robotology · traversaro · Nov 1, 2021 · Oct 7, 2021 · Nov 1, 2021 · Nov 1, 2021
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -11,6 +11,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Deprecated
 - The `iDynTree::Visualizer::enviroment()` was deprecated. Please use the `iDynTree::Visualizer::environment()` method instead (https://github.com/robotology/idyntree/pull/903).
+- The `iDynTree::idyntree-modelio-urdf` CMake imported target used when using classes such as `iDynTree::ModelLoader` and `iDynTree::ModelExporter`  was deprecated. Please use the `iDynTree::idyntree-modelio` imported target instead. 
 
 ### Fixed
 - Fixed the conversion from irrlicht pixels to iDynTree pixels. Fixed a typo in the environment method of the visualizer. Fixed the running of two visualizer instances in the same process (https://github.com/robotology/idyntree/pull/903).

diff --git a/bindings/pybind11/CMakeLists.txt b/bindings/pybind11/CMakeLists.txt
@@ -9,7 +9,7 @@ pybind11_add_module(pybind11_idyntree SYSTEM idyntree.cpp
 target_link_libraries(pybind11_idyntree PUBLIC idyntree-core
                                                idyntree-model
                                                idyntree-sensors
-                                               idyntree-modelio-urdf)
+                                               idyntree-modelio)
 
 # The generated Python dynamic module must have the same name as the pybind11
 # module, i.e. `bindings`.

diff --git a/src/estimation/CMakeLists.txt b/src/estimation/CMakeLists.txt
@@ -50,7 +50,7 @@ add_library(iDynTree::${libraryname} ALIAS ${libraryname})
 target_include_directories(${libraryname} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
                                                  "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>")
 
-target_link_libraries(${libraryname} PUBLIC idyntree-core idyntree-model idyntree-sensors idyntree-modelio-urdf
+target_link_libraries(${libraryname} PUBLIC idyntree-core idyntree-model idyntree-sensors idyntree-modelio
                                      PRIVATE Eigen3::Eigen)
 
 target_compile_options(${libraryname} PRIVATE ${IDYNTREE_WARNING_FLAGS})
@@ -68,6 +68,17 @@ install(TARGETS ${libraryname}
 
 set_property(GLOBAL APPEND PROPERTY ${VARS_PREFIX}_TARGETS ${libraryname})
 
+# Create deprecated target idyntree-modelio-urdf 
+add_library(idyntree-modelio-urdf INTERFACE)
+add_library(iDynTree::idyntree-modelio-urdf ALIAS idyntree-modelio-urdf)
+target_link_libraries(idyntree-modelio-urdf INTERFACE idyntree-modelio)
+install(TARGETS idyntree-modelio-urdf
+        EXPORT iDynTree)
+if(CMAKE_VERSION VERSION_GREATER 3.17)
+  set_target_properties(idyntree-modelio-urdf
+                        PROPERTIES DEPRECATION "Do not use deprecated target iDynTree::idyntree-modelio-urdf, use iDynTree::idyntree-modelio instead.")
+endif()
+
 if(IDYNTREE_COMPILE_TESTS)
     add_subdirectory(tests)
 endif(IDYNTREE_COMPILE_TESTS)
diff --git a/src/high-level/CMakeLists.txt b/src/high-level/CMakeLists.txt
@@ -21,7 +21,7 @@ add_library(iDynTree::${libraryname} ALIAS ${libraryname})
 target_include_directories(${libraryname} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
                                                  "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>")
 
-target_link_libraries(${libraryname} PUBLIC idyntree-core idyntree-model idyntree-sensors idyntree-modelio-urdf
+target_link_libraries(${libraryname} PUBLIC idyntree-core idyntree-model idyntree-sensors idyntree-modelio
                                      PRIVATE Eigen3::Eigen)
 
 set_property(TARGET ${libraryname} PROPERTY PUBLIC_HEADER ${IDYNTREE_HIGH_LEVEL_HEADERS})

diff --git a/src/high-level/tests/CMakeLists.txt b/src/high-level/tests/CMakeLists.txt
@@ -3,7 +3,7 @@ macro(add_unit_test_hl classname)
     set(testbinary ${classname}UnitTest)
     set(testname   UnitTest${classname})
     add_executable(${testbinary} ${testsrc})
-    target_link_libraries(${testbinary} PRIVATE idyntree-core idyntree-model idyntree-high-level idyntree-modelio-urdf
+    target_link_libraries(${testbinary} PRIVATE idyntree-core idyntree-model idyntree-high-level idyntree-modelio
                                                 idyntree-testmodels Eigen3::Eigen)
     add_test(NAME ${testname} COMMAND ${testbinary})
 

diff --git a/src/model_io/CMakeLists.txt b/src/model_io/CMakeLists.txt
@@ -10,4 +10,4 @@
 set(IDYNTREE_MODELIO_TESTFILES_DIR ${CMAKE_CURRENT_SOURCE_DIR}/tests/format_examples)
 
 add_subdirectory(xml)
-add_subdirectory(urdf)
+add_subdirectory(codecs)
diff --git a/src/model_io/urdf/CMakeLists.txt → src/model_io/codecs/CMakeLists.txt b/src/model_io/urdf/CMakeLists.txt → src/model_io/codecs/CMakeLists.txt
@@ -1,19 +1,17 @@
-# Copyright (C) 2015 Fondazione Istituto Italiano di Tecnologia
+# Copyright (C) 2021 Fondazione Istituto Italiano di Tecnologia
 #
 # Licensed under either the GNU Lesser General Public License v3.0 :
 # https://www.gnu.org/licenses/lgpl-3.0.html
 # or the GNU Lesser General Public License v2.1 :
 # https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html
 # at your option.
 
-project(iDynTree_ModelIO_URDF CXX)
-
-set(IDYNTREE_MODELIO_URDF_HEADERS include/iDynTree/ModelIO/URDFDofsImport.h
+set(IDYNTREE_MODELIO_HEADERS include/iDynTree/ModelIO/URDFDofsImport.h
                                   include/iDynTree/ModelIO/ModelLoader.h
                                   include/iDynTree/ModelIO/ModelExporter.h
                                   include/iDynTree/ModelIO/ModelCalibrationHelper.h)
 
-set(IDYNTREE_MODELIO_URDF_PRIVATE_HEADERS include/private/URDFDocument.h
+set(IDYNTREE_MODELIO_PRIVATE_HEADERS include/private/URDFDocument.h
                                           include/private/InertialElement.h
                                           include/private/JointElement.h
                                           include/private/LinkElement.h
@@ -39,23 +37,17 @@ set(IDYNTREE_MODELIO_URDF_XMLELEMENTS_SOURCES src/URDFDocument.cpp
                                               src/VisualElement.cpp
                                               src/GeometryElement.cpp)
 
-set(IDYNTREE_MODELIO_URDF_SOURCES src/URDFDofsImport.cpp
+set(IDYNTREE_MODELIO_SOURCES src/URDFDofsImport.cpp
                                   src/ModelLoader.cpp
                                   src/ModelExporter.cpp
                                   src/ModelCalibrationHelper.cpp
                                   src/URDFModelExport.cpp)
 
-SOURCE_GROUP("Source Files" FILES ${IDYNTREE_MODELIO_URDF_SOURCES})
-SOURCE_GROUP("Source Files\\XML Elements" FILES ${IDYNTREE_MODELIO_URDF_XMLELEMENTS_SOURCES})
-SOURCE_GROUP("Header Files" FILES ${IDYNTREE_MODELIO_URDF_HEADERS})
-SOURCE_GROUP("Private Header Files" FILES ${IDYNTREE_MODELIO_URDF_PRIVATE_HEADERS})
-
-list(APPEND IDYNTREE_MODELIO_URDF_SOURCES ${IDYNTREE_MODELIO_URDF_XMLELEMENTS_SOURCES})
+list(APPEND IDYNTREE_MODELIO_SOURCES ${IDYNTREE_MODELIO_URDF_XMLELEMENTS_SOURCES})
 
-# share headers with all iDynTree targets
-set(libraryname idyntree-modelio-urdf)
+set(libraryname idyntree-modelio)
 
-add_library(${libraryname} ${IDYNTREE_MODELIO_URDF_SOURCES} ${IDYNTREE_MODELIO_URDF_HEADERS} ${IDYNTREE_MODELIO_URDF_PRIVATE_HEADERS} $<TARGET_OBJECTS:idyntree-private-fpconv>)
+add_library(${libraryname} ${IDYNTREE_MODELIO_SOURCES} ${IDYNTREE_MODELIO_HEADERS} ${IDYNTREE_MODELIO_PRIVATE_HEADERS} $<TARGET_OBJECTS:idyntree-private-fpconv>)
 add_library(iDynTree::${libraryname} ALIAS ${libraryname})
 
 target_compile_features(${libraryname} PRIVATE cxx_auto_type cxx_delegating_constructors cxx_final cxx_lambdas cxx_lambda_init_captures)
@@ -72,7 +64,7 @@ target_include_directories(${libraryname} PRIVATE $<TARGET_PROPERTY:idyntree-pri
 
 target_compile_options(${libraryname} PRIVATE ${IDYNTREE_WARNING_FLAGS})
 
-set_property(TARGET ${libraryname} PROPERTY PUBLIC_HEADER ${IDYNTREE_MODELIO_URDF_HEADERS})
+set_property(TARGET ${libraryname} PROPERTY PUBLIC_HEADER ${IDYNTREE_MODELIO_HEADERS})
 
 install(TARGETS ${libraryname}
         EXPORT iDynTree

diff --git a/...iDynTree/ModelIO/ModelCalibrationHelper.h → ...iDynTree/ModelIO/ModelCalibrationHelper.h b/...iDynTree/ModelIO/ModelCalibrationHelper.h → ...iDynTree/ModelIO/ModelCalibrationHelper.h
diff --git a/.../include/iDynTree/ModelIO/ModelExporter.h → .../include/iDynTree/ModelIO/ModelExporter.h b/.../include/iDynTree/ModelIO/ModelExporter.h → .../include/iDynTree/ModelIO/ModelExporter.h
diff --git a/...df/include/iDynTree/ModelIO/ModelLoader.h → ...cs/include/iDynTree/ModelIO/ModelLoader.h b/...df/include/iDynTree/ModelIO/ModelLoader.h → ...cs/include/iDynTree/ModelIO/ModelLoader.h
diff --git a/...include/iDynTree/ModelIO/URDFDofsImport.h → ...include/iDynTree/ModelIO/URDFDofsImport.h b/...include/iDynTree/ModelIO/URDFDofsImport.h → ...include/iDynTree/ModelIO/URDFDofsImport.h
diff --git a/...nclude/private/ForceTorqueSensorElement.h → ...nclude/private/ForceTorqueSensorElement.h b/...nclude/private/ForceTorqueSensorElement.h → ...nclude/private/ForceTorqueSensorElement.h
diff --git a/...io/urdf/include/private/GeometryElement.h → .../codecs/include/private/GeometryElement.h b/...io/urdf/include/private/GeometryElement.h → .../codecs/include/private/GeometryElement.h
diff --git a/...io/urdf/include/private/InertialElement.h → .../codecs/include/private/InertialElement.h b/...io/urdf/include/private/InertialElement.h → .../codecs/include/private/InertialElement.h
diff --git a/...el_io/urdf/include/private/JointElement.h → ..._io/codecs/include/private/JointElement.h b/...el_io/urdf/include/private/JointElement.h → ..._io/codecs/include/private/JointElement.h
diff --git a/...del_io/urdf/include/private/LinkElement.h → ...l_io/codecs/include/private/LinkElement.h b/...del_io/urdf/include/private/LinkElement.h → ...l_io/codecs/include/private/LinkElement.h
diff --git a/...io/urdf/include/private/MaterialElement.h → .../codecs/include/private/MaterialElement.h b/...io/urdf/include/private/MaterialElement.h → .../codecs/include/private/MaterialElement.h
diff --git a/...l_io/urdf/include/private/OriginElement.h → ...io/codecs/include/private/OriginElement.h b/...l_io/urdf/include/private/OriginElement.h → ...io/codecs/include/private/OriginElement.h
diff --git a/...el_io/urdf/include/private/RobotElement.h → ..._io/codecs/include/private/RobotElement.h b/...el_io/urdf/include/private/RobotElement.h → ..._io/codecs/include/private/RobotElement.h
diff --git a/...l_io/urdf/include/private/SensorElement.h → ...io/codecs/include/private/SensorElement.h b/...l_io/urdf/include/private/SensorElement.h → ...io/codecs/include/private/SensorElement.h
diff --git a/...el_io/urdf/include/private/URDFDocument.h → ..._io/codecs/include/private/URDFDocument.h b/...el_io/urdf/include/private/URDFDocument.h → ..._io/codecs/include/private/URDFDocument.h
diff --git a/...io/urdf/include/private/URDFModelExport.h → .../codecs/include/private/URDFModelExport.h b/...io/urdf/include/private/URDFModelExport.h → .../codecs/include/private/URDFModelExport.h
diff --git a/...o/urdf/include/private/URDFParsingUtils.h → ...codecs/include/private/URDFParsingUtils.h b/...o/urdf/include/private/URDFParsingUtils.h → ...codecs/include/private/URDFParsingUtils.h
diff --git a/...l_io/urdf/include/private/VisualElement.h → ...io/codecs/include/private/VisualElement.h b/...l_io/urdf/include/private/VisualElement.h → ...io/codecs/include/private/VisualElement.h
diff --git a/..._io/urdf/src/ForceTorqueSensorElement.cpp → ...o/codecs/src/ForceTorqueSensorElement.cpp b/..._io/urdf/src/ForceTorqueSensorElement.cpp → ...o/codecs/src/ForceTorqueSensorElement.cpp
diff --git a/src/model_io/urdf/src/GeometryElement.cpp → src/model_io/codecs/src/GeometryElement.cpp b/src/model_io/urdf/src/GeometryElement.cpp → src/model_io/codecs/src/GeometryElement.cpp
diff --git a/src/model_io/urdf/src/InertialElement.cpp → src/model_io/codecs/src/InertialElement.cpp b/src/model_io/urdf/src/InertialElement.cpp → src/model_io/codecs/src/InertialElement.cpp
diff --git a/src/model_io/urdf/src/JointElement.cpp → src/model_io/codecs/src/JointElement.cpp b/src/model_io/urdf/src/JointElement.cpp → src/model_io/codecs/src/JointElement.cpp
diff --git a/src/model_io/urdf/src/LinkElement.cpp → src/model_io/codecs/src/LinkElement.cpp b/src/model_io/urdf/src/LinkElement.cpp → src/model_io/codecs/src/LinkElement.cpp
diff --git a/src/model_io/urdf/src/MaterialElement.cpp → src/model_io/codecs/src/MaterialElement.cpp b/src/model_io/urdf/src/MaterialElement.cpp → src/model_io/codecs/src/MaterialElement.cpp
diff --git a/...el_io/urdf/src/ModelCalibrationHelper.cpp → ..._io/codecs/src/ModelCalibrationHelper.cpp b/...el_io/urdf/src/ModelCalibrationHelper.cpp → ..._io/codecs/src/ModelCalibrationHelper.cpp
diff --git a/src/model_io/urdf/src/ModelExporter.cpp → src/model_io/codecs/src/ModelExporter.cpp b/src/model_io/urdf/src/ModelExporter.cpp → src/model_io/codecs/src/ModelExporter.cpp
diff --git a/src/model_io/urdf/src/ModelLoader.cpp → src/model_io/codecs/src/ModelLoader.cpp b/src/model_io/urdf/src/ModelLoader.cpp → src/model_io/codecs/src/ModelLoader.cpp
diff --git a/src/model_io/urdf/src/OriginElement.cpp → src/model_io/codecs/src/OriginElement.cpp b/src/model_io/urdf/src/OriginElement.cpp → src/model_io/codecs/src/OriginElement.cpp
diff --git a/src/model_io/urdf/src/RobotElement.cpp → src/model_io/codecs/src/RobotElement.cpp b/src/model_io/urdf/src/RobotElement.cpp → src/model_io/codecs/src/RobotElement.cpp
diff --git a/src/model_io/urdf/src/SensorElement.cpp → src/model_io/codecs/src/SensorElement.cpp b/src/model_io/urdf/src/SensorElement.cpp → src/model_io/codecs/src/SensorElement.cpp
diff --git a/src/model_io/urdf/src/URDFDocument.cpp → src/model_io/codecs/src/URDFDocument.cpp b/src/model_io/urdf/src/URDFDocument.cpp → src/model_io/codecs/src/URDFDocument.cpp
diff --git a/src/model_io/urdf/src/URDFDofsImport.cpp → src/model_io/codecs/src/URDFDofsImport.cpp b/src/model_io/urdf/src/URDFDofsImport.cpp → src/model_io/codecs/src/URDFDofsImport.cpp
diff --git a/src/model_io/urdf/src/URDFModelExport.cpp → src/model_io/codecs/src/URDFModelExport.cpp b/src/model_io/urdf/src/URDFModelExport.cpp → src/model_io/codecs/src/URDFModelExport.cpp
diff --git a/src/model_io/urdf/src/VisualElement.cpp → src/model_io/codecs/src/VisualElement.cpp b/src/model_io/urdf/src/VisualElement.cpp → src/model_io/codecs/src/VisualElement.cpp
diff --git a/src/model_io/urdf/tests/CMakeLists.txt → src/model_io/codecs/tests/CMakeLists.txt b/src/model_io/urdf/tests/CMakeLists.txt → src/model_io/codecs/tests/CMakeLists.txt
@@ -11,7 +11,7 @@ macro(add_modelio_urdf_unit_test classname)
     set(testbinary ${classname}UnitTest)
     set(testname   UnitTest${classname})
     add_executable(${testbinary} ${testsrc})
-    target_link_libraries(${testbinary} PRIVATE idyntree-modelio-urdf idyntree-testmodels Eigen3::Eigen)
+    target_link_libraries(${testbinary} PRIVATE idyntree-modelio idyntree-testmodels Eigen3::Eigen)
     add_test(NAME ${testname} COMMAND ${testbinary})
 
     if(IDYNTREE_RUN_VALGRIND_TESTS)

diff --git a/.../tests/ModelCalibrationHelperUnitTest.cpp → .../tests/ModelCalibrationHelperUnitTest.cpp b/.../tests/ModelCalibrationHelperUnitTest.cpp → .../tests/ModelCalibrationHelperUnitTest.cpp
diff --git a/...l_io/urdf/tests/ModelExporterUnitTest.cpp → ...io/codecs/tests/ModelExporterUnitTest.cpp b/...l_io/urdf/tests/ModelExporterUnitTest.cpp → ...io/codecs/tests/ModelExporterUnitTest.cpp
diff --git a/...sts/PredictSensorsMeasurementUnitTest.cpp → ...sts/PredictSensorsMeasurementUnitTest.cpp b/...sts/PredictSensorsMeasurementUnitTest.cpp → ...sts/PredictSensorsMeasurementUnitTest.cpp
diff --git a/...tests/URDFGenericSensorImportUnitTest.cpp → ...tests/URDFGenericSensorImportUnitTest.cpp b/...tests/URDFGenericSensorImportUnitTest.cpp → ...tests/URDFGenericSensorImportUnitTest.cpp
diff --git a/...io/urdf/tests/URDFModelImportUnitTest.cpp → .../codecs/tests/URDFModelImportUnitTest.cpp b/...io/urdf/tests/URDFModelImportUnitTest.cpp → .../codecs/tests/URDFModelImportUnitTest.cpp
diff --git a/..._io/urdf/tests/icubSensorURDFUnitTest.cpp → ...o/codecs/tests/icubSensorURDFUnitTest.cpp b/..._io/urdf/tests/icubSensorURDFUnitTest.cpp → ...o/codecs/tests/icubSensorURDFUnitTest.cpp
diff --git a/src/tests/benchmark/CMakeLists.txt b/src/tests/benchmark/CMakeLists.txt
@@ -10,7 +10,7 @@ macro(add_benchmark benchmarkName)
     set(testsrc ${benchmarkName}Benchmark.cpp)
     set(testbinary ${benchmarkName}Benchmark)
     add_executable(${testbinary} ${testsrc})
-    target_link_libraries(${testbinary} PRIVATE idyntree-modelio-urdf idyntree-modelio-urdf-kdl idyntree-core
+    target_link_libraries(${testbinary} PRIVATE idyntree-modelio idyntree-modelio-kdl idyntree-core
                                                 idyntree-kdl idyntree-model idyntree-testmodels Eigen3::Eigen)
 endmacro()
 

diff --git a/src/tests/integration/CMakeLists.txt b/src/tests/integration/CMakeLists.txt
@@ -11,7 +11,7 @@ macro(add_integration_test testname)
     set(testbinary ${testname}IntegrationTest)
     set(testtarget   IntegrationTest${testname})
     add_executable(${testbinary} ${testsrc})
-    target_link_libraries(${testbinary} PRIVATE idyntree-core idyntree-model idyntree-modelio-urdf
+    target_link_libraries(${testbinary} PRIVATE idyntree-core idyntree-model idyntree-modelio
                                                 idyntree-high-level idyntree-sensors idyntree-estimation
                                                 idyntree-solid-shapes idyntree-testmodels Eigen3::Eigen)
     # Setting explicitly the WORKING_DIRECTORY is necessary to make sure that meshes are correctly loaded,
@@ -28,7 +28,7 @@ macro(add_integration_test_no_valgrind testname)
     set(testbinary ${testname}IntegrationTest)
     set(testtarget   IntegrationTest${testname})
     add_executable(${testbinary} ${testsrc})
-    target_link_libraries(${testbinary} PRIVATE idyntree-core idyntree-model idyntree-modelio-urdf
+    target_link_libraries(${testbinary} PRIVATE idyntree-core idyntree-model idyntree-modelio
                                                 idyntree-high-level idyntree-sensors idyntree-estimation
                                                 idyntree-solid-shapes idyntree-testmodels Eigen3::Eigen)
     add_test(NAME ${testtarget} COMMAND ${testbinary})
@@ -39,7 +39,7 @@ macro(add_integration_exe testname)
     set(testbinary ${testname}IntegrationTest)
     set(testtarget   IntegrationTest${testname})
     add_executable(${testbinary} ${testsrc})
-    target_link_libraries(${testbinary} PRIVATE idyntree-core idyntree-model idyntree-modelio-urdf
+    target_link_libraries(${testbinary} PRIVATE idyntree-core idyntree-model idyntree-modelio
                                                 idyntree-high-level idyntree-testmodels Eigen3::Eigen)
 endmacro()
 

diff --git a/src/tools/CMakeLists.txt b/src/tools/CMakeLists.txt
@@ -11,7 +11,7 @@ macro(IDYNTREE_ADD_TOOL tool_name tool_code)
     target_link_libraries(${tool_name} PRIVATE idyntree-core
                                                idyntree-model
                                                idyntree-high-level
-                                               idyntree-modelio-urdf
+                                               idyntree-modelio
                                                idyntree-visualization
                                                Eigen3::Eigen)
     target_compile_options(${tool_name} PRIVATE ${IDYNTREE_WARNING_FLAGS})

diff --git a/src/visualization/tests/CMakeLists.txt b/src/visualization/tests/CMakeLists.txt
@@ -11,7 +11,7 @@ macro(add_unit_test classname)
     set(testbinary ${classname}UnitTest)
     set(testname   UnitTest${classname})
     add_executable(${testbinary} ${testsrc})
-    target_link_libraries(${testbinary} PRIVATE idyntree-sensors idyntree-modelio-urdf idyntree-visualization idyntree-testmodels Eigen3::Eigen)
+    target_link_libraries(${testbinary} PRIVATE idyntree-sensors idyntree-modelio idyntree-visualization idyntree-testmodels Eigen3::Eigen)
     add_test(NAME ${testname} COMMAND ${testbinary})
 
     if(IDYNTREE_RUN_VALGRIND_TESTS)