Merge pull request #3162 from S-Dafarra/frame_transform_bindings

Added compilation of bindings for iFrameTransform
robotology · Jan 21, 2025 · b37a9dc · b37a9dc
2 parents ffb7a7e + f269a3b
commit b37a9dc
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diff --git a/bindings/yarp.i b/bindings/yarp.i
@@ -430,6 +430,7 @@ MAKE_COMMS(Bottle)
 %include <yarp/dev/ISpeechTranscription.h>
 %include <yarp/dev/ILLM.h>
 %include <yarp/dev/MultipleAnalogSensorsInterfaces.h>
+#include <yarp/dev/IFrameTransform.h>
 
 #ifndef YARP_NO_DEPRECATED // Since YARP 3.5.0
 %include <yarp/dev/IFrameGrabber.h>
@@ -825,6 +826,7 @@ typedef yarp::os::BufferedPort<ImageRgbFloat> BufferedPortImageRgbFloat;
     CAST_POLYDRIVER_TO_INTERFACE(ISpeechSynthesizer)
     CAST_POLYDRIVER_TO_INTERFACE(ISpeechTranscription)
     CAST_POLYDRIVER_TO_INTERFACE(ILLM)
+    CAST_POLYDRIVER_TO_INTERFACE(IFrameTransform)
 
 // These views are currently disabled in SWIG + java generator since they are
 // useless without the EXTENDED_ANALOG_SENSOR_INTERFACE part.
@@ -1588,6 +1590,29 @@ typedef yarp::os::BufferedPort<ImageRgbFloat> BufferedPortImageRgbFloat;
     }
 }
 
+%extend yarp::dev::IFrameTransform {
+    std::string allFramesAsString() {
+        std::string outputString;
+        bool ok = self->allFramesAsString(outputString);
+        if (!ok) return "";
+        return outputString;
+    }
+
+    std::vector<std::string> getAllFrameIds() {
+        std::vector<std::string> frameIds;
+        bool ok = self->getAllFrameIds(frameIds);
+        if (!ok) return std::vector<std::string>();
+        return frameIds;
+    }
+
+    std::string getParent(const std::string& frameId) {
+        std::string parent;
+        bool ok = self->getParent(frameId, parent);
+        if (!ok) return "unknown";
+        return parent;
+    }
+}
+
 // This is part is currently broken in SWIG + java generator since SWIG 3.0.3
 // (last swig version tested: 3.0.12)
 // See also https://github.com/robotology/yarp/issues/1770

diff --git a/cmake/YarpFindDependencies.cmake b/cmake/YarpFindDependencies.cmake
@@ -497,6 +497,10 @@ yarp_dependent_option(
 )
 yarp_renamed_option(CREATE_LIB_MATH YARP_COMPILE_libYARP_math) # Deprecated since YARP 3.2
 
+if(NOT YARP_COMPILE_libYARP_math)
+  add_definitions(-DYARP_NO_MATH)
+endif()
+
 yarp_dependent_option(
   YARP_COMPILE_libYARP_robotinterface "Do you want to compile the library YARP_robotinterface?" ON
   "YARP_HAS_TinyXML" OFF

diff --git a/src/libYARP_dev/src/yarp/dev/all.h b/src/libYARP_dev/src/yarp/dev/all.h
@@ -42,6 +42,11 @@
 #include <yarp/dev/ILLM.h>
 #include <yarp/dev/IChatBot.h>
 
+#ifndef YARP_NO_MATH
+#include <yarp/dev/IFrameTransform.h>
+#endif // YARP_NO_MATH
+
+
 #ifndef YARP_NO_DEPRECATED // since YARP 3.5
 #define YARP_INCLUDING_DEPRECATED_HEADER_YARP_DEV_FRAMEGRABBER_H_ON_PURPOSE
 #include <yarp/dev/IFrameGrabber.h>