Moved messages to trintrin, plus some cleanup

.github/CODEOWNERS

@@ -1 +1 @@
-*       @traversaro @S-Dafarra @dariosortino
+*       @traversaro @S-Dafarra @Gianlucamilani @davidegorbani

.github/workflows/ci.yml

@@ -31,7 +31,7 @@ jobs:
       uses: ilammy/msvc-dev-cmd@v1.12.1
 
     - name: Setup compilation env variables (not Windows)
-      if: contains(matrix.os, 'ubuntu') || contains(matrix.os, 'macos') 
+      if: contains(matrix.os, 'ubuntu') || contains(matrix.os, 'macos')
       shell: bash -l {0}
       run: |
         echo "CMAKE_INSTALL_PREFIX=${CONDA_PREFIX}" >> $GITHUB_ENV
@@ -46,15 +46,24 @@ jobs:
         echo "CXX=${compiler_path}" >> $GITHUB_ENV
         echo "CMAKE_INSTALL_PREFIX=${CONDA_PREFIX}\Library" >> $GITHUB_ENV
 
+    - name: Install trintrin from source
+      shell: bash -l {0}
+      run: |
+        git clone https://github.com/ami-iit/trintrin
+        cd trintrin
+        mkdir build && cd build
+        cmake -G Ninja -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+        cmake --build . --config ${{ matrix.build_type }}
+        cmake --install . --config ${{ matrix.build_type }}
+
     - name: Configure
       shell: bash -l {0}
       run: |
         mkdir -p build
         cd build
         cmake -GNinja -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
               -DBUILD_TESTING:BOOL=ON \
-              -DHDE_COMPILE_PYTHON_BINDINGS:BOOL=ON -DHUMANSTATEPROVIDER_ENABLE_VISUALIZER:BOOL=ON \
-              -DHUMANSTATEPROVIDER_ENABLE_LOGGER:BOOL=ON -DHDE_DETECT_ACTIVE_PYTHON_SITEPACKAGES:BOOL=ON ..
+              -DHUMANSTATEPROVIDER_ENABLE_VISUALIZER:BOOL=ON -DHUMANSTATEPROVIDER_ENABLE_LOGGER:BOOL=ON ..
 
     - name: Build
       shell: bash -l {0}
@@ -79,31 +88,3 @@ jobs:
       run: |
         # Test CMake packages
         cmake-package-check IWear --targets IWear::IWear
-        cmake-package-check WearableData --targets WearableData::WearableData
-        cmake-package-check WearableActuators --targets WearableActuators::WearableActuators
-        cmake-package-check HumanDynamicsEstimation --targets HumanDynamicsEstimation::HumanStateMsg
-        # Test python packages
-        python -c "import wearables"
-        python -c "import hde"
-
-    - name: Test standalone build of bindings
-      shell: bash -l {0}
-      run: |
-        cd bindings
-        mkdir -p build
-        cd build
-        cmake -GNinja -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
-              -DBUILD_TESTING:BOOL=ON -DBUILD_SHARED_LIBS:BOOL=ON \
-              -DHDE_DETECT_ACTIVE_PYTHON_SITEPACKAGES:BOOL=ON ..
-        cmake --build . --config ${{ matrix.build_type }}
-        ctest --output-on-failure -C ${{ matrix.build_type }} .
-        cmake --install . --config ${{ matrix.build_type }}
-
-    - name: Check install of standalone build of bindings
-      shell: bash -l {0}
-      run: |
-        # Test python packages
-        python -c "import wearables"
-        python -c "import hde"
-
-

CMakeLists.txt

@@ -4,7 +4,7 @@
 cmake_minimum_required(VERSION 3.16)
 project(HumanDynamicsEstimation
         LANGUAGES CXX
-        VERSION 4.2.2)
+        VERSION 5.0.0)
 
 # =====================
 # PROJECT CONFIGURATION
@@ -21,7 +21,6 @@ endif()
 include(GNUInstallDirs)
 include(CTest)
 
-option(HUMANSTATEPROVIDER_ENABLE_ROS1VISUALIZER "Enable the ROS 1-based RViz Human State Visualizer" OFF)
 option(HUMANSTATEPROVIDER_ENABLE_VISUALIZER "Enable the iDyntree-irricht based Human State Visualizer" OFF)
 
 find_package(robometry QUIET)
@@ -33,6 +32,7 @@ option(BUILD_TESTING "Build tests" OFF)
 # Subfolders will find the dependencies they need.
 find_package(YARP 3.2 REQUIRED)
 find_package(YCM REQUIRED)
+find_package(trintrin REQUIRED)
 
 # Import cmake utilities
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
@@ -48,9 +48,6 @@ option(BUILD_SHARED_LIBS "Build libraries as shared as opposed to static" ON)
 
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
-# Flag to enable python bindings
-option(HDE_COMPILE_PYTHON_BINDINGS "Flag that enables building the bindings" OFF)
-
 # Plugins are force to be Shared/Dynamic Library
 set(YARP_FORCE_DYNAMIC_PLUGINS ON)
 
@@ -83,9 +80,6 @@ if(WIN32)
   add_compile_definitions(_SILENCE_EXPERIMENTAL_FILESYSTEM_DEPRECATION_WARNING)
 endif()
 
-# Flag to enable Paexo wearable device
-option(WEARABLES_COMPILE_PYTHON_BINDINGS "Flag that enables building the bindings" OFF)
-
 # Flag to enable XSensSuit wearable device
 find_package(XsensXME QUIET)
 option(ENABLE_XsensSuit "Flag that enables building XsensSuit wearable device" ${XsensXME_FOUND})
@@ -96,9 +90,6 @@ endif()
 # Flag to enable Paexo wearable device
 option(ENABLE_Paexo "Flag that enables building Paexo wearable device" OFF)
 
-# Flag to enable SenseGlove wearable device
-option(ENABLE_HapticGlove "Flag that enables building Haptic Sense Glove wearable device" OFF)
-
 # Flag to enable IWearFrameVisualizer module
 find_package(iDynTree QUIET)
 option(ENABLE_FrameVisualizer "Flag that enables building IWearFrameVisualizer module" ${iDynTree_FOUND})
@@ -130,20 +121,14 @@ add_subdirectory(app)
 add_subdirectory(modules)
 add_subdirectory(servers)
 add_subdirectory(clients)
-
-if(HUMANSTATEPROVIDER_ENABLE_ROS1VISUALIZER)
-  add_subdirectory(publishers)
-endif()
-
-add_subdirectory(bindings)
 add_subdirectory(HumanDynamicsEstimationLibrary)
 
 install_basic_package_files(${PROJECT_NAME}
   VERSION ${${PROJECT_NAME}_VERSION}
   COMPATIBILITY AnyNewerVersion
   VARS_PREFIX ${PROJECT_NAME}
   NO_CHECK_REQUIRED_COMPONENTS_MACRO
-  DEPENDENCIES YARP)
+  DEPENDENCIES YARP trintrin)
 
 # Add the uninstall target
 include(AddUninstallTarget)

HumanDynamicsEstimationLibrary/algorithms/CMakeLists.txt

@@ -10,8 +10,8 @@ add_component(NAME algorithms
                       ${CMAKE_CURRENT_SOURCE_DIR}/src/DynamicalInverseKinematics.cpp
               PUBLIC_HEADERS ${CMAKE_CURRENT_SOURCE_DIR}/include/hde/algorithms/InverseVelocityKinematics.hpp
                              ${CMAKE_CURRENT_SOURCE_DIR}/include/hde/algorithms/DynamicalInverseKinematics.hpp
-              PUBLIC_LINK_LIBRARIES iDynTree::idyntree-model                           
-              PRIVATE_LINK_LIBRARIES YARP::YARP_OS
+              PUBLIC_LINK_LIBRARIES iDynTree::idyntree-model
+              PRIVATE_LINK_LIBRARIES YARP::YARP_os
                                      iDynTree::idyntree-high-level
                                      OsqpEigen::OsqpEigen
                                      osqp::osqp

HumanDynamicsEstimationLibrary/algorithms/include/hde/algorithms/DynamicalInverseKinematics.hpp

@@ -4,9 +4,9 @@
 #ifndef DYNAMICALINVERSEKINEMATICS_HPP
 #define DYNAMICALINVERSEKINEMATICS_HPP
 
-#include <iDynTree/Core/VectorDynSize.h>
-#include <iDynTree/Core/MatrixDynSize.h>
-#include <iDynTree/Model/Model.h>
+#include <iDynTree/VectorDynSize.h>
+#include <iDynTree/MatrixDynSize.h>
+#include <iDynTree/Model.h>
 
 #include <map>
 #include <memory>

HumanDynamicsEstimationLibrary/algorithms/include/hde/algorithms/InverseVelocityKinematics.hpp

@@ -4,9 +4,9 @@
 #ifndef INVERSEVELOCITYKINEMATICS_HPP
 #define INVERSEVELOCITYKINEMATICS_HPP
 
-#include <iDynTree/Core/VectorDynSize.h>
-#include <iDynTree/Core/MatrixDynSize.h>
-#include <iDynTree/Model/Model.h>
+#include <iDynTree/VectorDynSize.h>
+#include <iDynTree/MatrixDynSize.h>
+#include <iDynTree/Model.h>
 
 #include <map>
 #include <memory>

HumanDynamicsEstimationLibrary/algorithms/src/DynamicalInverseKinematics.cpp

@@ -11,7 +11,7 @@
 #include "OsqpEigen/OsqpEigen.h"
 
 // idyntree
-#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/EigenHelpers.h>
 #include <iDynTree/KinDynComputations.h>
 
 // yarp

HumanDynamicsEstimationLibrary/algorithms/src/InverseVelocityKinematics.cpp

@@ -9,7 +9,7 @@
 #include "OsqpEigen/OsqpEigen.h"
 
 // idyntree
-#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/EigenHelpers.h>
 #include <iDynTree/KinDynComputations.h>
 
 #include <yarp/os/LogStream.h>

HumanDynamicsEstimationLibrary/utils/CMakeLists.txt

@@ -9,6 +9,6 @@ add_component(NAME utils
               SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/iDynTreeUtils.cpp
               PUBLIC_HEADERS ${CMAKE_CURRENT_SOURCE_DIR}/include/hde/utils/iDynTreeUtils.hpp
               PUBLIC_LINK_LIBRARIES iDynTree::idyntree-core
-              PRIVATE_LINK_LIBRARIES YARP::YARP_OS
+              PRIVATE_LINK_LIBRARIES YARP::YARP_os
                                      Eigen3::Eigen
              )

HumanDynamicsEstimationLibrary/utils/include/hde/utils/iDynTreeUtils.hpp

@@ -5,10 +5,10 @@
 #define HUMANDYNAMICSESTIMATION_UTILS_HPP
 
 // iDynTree
-#include <iDynTree/Core/Rotation.h>
-#include <iDynTree/Core/Transform.h>
-#include <iDynTree/Core/VectorDynSize.h>
-#include <iDynTree/Core/VectorFixSize.h>
+#include <iDynTree/Rotation.h>
+#include <iDynTree/Transform.h>
+#include <iDynTree/VectorDynSize.h>
+#include <iDynTree/VectorFixSize.h>
 
 #include <vector>
 

HumanDynamicsEstimationLibrary/utils/src/iDynTreeUtils.cpp

@@ -10,7 +10,7 @@
 #include <cmath>
 
 // iDynTree
-#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/EigenHelpers.h>
 
 // YARP
 #include <yarp/os/LogStream.h>

README.md

@@ -37,6 +37,7 @@ For installing the dependencies you can decide to install them individually or t
 
 #### Libraries
 - [**YARP**](https://github.com/robotology/yarp): a library and toolkit for communication and device interfaces.
+- [**trintrin**](https://github.com/ami-iit/trintrin): a library with common messages for interprocess communication in robotics applications.
 - [**icub-main**](https://github.com/robotology/icub-main): a library for the interaction with the iCub robot.
 - [**iDynTree**](https://github.com/robotology/idyntree): a library of robots dynamics algorithms for control, estimation and simulation.
 - [**Eigen**](http://eigen.tuxfamily.org/index.php?title=Main_Page) (3.3 or later): a C++ template library for linear algebra.
@@ -45,7 +46,6 @@ For installing the dependencies you can decide to install them individually or t
 #### Optional dependencies
 - [**irrlicht**](http://irrlicht.sourceforge.net/) and [**iDynTree**](https://github.com/robotology/idyntree) compiled with `IDYNTREE_USES_IRRLICHT` enabled: visualizer for floating-base rigid-body systems.
 - [**Robometry**](https://github.com/robotology/robometry) : a telemetry suite for logging data.
-- [**pybind11**](https://github.com/pybind/pybind11): if present, the user can enable `HDE_COMPILE_PYTHON_BINDINGS` to enable the compilation of the python bindings.
 
 ## How to install
 After installing all the dependencies, you can install the HDE project:
@@ -87,7 +87,6 @@ Wearable devices contained in [`/devices/`](/devices) are [YARP devices](http://
 | XsensSuit | Exposes [`XsensSuit`](https://www.xsens.com/motion-capture) data. |  Windows   | xsens MVN SDK 2018.0.3 | [:books:](/doc/How-to-run-XsensSuit.md) |
 | ICub | Exposes [iCub](https://icub.iit.it/) robot data. |  Linux/MacOS/Windows   | [`iDynTree`](https://github.com/robotology/idyntree) | [:books:](/doc/How-to-run-iCub-as-wearable-source.md) |
 | Paexo | Exposes [Paexo](https://paexo.com/?lang=en) data. |  Linux  | `iFeelDriver` (Contact the maintainer for more details) | - |
-| HapticGlove | Exposes [SenseGlove](https://www.senseglove.com/product/developers-kit/) data. |  Linux/Windows  | [`SenseGloveSDK`](https://github.com/Adjuvo/SenseGlove-API) | [:books:](./doc/How-to-compile-and-run-HapticGlove.md) |
 | IFrameTransform | Exposes YARP [`IFrameTransform` Interface](http://www.yarp.it/git-master/classyarp_1_1dev_1_1IFrameTransform.html). |  Linux/MacOS/Windows  | - |  - |
 
 
@@ -170,4 +169,5 @@ The development is also supported by the [Istituto Italiano di Tecnologia](http:
 
 * Silvio Traversaro ([@traversaro](https://github.com/traversaro))
 * Stefano Dafarra ([@S-Dafarra](https://github.com/S-Dafarra))
-* Dario Sortino ([@dariosortino](https://github.com/dariosortino))
+* Davide Gorbani ([@davidegorbani](https://github.com/davidegorbani))
+* Gianluca Milani ([@Gianlucamilani](https://github.com/Gianlucamilani))