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Switching to use ModelLoader in all the codebase
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We should use the C++14 [[deprecated]] attributes.
Unfortunately they have some issues with SWIG, see robotology#461

Using IDYNTREE_DEPRECATED for now
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@francesco-romano
francesco-romano committed Jul 31, 2018
1 parent 8676f69 commit 0dcb1a8
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Showing 17 changed files with 119 additions and 173 deletions.
12 changes: 7 additions & 5 deletions src/estimation/include/iDynTree/Estimation/ExtWrenchesAndJointTorquesEstimator.h
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Original file line number Diff line number Diff line change
Expand Up @@ -107,26 +107,28 @@ class ExtWrenchesAndJointTorquesEstimator
/**
* Load model and sensors from file.
*
* @deprecated Use iDynTree::ModelLoader::loadModelFromFile and call setModelAndSensors
* on the parsed Model and SensorsList
*
* @param[in] filename path to the file to load.
* @param[in] filetype (optional) explicit definiton of the filetype to load.
* Only "urdf" is supported at the moment.
* @return true if all went well (files were correctly loaded and consistent), false otherwise.
*
*/
IDYNTREE_DEPRECATED_WITH_MSG("Use iDynTree::ModelLoader::loadModelFromFile and call setModelAndSensors on the parsed Model and SensorsList")
bool loadModelAndSensorsFromFile(const std::string filename, const std::string filetype="");

/**
* Load model and sensors from file, specifieng the dof considered for the estimation.
*
* @note this will create e a reduced model only with the joint specified in consideredDOFs and the
* fixed joints in which FT sensor are mounted.
*
* @param[in] filename path to the file to load.
* @param[in] consideredDOFs list of dof to consider in the model.
* @param[in] filetype (optional) explicit definiton of the filetype to load.
* Only "urdf" is supported at the moment.
* @return true if all went well (files were correctly loaded and consistent), false otherwise.
*
*
* \note this will create e a reduced model only with the joint specified in consideredDOFs and the
* fixed joints in which FT sensor are mounted.
*/
bool loadModelAndSensorsFromFileWithSpecifiedDOFs(const std::string filename,
const std::vector<std::string> & consideredDOFs,
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11 changes: 8 additions & 3 deletions src/estimation/include/iDynTree/Estimation/SimpleLeggedOdometry.h
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Original file line number Diff line number Diff line change
Expand Up @@ -121,26 +121,31 @@ class SimpleLeggedOdometry
/**
* Load model from file.
*
* @deprecated Use iDynTree::ModelLoader::loadModelFromFile and call setModel on the parsed Model
*
* @param[in] filename path to the file to load.
* @param[in] filetype (optional) explicit definiton of the filetype to load.
* Only "urdf" is supported at the moment.
* @return true if all went well (files were correctly loaded and consistent), false otherwise.
*
*/
IDYNTREE_DEPRECATED_WITH_MSG("Use iDynTree::ModelLoader::loadModelFromFile and call setModel on the parsed Model")
bool loadModelFromFile(const std::string filename, const std::string filetype="");

/**
* Load model from file, specifieng the dof considered for the estimation.
*
* @deprecated Use iDynTree::ModelLoader::loadReducedModelFromFile and call setModel on the parsed Model
*
* @note this will create e a reduced model only with the joint specified in consideredDOFs
*
* @param[in] filename path to the file to load.
* @param[in] consideredDOFs list of dof to consider in the model.
* @param[in] filetype (optional) explicit definiton of the filetype to load.
* Only "urdf" is supported at the moment.
* @return true if all went well (files were correctly loaded and consistent), false otherwise.
*
*
* \note this will create e a reduced model only with the joint specified in consideredDOFs
*/
IDYNTREE_DEPRECATED_WITH_MSG("Use iDynTree::ModelLoader::loadReducedModelFromFile and call setModel on the parsed Model")
bool loadModelFromFileWithSpecifiedDOFs(const std::string filename,
const std::vector<std::string> & consideredDOFs,
const std::string filetype="");
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67 changes: 19 additions & 48 deletions src/estimation/src/ExtWrenchesAndJointTorquesEstimator.cpp
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Expand Up @@ -30,8 +30,7 @@
#include <iDynTree/Sensors/SixAxisFTSensor.h>
#include <iDynTree/Sensors/PredictSensorsMeasurements.h>

#include <iDynTree/ModelIO/URDFModelImport.h>
#include <iDynTree/ModelIO/URDFGenericSensorsImport.h>
#include <iDynTree/ModelIO/ModelLoader.h>

#include <iDynTree/Core/EigenHelpers.h>

Expand Down Expand Up @@ -119,56 +118,28 @@ bool ExtWrenchesAndJointTorquesEstimator::setModelAndSensors(const Model& _model
}

bool ExtWrenchesAndJointTorquesEstimator::loadModelAndSensorsFromFile(const std::string filename,
const std::string /*filetype*/)
const std::string filetype)
{
Model _model;
SensorsList _sensors;

bool parsingCorrect = false;

parsingCorrect = modelFromURDF(filename,_model);

if( !parsingCorrect )
{
reportError("ExtWrenchesAndJointTorquesEstimator","loadModelAndSensorsFromFile","Error in parsing model from URDF.");
return false;
}

parsingCorrect = sensorsFromURDF(filename,_model,_sensors);

if( !parsingCorrect )
{
reportError("ExtWrenchesAndJointTorquesEstimator","loadModelAndSensorsFromFile","Error in parsing sensors from URDF.");
ModelLoader loader;
if (!loader.loadModelFromFile(filename, filetype)) {
reportError("ExtWrenchesAndJointTorquesEstimator", "loadModelAndSensorsFromFile", "Error in parsing from URDF.");
return false;
}

return setModelAndSensors(_model,_sensors);
return setModelAndSensors(loader.model(), loader.sensors());
}

bool ExtWrenchesAndJointTorquesEstimator::loadModelAndSensorsFromFileWithSpecifiedDOFs(const std::string filename,
const std::vector< std::string >& consideredDOFs,
const std::string /*filetype*/)
const std::string filetype)
{
Model _modelFull;
SensorsList _sensorsFull;

bool parsingCorrect = false;

parsingCorrect = modelFromURDF(filename,_modelFull);

if( !parsingCorrect )
{
reportError("ExtWrenchesAndJointTorquesEstimator","loadModelAndSensorsFromFileWithSpecifiedDOFs","Error in parsing model from URDF.");
ModelLoader loader;
if (!loader.loadModelFromFile(filename, filetype)) {
reportError("ExtWrenchesAndJointTorquesEstimator", "loadModelAndSensorsFromFileWithSpecifiedDOFs", "Error in parsing from URDF.");
return false;
}

parsingCorrect = sensorsFromURDF(filename,_modelFull,_sensorsFull);

if( !parsingCorrect )
{
reportError("ExtWrenchesAndJointTorquesEstimator","loadModelAndSensorsFromFileWithSpecifiedDOFs","Error in parsing sensors from URDF.");
return false;
}
Model _modelFull = loader.model();
SensorsList _sensorsFull = loader.sensors();

// We need to create a reduced model, inclusing only the consideredDOFs and the joints used by the FT sensors
std::vector< std::string > consideredJoints = consideredDOFs;
Expand All @@ -177,22 +148,22 @@ bool ExtWrenchesAndJointTorquesEstimator::loadModelAndSensorsFromFileWithSpecifi
std::vector< std::string > ftJointNames;
getFTJointNames(_sensorsFull,ftJointNames);

for(size_t i=0; i < ftJointNames.size(); i++)
for (size_t i = 0; i < ftJointNames.size(); i++)
{
// Only add an F/T sensor joint if it is not already in consideredDOFs
if( std::find(consideredJoints.begin(),consideredJoints.end(),ftJointNames[i]) == consideredJoints.end() )
{
consideredJoints.push_back(ftJointNames[i]);
}
if (std::find(consideredJoints.begin(), consideredJoints.end(), ftJointNames[i]) == consideredJoints.end())
{
consideredJoints.push_back(ftJointNames[i]);
}
}


Model _modelReduced;
SensorsList _sensorsReduced;

parsingCorrect = createReducedModelAndSensors(_modelFull,_sensorsFull,consideredJoints,_modelReduced,_sensorsReduced);
bool parsingCorrect = createReducedModelAndSensors(_modelFull,_sensorsFull,consideredJoints,_modelReduced,_sensorsReduced);

if( !parsingCorrect )
if (!parsingCorrect)
{
reportError("ExtWrenchesAndJointTorquesEstimator","loadModelAndSensorsFromFileWithSpecifiedDOFs","Error in creating reduced model and sensors.");
return false;
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41 changes: 10 additions & 31 deletions src/estimation/src/SimpleLeggedOdometry.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,8 +17,7 @@
#include <iDynTree/Model/Indices.h>
#include <iDynTree/Model/ModelTransformers.h>

#include <iDynTree/ModelIO/URDFModelImport.h>
#include <iDynTree/ModelIO/URDFGenericSensorsImport.h>
#include <iDynTree/ModelIO/ModelLoader.h>

#include <sstream>

Expand Down Expand Up @@ -185,50 +184,30 @@ bool SimpleLeggedOdometry::setModel(const Model& _model)


bool SimpleLeggedOdometry::loadModelFromFile(const std::string filename,
const std::string /*filetype*/)
const std::string filetype)
{
Model _model;

bool parsingCorrect = false;

parsingCorrect = modelFromURDF(filename,_model);

if( !parsingCorrect )
{
ModelLoader loader;
if (!loader.loadModelFromFile(filename, filetype)) {
reportError("SimpleLeggedOdometry",
"loadModelFromFile",
"Error in parsing model from URDF.");
return false;
}

return setModel(_model);
return setModel(loader.model());
}

bool SimpleLeggedOdometry::loadModelFromFileWithSpecifiedDOFs(const std::string filename,
const std::vector< std::string >& consideredDOFs,
const std::string /*filetype*/)
const std::vector<std::string>& consideredDOFs,
const std::string filetype)
{
Model _modelFull;

bool parsingCorrect = false;

parsingCorrect = modelFromURDF(filename,_modelFull);

if( !parsingCorrect )
{
ModelLoader loader;
if (!loader.loadReducedModelFromFile(filename, consideredDOFs, filetype)) {
reportError("SimpleLeggedOdometry",
"loadModelFromFileWithSpecifiedDOFs",
"Error in parsing model from URDF.");
return false;
}


Model _modelReduced;

// Create a reduced model: this will lump all not considered joints
iDynTree::createReducedModel(_modelFull,consideredDOFs,_modelReduced);

return setModel(_modelReduced);
return setModel(loader.model());
}


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4 changes: 4 additions & 0 deletions src/high-level/include/iDynTree/KinDynComputations.h
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,8 @@

#include <iDynTree/Core/VectorFixSize.h>
#include <iDynTree/Core/MatrixDynSize.h>
#include <iDynTree/Core/Utils.h>


#include <iDynTree/Model/Indices.h>
#include <iDynTree/Model/FreeFloatingMatrices.h>
Expand Down Expand Up @@ -124,6 +126,7 @@ class KinDynComputations {
* @param filetype type of the file to load, currently supporting only urdf type.
*
*/
IDYNTREE_DEPRECATED_WITH_MSG("Use iDynTree::ModelLoader::loadRobotModelFromFile and pass the Model to loadRobotModel")
bool loadRobotModelFromFile(const std::string & filename, const std::string & filetype="urdf");

/**
Expand All @@ -133,6 +136,7 @@ class KinDynComputations {
* @param filetype type of the file to load, currently supporting only urdf type.
*
*/
IDYNTREE_DEPRECATED_WITH_MSG("Use iDynTree::ModelLoader::loadRobotModelFromString and pass the Model to loadRobotModel")
bool loadRobotModelFromString(const std::string & modelString, const std::string & filetype="urdf");

/**
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44 changes: 9 additions & 35 deletions src/high-level/src/KinDynComputations.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@
#include <iDynTree/Model/Dynamics.h>
#include <iDynTree/Model/Jacobians.h>

#include <iDynTree/ModelIO/URDFModelImport.h>
#include <iDynTree/ModelIO/ModelLoader.h>

#include <cassert>
#include <iostream>
Expand Down Expand Up @@ -333,49 +333,23 @@ void KinDynComputations::computeBiasAccFwdKinematics()
bool KinDynComputations::loadRobotModelFromFile(const std::string& filename,
const std::string& filetype)
{
if( filetype != "urdf" )
{
std::cerr << "[ERROR] unknown format " << filetype <<
" . Currently only the urdf format is supported." << std::endl;
ModelLoader loader;
if (!loader.loadModelFromFile(filename, filetype)) {
reportError("KinDynComputations", "loadRobotModelFromFile", "Error in loading robot model");
return false;
}

std::ifstream ifs(filename.c_str());

if( !ifs )
{
std::cerr << "[ERROR] impossible to open file " << filename << std::endl;
return false;
}

std::string model_string( (std::istreambuf_iterator<char>(ifs) ),
(std::istreambuf_iterator<char>() ) );

return this->loadRobotModelFromString(model_string);
return this->loadRobotModel(loader.model());
}

bool KinDynComputations::loadRobotModelFromString(const std::string& modelString,
const std::string& filetype)
{
if( filetype != "urdf" )
{
std::cerr << "[ERROR] unknown format " << filetype <<
" . Currently only the urdf format is supported." << std::endl;
ModelLoader loader;
if (!loader.loadModelFromString(modelString, filetype)) {
reportError("KinDynComputations", "loadRobotModelFromString", "Error in loading robot model");
return false;
}

Model model;
bool ok = modelFromURDFString(modelString,model);

if( !ok )
{
std::cerr << "[ERROR] error in loading robot model" << std::endl;
return false;
}
else
{
return this->loadRobotModel(model);
}
return this->loadRobotModel(loader.model());
}

bool KinDynComputations::loadRobotModel(const Model& model)
Expand Down
10 changes: 6 additions & 4 deletions src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFGenericSensorsImport.h
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,8 @@

#include <string>

#include <iDynTree/Core/Utils.h>

#ifdef __DEPRECATED
#warning <iDynTree/ModelIO/URDFGenericSensorsImport.h> is deprecated. Please use <iDynTree/ModelIO/ModelLoader.h> and the classes contained in it. To disable this warning use -Wno-deprecated.
#endif
Expand All @@ -34,7 +36,7 @@ class Model;
* @return true if all went ok, false otherwise.
* @deprecated Please use iDynTree::ModelLoader::loadModelFromFile to load a iDynTree::SensorsList from a URDF file.
*/
[[deprecated("Please use iDynTree::ModelLoader::loadModelFromFile to load a iDynTree::SensorsList from a URDF file.")]]
IDYNTREE_DEPRECATED_WITH_MSG("Please use iDynTree::ModelLoader::loadModelFromFile to load a iDynTree::SensorsList from a URDF file.")
bool sensorsFromURDF(const std::string & urdf_filename,
iDynTree::SensorsList & output);

Expand All @@ -49,7 +51,7 @@ bool sensorsFromURDF(const std::string & urdf_filename,
* @return true if all went ok, false otherwise.
* @deprecated Please use iDynTree::ModelLoader::loadModelFromFile to load a iDynTree::SensorsList from a URDF file.
*/
[[deprecated("Please use iDynTree::ModelLoader::loadModelFromFile to load a iDynTree::SensorsList from a URDF file.")]]
IDYNTREE_DEPRECATED_WITH_MSG("Please use iDynTree::ModelLoader::loadModelFromFile to load a iDynTree::SensorsList from a URDF file.")
bool sensorsFromURDF(const std::string & urdf_filename,
const Model & model,
iDynTree::SensorsList & output);
Expand All @@ -63,7 +65,7 @@ bool sensorsFromURDF(const std::string & urdf_filename,
* @return true if all went ok, false otherwise.
* @deprecated Please use iDynTree::ModelLoader::loadModelFromString to load a iDynTree::SensorsList from a URDF string.
*/
[[deprecated("Please use iDynTree::ModelLoader::loadModelFromString to load a iDynTree::SensorsList from a URDF string.")]]
IDYNTREE_DEPRECATED_WITH_MSG("Please use iDynTree::ModelLoader::loadModelFromString to load a iDynTree::SensorsList from a URDF string.")
bool sensorsFromURDFString(const std::string & urdf_string,
iDynTree::SensorsList & output);

Expand All @@ -77,7 +79,7 @@ bool sensorsFromURDFString(const std::string & urdf_string,
* @return true if all went ok, false otherwise.
* @deprecated Please use iDynTree::ModelLoader::loadModelFromString to load a iDynTree::SensorsList from a URDF string.
*/
[[deprecated("Please use iDynTree::ModelLoader::loadModelFromString to load a iDynTree::SensorsList from a URDF string.")]]
IDYNTREE_DEPRECATED_WITH_MSG("Please use iDynTree::ModelLoader::loadModelFromString to load a iDynTree::SensorsList from a URDF string.")
bool sensorsFromURDFString(const std::string & urdf_string,
const Model & model,
iDynTree::SensorsList & output);
Expand Down
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