[ikin] fix handling of limbs versions

src/libraries/actionPrimitives/CMakeLists.txt

@@ -13,7 +13,7 @@ add_library(ICUB::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>"
                                                   "$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/${CMAKE_INSTALL_INCLUDEDIR}>")
 
-target_link_libraries(${PROJECT_NAME} perceptiveModels ${YARP_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} iKin perceptiveModels ${YARP_LIBRARIES})
 
 
 set_target_properties(${PROJECT_NAME} PROPERTIES

src/libraries/actionPrimitives/src/actionPrimitives.cpp

@@ -27,6 +27,7 @@
 #include <yarp/math/Rand.h>
 
 #include <iCub/ctrl/math.h>
+#include <iCub/iKin/iKinFwd.h>
 #include <iCub/perception/springyFingers.h>
 #include <iCub/perception/tactileFingers.h>
 #include <iCub/action/actionPrimitives.h>
@@ -57,6 +58,7 @@ using namespace yarp::dev;
 using namespace yarp::sig;
 using namespace yarp::math;
 using namespace iCub::ctrl;
+using namespace iCub::iKin;
 using namespace iCub::perception;
 using namespace iCub::action;
 
@@ -407,9 +409,9 @@ bool ActionPrimitives::handleTorsoDOF(Property &opt, const string &key)
     {
         Bottle info;
         cartCtrl->getInfo(info);
-        double hwver=info.find("arm_version").asFloat64();
+        iKinLimbVersion hwver(info.find("arm_version").asString());
         map<string,int> remap{{ACTIONPRIM_TORSO_PITCH,0},{ACTIONPRIM_TORSO_ROLL,1},{ACTIONPRIM_TORSO_YAW,2}};
-        if (hwver>=3.0)
+        if (hwver>=iKinLimbVersion("3.0"))
         {
             remap[ACTIONPRIM_TORSO_ROLL]=0;
             remap[ACTIONPRIM_TORSO_PITCH]=1;

src/libraries/iKin/include/iCub/iKin/iKinFwd.h

@@ -1037,6 +1037,118 @@ class iKinLimb : public iKinChain
 };
 
 
+/**
+* \ingroup iKinFwd
+*
+* A class for defining the versions of the iCub limbs.
+*/
+class iKinLimbVersion
+{
+protected:
+    unsigned long int major;
+    unsigned long int minor;
+
+public:
+    /**
+    * Default Constructor. 
+    */
+    iKinLimbVersion();
+
+    /**
+    * Constructor. 
+    * @param version is a string for specifying different 
+    *              kinematics, e.g., "1.23".
+    */
+    iKinLimbVersion(const std::string &version);
+
+    /**
+    * Constructor. 
+    * @param major the major version. 
+    * @param minor the mninor version. 
+    */
+    iKinLimbVersion(const unsigned long int major, const unsigned long int minor);
+
+    /**
+    * Copy Constructor. 
+    */
+    iKinLimbVersion(const iKinLimbVersion& v);
+
+    /**
+    * Return the major version.
+    * @return the major version. 
+    */
+    unsigned long int get_major() const;
+
+    /**
+    * Return the minor version.
+    * @return the minor version. 
+    */
+    unsigned long int get_minor() const;
+
+    /**
+     * Return the version string.
+     * @return the version string. 
+     */
+    std::string get_version() const;
+
+    /**
+    * Overloaded assignment operator.
+    * @param v the version to be assigned. 
+    * @return . 
+    */
+    iKinLimbVersion& operator=(const iKinLimbVersion& v);
+
+    /**
+    * Overloaded < operator.
+    * @param v the version to compare with. 
+    * @return true iff < v. 
+    */
+    bool operator<(const iKinLimbVersion& v) const;
+
+    /**
+    * Overloaded <= operator.
+    * @param v the version to compare with. 
+    * @return true iff <= v. 
+    */
+    bool operator<=(const iKinLimbVersion& v) const;
+
+    /**
+    * Overloaded == operator.
+    * @param v the version to compare with. 
+    * @return true iff == v. 
+    */
+    bool operator==(const iKinLimbVersion& v) const;
+
+     /**
+    * Overloaded != operator.
+    * @param v the version to compare with. 
+    * @return true iff != v. 
+    */
+    bool operator!=(const iKinLimbVersion& v) const;
+
+    /**
+    * Overloaded >=</=> operator.
+    * @param v the version to compare with. 
+    * @return true iff >= v. 
+    */
+    bool operator>=(const iKinLimbVersion& v) const;
+
+   /**
+    * Overloaded > operator.
+    * @param v the version to compare with. 
+    * @return true iff > v. 
+    */
+    bool operator>(const iKinLimbVersion& v) const;
+
+    /**
+    * Overloaded - operator.
+    * @param v the version to compare with. 
+    * @return the distance from v.
+    */
+    iKinLimbVersion operator-(const iKinLimbVersion& v) const;
+};
+
+
 /**
 * \ingroup iKinFwd
 *
@@ -1045,7 +1157,7 @@ class iKinLimb : public iKinChain
 class iCubTorso : public iKinLimb
 {
 protected:
-    double version;
+    iKinLimbVersion version;
 
     virtual void allocate(const std::string &_type);
 
@@ -1081,7 +1193,7 @@ class iCubTorso : public iKinLimb
 class iCubArm : public iKinLimb
 {
 protected:
-    double version;
+    iKinLimbVersion version;
 
     virtual void allocate(const std::string &_type);
 
@@ -1236,7 +1348,7 @@ class iCubFinger : public iKinLimb
 class iCubLeg : public iKinLimb
 {
 protected:
-    double version;
+    iKinLimbVersion version;
 
     virtual void allocate(const std::string &_type);
 
@@ -1273,7 +1385,7 @@ class iCubLeg : public iKinLimb
 class iCubEye : public iKinLimb
 {
 protected:
-    double version;
+    iKinLimbVersion version;
 
     virtual void allocate(const std::string &_type);
 
@@ -1364,7 +1476,7 @@ class iCubHeadCenter : public iCubEye
 class iCubInertialSensor : public iKinLimb
 {
 protected:
-    double version;
+    iKinLimbVersion version;
 
     virtual void allocate(const std::string &_type);
 
@@ -1401,7 +1513,7 @@ class iCubInertialSensor : public iKinLimb
 class iCubInertialSensorWaist : public iKinLimb
 {
 protected:
-    double version;
+    iKinLimbVersion version;
 
     virtual void allocate(const std::string &_type);