Fix idyntree deprecations

.github/workflows/ci.yml

@@ -3,10 +3,10 @@ name: C++ CI Workflow
 on:
   push:
   pull_request:
-  
+
 env:
-  iDynTree_TAG: v4.3.0
-  
+  iDynTree_TAG: v10.0.0
+
 
 jobs:
   build:
@@ -48,15 +48,15 @@ jobs:
       run: |
         sudo apt-get update
         sudo apt-get install libeigen3-dev
-        
+
     - name: Cache Source-based Dependencies
       id: cache-source-deps
       uses: actions/cache@v1
       with:
         path: ${{ github.workspace }}/install/deps
         # Including ${{ runner.temp }} is a workaround taken from https://github.com/robotology/whole-body-estimators/pull/62 to fix macos configuration failure on https://github.com/dic-iit/bipedal-locomotion-framework/pull/45
         key: source-deps-${{ runner.os }}-${{runner.temp}}-build-type-${{ matrix.build_type }}-iDynTree-${{ env.iDynTree_TAG }}
-        
+
     - name: Source-based Dependencies [Ubuntu/macOS]
       if: steps.cache-source-deps.outputs.cache-hit != 'true' && (startsWith(matrix.os, 'ubuntu') || matrix.os == 'macos-latest')
       shell: bash
@@ -108,4 +108,4 @@ jobs:
       run: |
         cd build
         ctest --output-on-failure -C ${{ matrix.build_type }} .
-        
+

.github/workflows/conda-forge-ci.yml

@@ -5,7 +5,7 @@ on:
   pull_request:
 #  schedule:
   # * is a special character in YAML so you have to quote this string
-  # Execute a "nightly" build at 2 AM UTC 
+  # Execute a "nightly" build at 2 AM UTC
 #  - cron:  '0 2 * * *'
 
 jobs:
@@ -23,26 +23,25 @@ jobs:
 
     - uses: conda-incubator/setup-miniconda@v2
       with:
-        mamba-version: "*"
-        channels: conda-forge,defaults
-        channel-priority: true
+        miniforge-variant: Mambaforge
+        miniforge-version: latest
 
     - name: Dependencies
       shell: bash -l {0}
       run: |
-        # Compilation related dependencies 
+        # Compilation related dependencies
         mamba install cmake compilers make ninja pkg-config
         # Actual dependencies
         mamba install eigen idyntree
-        
+
     - name: Configure [Linux&macOS]
       if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
       shell: bash -l {0}
       run: |
         mkdir -p build
         cd build
         cmake -GNinja -DBUILD_TESTING:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
-      
+
     - name: Configure [Windows]
       if: contains(matrix.os, 'windows')
       shell: bash -l {0}
@@ -51,12 +50,12 @@ jobs:
         cd build
         cmake -G"Visual Studio 16 2019" -DBUILD_TESTING:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
 
-    - name: Build 
+    - name: Build
       shell: bash -l {0}
       run: |
         cd build
         cmake --build . --config ${{ matrix.build_type }}
-        
+
     - name: Test
       shell: bash -l {0}
       run: |

CMakeLists.txt

@@ -54,7 +54,7 @@ if(NOT CMAKE_CONFIGURATION_TYPES)
   endif()
 endif()
 
-find_package(iDynTree 4.3.0 REQUIRED)
+find_package(iDynTree 10.0.0 REQUIRED)
 find_package(Eigen3 REQUIRED)
 
 set(UCPLANNER_SOURCES src/ControlledUnicycle.cpp

include/ControlledUnicycle.h

@@ -10,8 +10,8 @@
 
 #include <iDynTree/DynamicalSystem.h>
 #include <iDynTree/Controller.h>
-#include <iDynTree/Core/VectorDynSize.h>
-#include <iDynTree/Core/VectorFixSize.h>
+#include <iDynTree/VectorDynSize.h>
+#include <iDynTree/VectorFixSize.h>
 #include <memory>
 
 class ControlledUnicycle : public iDynTree::optimalcontrol::DynamicalSystem{

include/DCMTrajectoryGenerator.h

@@ -9,7 +9,7 @@
 
 #include <StepPhase.h>
 #include <FootPrint.h>
-#include <iDynTree/Core/VectorFixSize.h>
+#include <iDynTree/VectorFixSize.h>
 
 #include <vector>
 #include <memory>
@@ -46,7 +46,7 @@ class DCMTrajectoryGenerator {
      * @param right Right Steps
      * @return True in case of success.
      */
-    bool computeNewTrajectories(double initTime, double dT, double switchPercentage, double maxStepTime,
+    bool computeNewTrajectories(double initTime, double dT, double switchPercentage, double maxStepTime, double endSwitchTime,
                                 double nominalStepTime, bool pauseActive, const std::vector<const Step *> &orderedSteps,
                                 const std::vector<size_t> &phaseShift, const std::vector<StepPhase> &lFootPhases,
                                 const FootPrint &left, const FootPrint &right);

include/DCMTrajectoryGeneratorHelper.h

@@ -17,7 +17,7 @@
 #include <Eigen/Dense>
 
 // iDynTree
-#include <iDynTree/Core/VectorFixSize.h>
+#include <iDynTree/VectorFixSize.h>
 
 #include <FootPrint.h>
 #include <StepPhase.h>
@@ -142,6 +142,7 @@ class DCMTrajectoryGeneratorHelper
 
     double m_maxDoubleSupportDuration; /**< Max duration of a DS phase. */
     double m_nominalDoubleSupportDuration; /**< Nominal duration of a DS phase. */
+    double m_endSwitchTime; /**< Duration of the switch time to get to a stop. */
     bool m_pauseActive; /**< True if the pause feature is activate. */
 
     std::vector<std::shared_ptr<GeneralSupportTrajectory>> m_trajectory; /**< Vector containing pointer of every trajectory phase. */
@@ -152,6 +153,8 @@ class DCMTrajectoryGeneratorHelper
     std::vector<iDynTree::Vector2> m_ZMPPosition; /**< Vector containing the position of the ZMP. */
     std::vector<double> m_weightInLeft, m_weightInRight; /**< Vectors containing the percentage of weight carried by the foot. */
 
+    bool m_timingWarningPrinted{false}; /**< Flag used to print a warning message about the timings only once. */
+
 
     /**
      * Add the last Single and Double support phases.
@@ -279,11 +282,14 @@ class DCMTrajectoryGeneratorHelper
 
     /**
      * Set the pause condition.
+     * @param pauseActive is a flag used to activate the pause feature;
      * @param maxDoubleSupportDuration is the maximum duration of a DS phase;
      * @param nominalDoubleSupportDuration is the nominal duration of a DS phase.
+     * @param endSwitchTime is the duration of the switch time to get to a stop.
      * @return true if the pause conditions are set, false otherwise.
      */
-    bool setPauseConditions(bool pauseActive, const double &maxDoubleSupportDuration, const double &nominalDoubleSupportDuration);
+    bool setPauseConditions(bool pauseActive, const double &maxDoubleSupportDuration,
+                            const double &nominalDoubleSupportDuration, const double& endSwitchTime);
 
     /**
      * Set the last step DCM offset

include/FeetCubicSplineGenerator.h

@@ -12,7 +12,7 @@
 #include <FootPrint.h>
 #include <FeetGenerator.h>
 
-#include <iDynTree/Core/Transform.h>
+#include <iDynTree/Transform.h>
 
 #include <vector>
 #include <memory>

include/FeetGenerator.h

@@ -10,7 +10,7 @@
 #include <StepPhase.h>
 #include <FootPrint.h>
 
-#include <iDynTree/Core/Transform.h>
+#include <iDynTree/Transform.h>
 
 #include <vector>
 

include/FeetMinimumJerkGenerator.h

@@ -11,7 +11,7 @@
 #include <FootPrint.h>
 #include <FeetGenerator.h>
 
-#include <iDynTree/Core/Transform.h>
+#include <iDynTree/Transform.h>
 
 #include <vector>
 #include <memory>

include/FootPrint.h

@@ -10,7 +10,7 @@
 
 #include <deque>
 #include <memory>
-#include "iDynTree/Core/VectorFixSize.h"
+#include "iDynTree/VectorFixSize.h"
 
 struct Step{
     iDynTree::Vector2 position;

include/FreeSpaceEllipse.h

@@ -8,8 +8,8 @@
 #ifndef FREESPACEELLIPSE_H
 #define FREESPACEELLIPSE_H
 
-#include <iDynTree/Core/MatrixFixSize.h>
-#include <iDynTree/Core/VectorFixSize.h>
+#include <iDynTree/MatrixFixSize.h>
+#include <iDynTree/VectorFixSize.h>
 
 class FreeSpaceEllipse
 {

include/PersonFollowingController.h

@@ -11,9 +11,9 @@
 #include "FreeSpaceEllipse.h"
 #include "UnicycleBaseController.h"
 #include <iDynTree/TimeRange.h>
-#include <iDynTree/Core/VectorFixSize.h>
-#include <iDynTree/Core/VectorDynSize.h>
-#include <iDynTree/Core/MatrixDynSize.h>
+#include <iDynTree/VectorFixSize.h>
+#include <iDynTree/VectorDynSize.h>
+#include <iDynTree/MatrixDynSize.h>
 #include <deque>
 
 typedef struct{

include/UnicycleBaseController.h

@@ -9,8 +9,8 @@
 #define UNICYCLEBASECONTROLLER_H
 
 #include <iDynTree/Controller.h>
-#include <iDynTree/Core/VectorFixSize.h>
-#include <iDynTree/Core/VectorDynSize.h>
+#include <iDynTree/VectorFixSize.h>
+#include <iDynTree/VectorDynSize.h>
 
 class UnicycleBaseController : public iDynTree::optimalcontrol::Controller{
 

include/UnicycleFoot.h

@@ -12,8 +12,8 @@
 #include <memory>
 #include "FootPrint.h"
 #include "UnicycleState.h"
-#include "iDynTree/Core/VectorFixSize.h"
-#include "iDynTree/Core/MatrixDynSize.h"
+#include "iDynTree/VectorFixSize.h"
+#include "iDynTree/MatrixDynSize.h"
 
 class UnicycleFoot {
     std::shared_ptr<FootPrint> m_steps_ptr;

include/UnicycleGenerator.h

@@ -51,14 +51,15 @@ class UnicycleGenerator {
     //Settings
     bool setSwitchOverSwingRatio(double ratio = 1.0); //indeed the swing time cannot be null, while the switch time can be very close to zero (but not zero)
 
-    bool setTerminalHalfSwitchTime(double lastHalfSwitchTime); //if not set, it won't bring the ZMP at the center of the feet at the end
+    bool setTerminalHalfSwitchTime(double lastHalfSwitchTime);
 
     bool setPauseConditions(double maxStepTime, double nominalStepTime);
 
     void setPauseActive(bool isPauseActive);
 
     void disablePauseConditions();
 
+    [[deprecated("Use unicyclePlanner()->setNavigationPath(path) instead")]]
     bool setNavigationPath(const std::vector<UnicycleState> &path);
 
     /**

include/UnicycleOptimization.h

@@ -12,8 +12,8 @@
 #include <iDynTree/Constraint.h>
 #include <iDynTree/Cost.h>
 #include <iDynTree/OptimalControlProblem.h>
-#include <iDynTree/Core/VectorDynSize.h>
-#include <iDynTree/Core/VectorFixSize.h>
+#include <iDynTree/VectorDynSize.h>
+#include <iDynTree/VectorFixSize.h>
 #include <cmath>
 #include <string>
 #include <iostream>

include/UnicycleState.h

@@ -7,7 +7,7 @@
 
 #ifndef UNICYCLE_STATE_H
 #define UNICYCLE_STATE_H
-#include "iDynTree/Core/VectorFixSize.h"
+#include "iDynTree/VectorFixSize.h"
 
 struct UnicycleState
 {

include/ZMPTrajectoryGenerator.h

@@ -25,7 +25,7 @@ class ZMPTrajectoryGenerator {
     class ZMPTrajectoryGeneratorImplementation;
     std::unique_ptr<ZMPTrajectoryGeneratorImplementation> m_pimpl;
 
-    bool computeNewTrajectories(double initTime, double dT, double switchPercentage, double maxStepTime,
+    bool computeNewTrajectories(double initTime, double dT, double switchPercentage, double maxStepTime, double endSwitchTime,
                                 double nominalStepTime, bool pauseActive, const std::vector<size_t> &mergePoints,
                                 const FootPrint &left, const FootPrint &right,
                                 const std::vector<const Step*>& orderedSteps,

src/CoMHeightTrajectoryGenerator.cpp

@@ -10,8 +10,8 @@
 #include <mutex>
 
 #include <CoMHeightTrajectoryGenerator.h>
-#include <iDynTree/Core/VectorDynSize.h>
-#include <iDynTree/Core/CubicSpline.h>
+#include <iDynTree/VectorDynSize.h>
+#include <iDynTree/CubicSpline.h>
 
 
 class CoMHeightTrajectoryGenerator::CoMHeightTrajectoryGeneratorImplementation {

src/DCMTrajectoryGenerator.cpp

@@ -7,7 +7,7 @@
 
 #include <DCMTrajectoryGenerator.h>
 #include <DCMTrajectoryGeneratorHelper.h>
-#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/EigenHelpers.h>
 #include <cassert>
 #include <iostream>
 #include <cmath>
@@ -38,7 +38,7 @@ DCMTrajectoryGenerator::DCMTrajectoryGenerator()
 
 }
 
-bool DCMTrajectoryGenerator::computeNewTrajectories(double initTime, double dT, double switchPercentage, double maxStepTime,
+bool DCMTrajectoryGenerator::computeNewTrajectories(double initTime, double dT, double switchPercentage, double maxStepTime, double endSwitchTime,
                                                     double nominalStepTime, bool pauseActive, const std::vector<const Step *> &orderedSteps,
                                                     const std::vector<size_t> &phaseShift, const std::vector<StepPhase> &lFootPhases,
                                                     const FootPrint &left, const FootPrint &right)
@@ -91,7 +91,7 @@ bool DCMTrajectoryGenerator::computeNewTrajectories(double initTime, double dT,
     double maxSwitchTime = switchPercentage * maxStepTime;
     double nominalSwitchTime = switchPercentage * nominalStepTime;
 
-    if (!m_pimpl->helper.setPauseConditions(pauseActive, maxSwitchTime, nominalSwitchTime)) {
+    if (!m_pimpl->helper.setPauseConditions(pauseActive, maxSwitchTime, nominalSwitchTime, endSwitchTime)) {
         std::cerr << "[DCMTrajectoryGenerator::interpolateDCM] Failed to set pause conditions." << std::endl;
         return false;
     }