YARP 3.11.0 (2025-02-18)

Table of Contents

• YARP 3.11.0 Release Notes
  • Breaking Changes
    • Library
      • <tt>libYARP_dev</tt>
    • Tests
    • Compiler features
  • Fixes
  • New Features
    • devices
      • multiplenalogsensorremapper
    • GUIs
      • <tt>yarpopencvdisplay</tt>
      • <tt>yarpmanager</tt>
    • Libraries
      • <tt>libYARP_sig</tt>
      • <tt>libYARP_dev</tt>
      • <tt>devices</tt>
    • Other
  • Contributors

YARP 3.11.0 Release Notes

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

Breaking Changes

Library

<tt>libYARP_dev</tt>

The signature of methods IFrameTransform::frameExists(const std::string &frame_id) and IFrameTransform::canTransform(const std::string &target_frame, const std::string &source_frame) change to IFrameTransform::frameExists(const std::string &frame_id, bool& exits) and IFrameTransform::canTransform(const std::string &target_frame, const std::string &source_frame, bool& exists).

Tests

The set of tests for individual plugins, previously called harness_dev_xxx has been renamed to harness_devices_xxx

Compiler features

target_compile_features updated from cxx_std_17 to cxx_std_20

Fixes

New Features

devices

multiplenalogsensorremapper

• The angular acceleration and linear velocity values measured by a sensor can now be extracted and used via the sensor remapper.
• Also involves multipleanalogsensorclient and multipleanalogsensorserver as a breaking change.

GUIs

<tt>yarpopencvdisplay</tt>

• yarpopencvdisplay is now able to display a yarp::sig::LayeredImage

<tt>yarpmanager</tt>

• Added time info to libYARP_manager logger and to yarpmanager GUI.
• The time info can be displayed as the current time (obtained from std::chrono::system_clock::now()) or as time elapsed since yarpmanager GUI launch

Libraries

<tt>libYARP_sig</tt>

• added new datatype yarp::sig::LayeredImage
• added yarp::sig::utils::sum() to transform yarp::sig::LayeredImage to yarp::sig::Image
• modified signature of method yarp::sig::utils::depthToPC and yarp::sig::utils::depthRgbToPC. They now accept step_x and step_y parameters to perform pointcloud decimation. They also accept a new parameter output_order which allows to swap the axis of the output point cloud (see code documentation)
• added method yarp::sig::Vector::erase()

<tt>libYARP_dev</tt>

• added new class yarp::dev::ReturnValue
• The following interfaces have been modified to the new class ReturnValue: ISpeechSynthesizer ISpeechTranscription ILocalization2D IMap2D INavigation2D IOdometry2D

<tt>devices</tt>

• Updated all devices which use the interfaces employing the new class ReturnValue: FakeSpeechSynthesizer FakeSpeechTranscription FakeNavigation FakeLocalizer FakeOdometry2D Map2DStorage SpeechTranscription_nws_yarp SpeechTranscription_nwc_yarp SpeechSynthesizer_nws_yarp SpeechSynthesizer_nwc_yarp Localization2D_nws_yarp Localization2D_nwc_yarp Map2D_nws_yarp Map2D_nwc_yarp MobileBaseVelocityControl_nws_yarp MobileBaseVelocityControl_nwc_yarp Navigation2D_nwc_yarp Navigation2D_nws_yarp Odometry2D_nws_yarp

Other

• Added new CLI executable yarpActionPlayer to playback trajectories on robot. See the related documentation included in the README.md file
• Updated to SWIG 4.3.0

Contributors

This is a list of people that contributed to this release (generated from the git history using git shortlog -ens --no-merges v3.10.0..v3.11.0):

54  Marco Randazzo <marco.randazzo@iit.it>
13  Nick Tremaroli <nicholas.tremaroli@iit.it>
 5  Ettore Landini <ettore.landini@iit.it>
 4  robotology-bot (Tag Repository Action) <robotology@iit.it>
 3  Silvio Traversaro <silvio.traversaro@iit.it>
 3  Stefano Dafarra <stefano.dafarra@iit.it>
 1  Francesco Brand <francesco.brand@iit.it>
 1  Ines Sorrentino <43743081+isorrentino@users.noreply.github.com>