Silvio Traversaro

Investigate why SWIG does not like `[[deprecated]]` attributes

9

We now require C++14 to be used in the header, so in theory we could get rid of `IDYNTREE_DEPRECATED_WITH_MSG` and `IDYNTREE_DEPRECATED` in a favor of `[[deprecated]]` attributes. However SWIG seems...

Update SWIG used to generate the Matlab bindings to SWIG 4

3

We have been using our own fork of SWIG to generate the MATLAB bindings from https://github.com/robotology-dependencies/swig for some time, but now upstream SWIG has been updated, and it would be...

iDynTree::Rotation : Extend setters/getters of RPY to handle other RPY conventions

2

There are a lot of Euler Angles / RPY convention out there. For now we just defined our convention to be compatible with an existing KDL method for compatibility (see...

Support passing a additional frame (instead of just a link) to KinDynComputations::setFloatingBase

2

The setFloatingBase method of KinDynComputations only supports specifying a link frame as the floating base frame of the floating structure. This can complicate expressing inverse kinematics problems, so it would...

Implement an extractor of OPW parameters from iDynTree::Model

3

As we have an extractor of DH parameters from iDynTree::Model, it would be nice to have a tool that would be able to extract OPW parameters (see their definition in...

See the comment in https://github.com/robotology/idyntree/pull/642 .

For example using the `WINDOWS_EXPORT_ALL_SYMBOLS` target option, see https://cmake.org/cmake/help/v3.4/variable/CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS.html#variable:CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS .

In particular, `ENABLE_COMPATIBILITY_VARS` and `TARGETS_PROPERTY` should not be used anymore.

See related PR https://github.com/robotology/idyntree/pull/259 .

Enable tests on BerdyHelper::getDynamicVariablesOrdering()

1

For some reason, it seems that the `BerdyHelper::getDynamicVariablesOrdering()` method is not tested, and it may be bugged when berdyVariant is `BERDY_FLOATING_BASE` . The test present here: https://github.com/robotology/idyntree/blob/3fc1206dc5b8dfa5cd6b11f195ad5b7568ef771e/src/estimation/tests/BerdyHelperUnitTest.cpp#L158 should work fine...