected]>
     6	Silvio Traversaro <[email protected]>
     3	Bartek Łukawski <[email protected]>
     3	Marco Randazzo <[email protected]>
     2	Andrea Ruzzenenti <[email protected]>
     2	Arren Glover <[email protected]>
     2	Diego Ferigo <[email protected]>
     2	Nuno Guedelha <[email protected]>
     2	Tobias Fischer <[email protected]>
     2	Ugo Pattacini <[email protected]>
     1	Claudio Fantacci <[email protected]>
     1	Matteo Brunettini <[email protected]>
     1	Mohamed Babiker Mohamed Elobaid <[email protected]>
     1	Valentina Gaggero <[email protected]>

YARP 3.1.0 (2018-07-31)

YARP 3.1.0 (2018-07-31) 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 <[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]>