Merge branch 'devel'

CMakeLists.txt

@@ -23,7 +23,7 @@ endif()
 
 # Main project
 project(YARP
-        VERSION 3.0.1
+        VERSION 3.0.102
         LANGUAGES C CXX)
 set(PROJECT_DESCRIPTION "YARP: A thin middleware for humanoid robots and more")
 

bindings/CMakeLists.txt

@@ -88,7 +88,7 @@ if (_nested_build)
   # bindings for other languages to be compiled from the build material.
 
   # Install main CMakeLists and Swig input file
-  foreach(f CMakeLists.txt yarp.i README.md)
+  foreach(f CMakeLists.txt yarp.i macrosForMultipleAnalogSensors.i matlab/vectors_fromTo_matlab.i README.md)
       install(FILES ${CMAKE_SOURCE_DIR}/bindings/${f}
               COMPONENT development
               DESTINATION ${CMAKE_INSTALL_DATADIR}/yarp/bindings)

bindings/lua/tests/test_vocab.lua

@@ -10,10 +10,13 @@
 require("yarp")
 
 function test_vocab()
-  vocab = yarp.Vocab.encode("abcd")
+  vocab = yarp.encode("abcd")
   assert("number" == type(vocab))
   assert(1684234849 == vocab)
-  assert("abcd" == yarp.Vocab.decode(vocab))
+  assert("abcd" == yarp.decode(vocab))
+  vocab2 = yarp.createVocab('a','b','c','d')
+  assert("number" == type(vocab2))
+  assert (vocab == vocab2)
 end
 
 function test_vocab_pixel_types_enum()
@@ -27,10 +30,10 @@ function test_vocab_global_scope()
   assert("number" == type(yarp.VOCAB_CM_POSITION))
   assert(7565168 == yarp.VOCAB_CM_POSITION) -- VOCAB3
   assert(1685286768 == yarp.VOCAB_CM_POSITION_DIRECT) -- VOCAB4
-  assert(845375334 == yarp.VOCAB_FRAMEGRABBER_CONTROL2) -- VOCAB4 with '2'
+  assert(6514534 == yarp.VOCAB_FRAMEGRABBER_CONTROL) -- VOCAB4
 end
 
 test_vocab()
 test_vocab_pixel_types_enum()
---test_vocab_global_scope() -- Requires SWIG_VERSION >= 0x030011 (3.0.11), see yarp.i
+test_vocab_global_scope()
 

bindings/macrosForMultipleAnalogSensors.i

@@ -0,0 +1,58 @@
+// Copyright (C) 2018 Istituto Italiano di Tecnologia (IIT)
+// All rights reserved.
+//
+// This software may be modified and distributed under the terms of the
+// BSD-3-Clause license. See the accompanying LICENSE file for details.
+
+%define RESET_CONSTANTS_IN_EXTENDED_ANALOG_SENSOR_INTERFACE
+#undef ThreeAxisGyroscopes_EXTENDED_INTERFACE
+#undef ThreeAxisLinearAccelerometers_EXTENDED_INTERFACE
+#undef ThreeAxisMagnetometers_EXTENDED_INTERFACE
+#undef OrientationSensors_EXTENDED_INTERFACE
+#undef TemperatureSensors_EXTENDED_INTERFACE
+#undef SixAxisForceTorqueSensors_EXTENDED_INTERFACE
+#undef ContactLoadCellArrays_EXTENDED_INTERFACE
+#undef EncoderArrays_EXTENDED_INTERFACE
+#undef SkinPatches_EXTENDED_INTERFACE
+%enddef
+
+%define EXTENDED_ANALOG_SENSOR_INTERFACE(sensor)
+
+RESET_CONSTANTS_IN_EXTENDED_ANALOG_SENSOR_INTERFACE
+
+#define sensor ## _EXTENDED_INTERFACE 1
+
+    std::string get ## sensor ## Name(int sens_index) const {
+        std::string name;
+        bool ok = self->get ## sensor ## Name(sens_index,name);
+        if (!ok) return "unknown";
+        return name;
+    }
+
+#if !ContactLoadCellArray_EXTENDED_INTERFACE \
+ && !EncoderArray_EXTENDED_INTERFACE \
+ && !SkinPatch_EXTENDED_INTERFACE
+    std::string get ## sensor ## FrameName(int sens_index) const {
+        std::string frameName;
+        bool ok = self->get ## sensor ## FrameName(sens_index,frameName);
+        if (!ok) return "unknown";
+        return frameName;
+    }
+#endif
+
+#if OrientationSensor_EXTENDED_INTERFACE
+    double get ## sensor ## MeasureAsRollPitchYaw(int sens_index, yarp::sig::Vector& rpy) const {
+        double timestamp;
+        bool ok = self->get ## sensor ## MeasureAsRollPitchYaw(sens_index, rpy, timestamp);
+#else
+    double get ## sensor ## Measure(int sens_index, yarp::sig::Vector& out) const {
+        double timestamp;
+        bool ok = self->get ## sensor ## Measure(sens_index, out, timestamp);
+#endif
+        if (!ok) return -1;
+        return timestamp;
+    }
+
+#undef sensor ## _EXTENDED_INTERFACE
+
+%enddef

bindings/matlab/vectors_fromTo_matlab.i

@@ -0,0 +1,108 @@
+// Copyright (C) 2006-2018 Istituto Italiano di Tecnologia (IIT)
+// All rights reserved.
+//
+// This software may be modified and distributed under the terms of the
+// BSD-3-Clause license. See the accompanying LICENSE file for details.
+
+%define RESET_CONSTANTS_IN_TO_MATLAB
+#undef mxCreateDoubleMatrixHasComplexFlagParam
+#undef mxCreateLogicalMatrixHasComplexFlagParam
+%enddef
+
+%define TO_MATLAB(matlabType,mxArrayInitializer)
+
+    // Convert to a Matlab vector
+    mxArray * toMatlab() const
+    {
+        // create Matlab vector and map it to pointer 'd'
+        size_t selfDim = self->size();
+        #if mxArrayInitializer ## HasComplexFlagParam
+          mxArray *p  = mxArrayInitializer(selfDim, 1, mxREAL);
+        #else
+          mxArray *p  = mxArrayInitializer(selfDim, 1);
+        #endif
+        matlabType* d = static_cast<matlabType*>(mxGetData(p));
+
+        // copy items from 'self' to 'd'
+        for(size_t i=0; i<selfDim; i++)
+        {
+            d[i] = static_cast<matlabType>(self->operator[](i));
+        }
+        return p;
+    }
+
+%enddef
+
+
+%define FROM_MATLAB(matlabType,cppType,mxArrayInitializer,vectorClass)
+
+    // Convert from a Matlab vector
+    void fromMatlab(mxArray * in)
+    {
+        // check size
+        const mwSize * dims = mxGetDimensions(in);
+        size_t selfDim = self->size();
+        size_t matlabVecDim = (dims[0] == 1 ? dims[1] : dims[0]);
+
+        if (matlabVecDim == selfDim)
+        {
+            // map Matlab vector to pointer 'd'
+            matlabType* d = static_cast<matlabType*>(mxGetData(in));
+
+            // copy items from 'd' to 'self'
+            for(size_t i=0; i<selfDim; i++)
+            {
+                self->operator[](i) = static_cast<cppType>(d[i]);
+            }
+            return;
+        } else {
+            mexErrMsgIdAndTxt("yarp::vectorClass::wrongDimension",
+              "Wrong vector size. Matlab size: %d. vectorClass size: %d", matlabVecDim, selfDim);
+        }
+    }
+
+%enddef
+
+
+%define RESET(resetValue)
+
+    // Reset values
+    void zero()
+    {
+        for(size_t i=0; i < self->size(); i++)
+        {
+            self->operator[](i) = resetValue;
+        }
+        return;
+    }
+
+%enddef
+
+RESET_CONSTANTS_IN_TO_MATLAB
+#define mxCreateDoubleMatrixHasComplexFlagParam 1
+
+%extend std::vector<double> {
+    TO_MATLAB(double,mxCreateDoubleMatrix)
+    FROM_MATLAB(double,double,mxCreateDoubleMatrix,DVector)
+    RESET(0)
+}
+
+%extend std::vector<bool> {
+    TO_MATLAB(bool,mxCreateLogicalMatrix)
+    FROM_MATLAB(bool,bool,mxCreateLogicalMatrix,BVector)
+    RESET(false)
+}
+
+%extend std::vector<int> {
+    TO_MATLAB(double,mxCreateDoubleMatrix)
+    FROM_MATLAB(double,int,mxCreateDoubleMatrix,IVector)
+    RESET(0)
+}
+
+%extend yarp::sig::VectorOf<double> {
+    TO_MATLAB(double,mxCreateDoubleMatrix)
+    FROM_MATLAB(double,double,mxCreateDoubleMatrix,yarp::sig::VectorOf<double>)
+    RESET(0)
+}
+
+RESET_CONSTANTS_IN_TO_MATLAB