Fix handling of limbs versions in iKin

CMakeLists.txt

@@ -6,7 +6,7 @@ cmake_minimum_required(VERSION 3.12)
 
 set(ROOT_PROJECT_NAME ICUB)
 project(${ROOT_PROJECT_NAME} LANGUAGES C CXX
-                             VERSION 1.28.1)
+                             VERSION 2.0.0)
 
 set(CMAKE_CXX_EXTENSIONS OFF)
 set(CMAKE_CXX_STANDARD 14)

app/cartesianSolver/doc.dox

@@ -6,11 +6,11 @@ The Cartesian Solvers Launcher.
 
 \section intro_sec Description
 This application allows the user to launch instances of the iKinCartesianSolver
-on a specific machine belonging to the cluster. Moreover the iCubInterface and
+on a specific machine belonging to the cluster. Moreover the yarprobotinterface and
 the server part of the gaze controller interface are launched as well.
 
 \section int_sec Instantiated Modules
-- \ref icub_iCubInterface
+- yarprobotinterface
 - \ref iKinCartesianSolver
 - \ref iKinGazeCtrl
 
@@ -22,7 +22,7 @@ Customize the file ./scripts/*.template for your specific platform.
 
 - ./scripts/cartesianSolver.xml.template
   launches solvers for the following parts: <i>right_arm, left_arm, right_leg, left_leg.</i>
-  as well as the iCubInterface and the iKinGazeCtrl.
+  as well as the yarprobotinterface and the iKinGazeCtrl.
 
 \author Ugo Pattacini
 

app/controlBoardDumper/doc.dox

@@ -8,7 +8,7 @@ voltages, currents, tracking errors).
 
 
 \section dep_sec Dependencies
-Assumes \ref icub_iCubInterface is running.
+Assumes the robot is running.
 
 \section int_sec Instantiated Modules
 - \ref icub_controlBoardDumper 

app/fingertipsPortScope/doc.dox

@@ -13,8 +13,8 @@
  *
  * 
  * \section int_sec Instantiated Modules
- * - \ref yarpscope --context fingertipsPortScope --xml FingertipsPortScopeConf-LeftHandAll.xml 
- * - \ref yarpscope --context fingertipsPortScope --xml FingertipsPortScopeConf-RightHandAll.xml 
+ * - yarpscope --context fingertipsPortScope --xml FingertipsPortScopeConf-LeftHandAll.xml 
+ * - yarpscope --context fingertipsPortScope --xml FingertipsPortScopeConf-RightHandAll.xml 
  *
  * 
  * \section howto How to run the Application

app/gazeboCartesianControl/conf/iKinGazeCtrl.ini

@@ -1,5 +1,5 @@
 robot                 icubSim
-head_version          2.5
+head_version          v2.5
 neck_position_control on
 saccades              off
 

app/iCubStartup/doc.dox

@@ -16,7 +16,7 @@ gaze control as well as the dynamics computed for the whole body.
 - \ref wholeBodyDynamics
 - \ref gravityCompensator
 - \ref icub_fingersTuner
-- \ref imuFilter
+- imuFilter
 
 \section howto How to run the Application
 Customize the file ./scripts/*.template for your specific platform.

app/robotScripting/doc.dox

@@ -4,7 +4,7 @@
 \defgroup icub_robotscripting robotScripting
 
 This application allows performing nice preprogrammed demonstrations with the robot. It just starts
-an instance of \ref icub_ctpservice for each part. Commands will be sent from shell (but see
+an instance of \ref ctpservice for each part. Commands will be sent from shell (but see
 also the scripting.py utility in this app directory).
 
 \section dep_sec Dependencies

src/doc/main.dox

@@ -32,7 +32,7 @@ Topics:
   - The <a href="http://www.robotcub.org/">RobotCub Website</a>.
   - Our software architecture, <a href="http://www.yarp.it/">YARP</a>.
 
-This page can be edited at \link src/doc/main.dox.
+This page can be edited at src/doc/main.dox.
 
 *
 */

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/include/iCub/action/actionPrimitives.h

@@ -36,7 +36,7 @@
  * provides the user a collection of action primitives in task 
  * space and joint space along with an easy way to combine them
  * together forming higher level actions (e.g. grasp(), tap(), 
- * �) in order to eventually execute more sophisticated tasks 
+ * �) in order to eventually execute more sophisticated tasks 
  * without reference to the motion control details. 
  *  
  * \image html actionPrimitives.jpg 
@@ -437,8 +437,7 @@ class ActionPrimitives : protected yarp::os::PeriodicThread
     *  @endcode
     *  
     * @note A port called <i> /<local>/<part>/detectGrasp:i </i> is 
-    *       open to acquire data provided by \ref icub_graspDetector
-    *       module.
+    *       open to acquire data provided by graspDetector module.
     */
     virtual bool open(yarp::os::Property &opt);
 

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);