YARP 3.2.0 (2019-06-27)

Table of Contents

• YARP 3.2.0 Release Notes
  • Important Changes
    • Dependencies
    • Bindings
    • Devices
  • New Features
    • Build System
    • Libraries
      • YARP_conf
      • YARP_OS

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.
  • ```diff
    • 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;

      * 

      diff
    • 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;

      * 

      diff
    • 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;

      * 

      diff
    • 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;

      * 

      diff
    • 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;

      * 

      diff
    • 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<T>)
        - 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:
          * 

      diff
      • Sound(int bytesPerSample)
      • Sound(size_t bytesPerSample)

        * 

        diff
      • int get(size_t sample, size_t channel) const
      • audio_sample get(size_t sample, size_t channel) const

        * 

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

        * 

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

        * 

        diff
      • size_t getFrequency() const
      • int getFrequency() const

        * 

        diff
      • 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::IMap2D` Added method `yarp::dev::IMap2D::renameArea()`
        * Added `yarp::dev::CircularAudioBuffer` and `yarp::dev::AudioBufferSize`
          classes.
        * IAudioRender:
          - Changed signatures:
            * 

        diff
      • bool renderSound(yarp::sig::Sound& sound)
      • bool renderSound(const yarp::sig::Sound& sound)

          - Added methods:
            * `bool getPlaybackAudioBufferMaxSize(yarp::dev::AudioBufferSize& size)`
            * `bool getPlaybackAudioBufferCurrentSize(yarp::dev::AudioBufferSize& size)`
            * `bool resetPlaybackAudioBuffer()`
            * `bool getRecordingAudioBufferMaxSize(yarp::dev::AudioBufferSize& size)`
            * `bool getRecordingAudioBufferCurrentSize(yarp::dev::AudioBufferSize& size)`
            * `bool resetRecordingAudioBuffer()`
        * IAudioGrabberSound:
          - Changed signatures:
            * 

        diff
      • bool getSound(yarp::sig::Sound& sound)
      • bool getSound(yarp::sig::Sound& sound, size_t min_number_of_samples, size_t max_number_of_samples, double max_samples_timeout_s)

          - Added methods:
            * `bool getRecordingAudioBufferMaxSize(yarp::dev::AudioBufferSize& size)`
            * `bool getRecordingAudioBufferCurrentSize(yarp::dev::AudioBufferSize& size)`
            * `bool resetRecordingAudioBuffer()`
         
         
        #### YARP_cv
         
        * Added `YARP_cv`, a conversion library from YARP images to cv::Mat and
          viceversa.
         
         
        ### Devices
         
        * New devices:
          - `fakeBattery`
          - `navigation2DServer`
          - `localization2DServer`
          - `usbCamera` (imported from the iCub repository)
          - `fakeNavigation`
          - `fakeLocalizer`
          - `audioRecorderWrapper`
          - `portaudioRecorder`
          - `portaudioPlayer`
          - `audioPlayerWrapper`
          - `fakeSpeaker`
          - `fakeMicrophone`
        * Add `physFocalLength` parameter for RGBD devices (check documentation for more
          details).
         
        ##### `BatteryWrapper`
         
        * Now handles correctly `--subdevice` option.
         
        ##### `imuBosch_BNO055`
         
        * Added `MultipleAnalogSensor` interface support.
        * Fixed conversion factor for gyro and magnetometer.
        * Fixed unit measure in ThreeAxis interface.
         
        ##### `Navigation2DClient`
         
        * Added handler for rpc string commands.
          By default the  port is called `<client_name>/user_commands/rpc`.
         
        ##### `fakeLaser`
         
        * Added configuration parameters to set the range and the resolution of the
          device.
         
        ##### `analogServer`
         
        * Has learned to forward return codes to `analogSensorClient` (#1981).
        * Now forwards `calibrateSensor(const yarp::sig::Vector& value)`
          calls to wrapped subdevices.
         
        ##### `ServerSoundGrabber`
         
        * No longer implements `IAudioGrabberSound`.
         
        ##### `ServerFrameGrabber`
         
        * No longer implements audio interfaces.
         
         
        ### RFModules
         
        * Added the possibility to compile `RFModule`s as plugin and load them runtime
          in a single process context.
         
         
        ### Tools
         
        ##### `yarprobotinterface`
        * YARP//DTD yarprobotinterface 3.0//EN is now the default parser for robot xml configuration files.
          `yarprobotinterface` will not run anymore deprecated DTD format v1.0
         
        ##### `yarpidl_thrift`
         
        * The thrift tool was refactored.
        * Fix list serialization for i8, i16 and i64 (#1962)
        * Structs can now be exported in dll APIs using the `yarp.api.include` and
          `yarp.api.keyword` annotations.
        * Portables serialized using `appendExternalBlock` (i.e. `yarp::sig::Vector`)
          can now be safely returned by thrift methods.
        * Files are now generating using namespace as subdirectory (this can be
          disabled using the no_namespace_prefix option.
        * Constants and typedefs are now properly generated in the namespace.
         
         
        ##### `yarphear`
         
        * Use `portaudioPlayer` instead of `portaudio` device.
         
         
        ### GUIs
         
        ##### `yarpmanager`
         
        * Allow to specify an address for every host in the `cluster-config.xml` file.
          This allow to use host names that cannot be resolved automatically by the
          network.
         
        ##### `yarpview`
         
        * Added size (w,h) info for:
          - the image received on the yarp port
          - the image currently displayed in yarpview
         
         
        Bug Fixes
        ---------
         
        ### Libraries
         
        #### YARP_dev
         
        * `ImplementPositionControl::checkMotionDone` now correctly returns a single
          value as from API (#2027).
         
         
        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..v3.2.0`):

        413 Daniele E. Domenichelli danie.nosp@m.le.d.nosp@m.omeni.nosp@m.chel.nosp@m.li@ii.nosp@m.t.it 154 Nicolò Genesio nicol.nosp@m.o.ge.nosp@m.nesio.nosp@m.@iit.nosp@m..it 76 Marco Randazzo marco.nosp@m..ran.nosp@m.dazzo.nosp@m.@iit.nosp@m..it 70 Alberto Cardellino alber.nosp@m.to.c.nosp@m.ardel.nosp@m.lino.nosp@m.@iit..nosp@m.it 19 Valentina Gaggero valen.nosp@m.tina.nosp@m..gagg.nosp@m.ero@.nosp@m.iit.i.nosp@m.t 13 Silvio Traversaro silvi.nosp@m.o.tr.nosp@m.avers.nosp@m.aro@.nosp@m.iit.i.nosp@m.t 11 Bartek Łukawski bwmn..nosp@m.pete.nosp@m.r@gma.nosp@m.il.c.nosp@m.om 8 Damiano Enerli damia.nosp@m.no.e.nosp@m.nerli.nosp@m.@iit.nosp@m..it 7 Ugo Pattacini ugo.p.nosp@m.atta.nosp@m.cini@.nosp@m.iit..nosp@m.it 5 Yeshasvi Tirupachuri yesha.nosp@m.svi..nosp@m.tirup.nosp@m.achu.nosp@m.ri@ii.nosp@m.t.it 4 Andrea Ruzzenenti andre.nosp@m.a.ru.nosp@m.zzene.nosp@m.nti@.nosp@m.iit.i.nosp@m.t 4 Claudio Fantacci claud.nosp@m.io.f.nosp@m.antac.nosp@m.ci@i.nosp@m.it.it 4 Matteo Brunettini matte.nosp@m.o.br.nosp@m.unett.nosp@m.ini@.nosp@m.iit.i.nosp@m.t 4 Stefano Dafarra stefa.nosp@m.no.d.nosp@m.afarr.nosp@m.a@ii.nosp@m.t.it 3 Andrea Ruzzenenti ruzze.nosp@m.nent.nosp@m.i.a@g.nosp@m.mail.nosp@m..com 2 Arren Glover arren.nosp@m..glo.nosp@m.ver@i.nosp@m.it.i.nosp@m.t 2 Diego Ferigo diego.nosp@m..fer.nosp@m.igo@i.nosp@m.it.i.nosp@m.t 2 Nuno Guedelha nuno..nosp@m.gued.nosp@m.elha@.nosp@m.iit..nosp@m.it 2 Prashanth Ramadoss prash.nosp@m.anth.nosp@m..rama.nosp@m.doss.nosp@m.@iit..nosp@m.it 2 Tobias Fischer t.fis.nosp@m.cher.nosp@m.@impe.nosp@m.rial.nosp@m..ac.u.nosp@m.k 1 Austin Kothig kothi.nosp@m.ga21.nosp@m.12@gm.nosp@m.ail..nosp@m.com 1 Emilio Benenati emili.nosp@m.o.be.nosp@m.nenat.nosp@m.i@ii.nosp@m.t.it 1 Francesco Romano franc.nosp@m.esco.nosp@m..roma.nosp@m.no@i.nosp@m.it.it 1 GiulioRomualdi giuli.nosp@m.o.ro.nosp@m.muald.nosp@m.i@gm.nosp@m.ail.c.nosp@m.om 1 Jason Chevrie jason.nosp@m..che.nosp@m.vrie@.nosp@m.iit..nosp@m.it 1 Mohamed Babiker Mohamed Elobaid moham.nosp@m.ed.e.nosp@m.lobai.nosp@m.d@ii.nosp@m.t.it 1 Vadim Tikhanoff vadim.nosp@m..tik.nosp@m.hanof.nosp@m.f@ii.nosp@m.t.it 1 YARP Developers yarp0.nosp@m.-dev.nosp@m.el@li.nosp@m.sts..nosp@m.sourc.nosp@m.efor.nosp@m.ge.ne.nosp@m.t ```