YARP 3.2.0 (2019-06-27) {#v3_2_0}

[TOC]

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::IMap2D Added method yarp::dev::IMap2D::renameArea()
Added yarp::dev::CircularAudioBuffer and yarp::dev::AudioBufferSize classes.
IAudioRender:
- Changed signatures:
  - ```
  - 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:
  - ```
  - 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 RFModules 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 <daniele.domenichelli@iit.it>
   154	Nicolò Genesio <nicolo.genesio@iit.it>
    76	Marco Randazzo <marco.randazzo@iit.it>
    70	Alberto Cardellino <alberto.cardellino@iit.it>
    19	Valentina Gaggero <valentina.gaggero@iit.it>
    13	Silvio Traversaro <silvio.traversaro@iit.it>
    11	Bartek Łukawski <bwmn.peter@gmail.com>
     8	Damiano Enerli <damiano.enerli@iit.it>
     7	Ugo Pattacini <ugo.pattacini@iit.it>
     5	Yeshasvi Tirupachuri <yeshasvi.tirupachuri@iit.it>
     4	Andrea Ruzzenenti <andrea.ruzzenenti@iit.it>
     4	Claudio Fantacci <claudio.fantacci@iit.it>
     4	Matteo Brunettini <matteo.brunettini@iit.it>
     4	Stefano Dafarra <stefano.dafarra@iit.it>
     3	Andrea Ruzzenenti <ruzzenenti.a@gmail.com>
     2	Arren Glover <arren.glover@iit.it>
     2	Diego Ferigo <diego.ferigo@iit.it>
     2	Nuno Guedelha <nuno.guedelha@iit.it>
     2	Prashanth Ramadoss <prashanth.ramadoss@iit.it>
     2	Tobias Fischer <t.fischer@imperial.ac.uk>
     1	Austin Kothig <kothiga2112@gmail.com>
     1	Emilio Benenati <emilio.benenati@iit.it>
     1	Francesco Romano <francesco.romano@iit.it>
     1	GiulioRomualdi <giulio.romualdi@gmail.com>
     1	Jason Chevrie <jason.chevrie@iit.it>
     1	Mohamed Babiker Mohamed Elobaid <mohamed.elobaid@iit.it>
     1	Vadim Tikhanoff <vadim.tikhanoff@iit.it>
     1	YARP Developers <yarp0-devel@lists.sourceforge.net>

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v3_2_0.md

v3_2_0.md

YARP 3.2.0 (2019-06-27) {#v3_2_0}

YARP 3.2.0 Release Notes

Important Changes

Dependencies

Bindings

Devices

New Features

Build System

Libraries

`YARP_conf`

`YARP_OS`

`YARP_sig`

`YARP_dev`

`YARP_cv`

Devices

`BatteryWrapper`

`imuBosch_BNO055`

`Navigation2DClient`

`fakeLaser`

`analogServer`

`ServerSoundGrabber`

`ServerFrameGrabber`

RFModules

Tools

`yarprobotinterface`

`yarpidl_thrift`

`yarphear`

GUIs

`yarpmanager`

`yarpview`

Bug Fixes

Libraries

YARP_dev

Contributors

Files

v3_2_0.md

Latest commit

History

v3_2_0.md

File metadata and controls

YARP 3.2.0 (2019-06-27) {#v3_2_0}

YARP 3.2.0 Release Notes

Important Changes

Dependencies

Bindings

Devices

New Features

Build System

Libraries

YARP_conf

YARP_OS

YARP_sig

YARP_dev

YARP_cv

Devices

BatteryWrapper

imuBosch_BNO055

Navigation2DClient

fakeLaser

analogServer

ServerSoundGrabber

ServerFrameGrabber

RFModules

Tools

yarprobotinterface

yarpidl_thrift

yarphear

GUIs

yarpmanager

yarpview

Bug Fixes

Libraries

YARP_dev

Contributors

`YARP_conf`

`YARP_OS`

`YARP_sig`

`YARP_dev`

`YARP_cv`

`BatteryWrapper`

`imuBosch_BNO055`

`Navigation2DClient`

`fakeLaser`

`analogServer`

`ServerSoundGrabber`

`ServerFrameGrabber`

`yarprobotinterface`

`yarpidl_thrift`

`yarphear`

`yarpmanager`

`yarpview`