From 07cbf565a30a667e5829ccce5c0bfc46ec13eee8 Mon Sep 17 00:00:00 2001
From: Stefano <stefano.dafarra@gmail.com>
Date: Mon, 20 Jan 2025 13:03:48 +0100
Subject: [PATCH 1/3] Added compilation of bindings for iFrameTransform

---
 bindings/yarp.i                    | 2 ++
 src/libYARP_dev/src/yarp/dev/all.h | 1 +
 2 files changed, 3 insertions(+)

diff --git a/bindings/yarp.i b/bindings/yarp.i
index 1de8af2e346..73115db1f09 100644
--- 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.
diff --git a/src/libYARP_dev/src/yarp/dev/all.h b/src/libYARP_dev/src/yarp/dev/all.h
index 1365618c1be..8661b9a9cc5 100644
--- a/src/libYARP_dev/src/yarp/dev/all.h
+++ b/src/libYARP_dev/src/yarp/dev/all.h
@@ -41,6 +41,7 @@
 #include <yarp/dev/ISpeechTranscription.h>
 #include <yarp/dev/ILLM.h>
 #include <yarp/dev/IChatBot.h>
+#include <yarp/dev/IFrameTransform.h>
 
 #ifndef YARP_NO_DEPRECATED // since YARP 3.5
 #define YARP_INCLUDING_DEPRECATED_HEADER_YARP_DEV_FRAMEGRABBER_H_ON_PURPOSE

From 31bdd7be276daa91de5c567eb6033fdd50ad2e68 Mon Sep 17 00:00:00 2001
From: Stefano <stefano.dafarra@gmail.com>
Date: Mon, 20 Jan 2025 14:57:48 +0100
Subject: [PATCH 2/3] Added swig extensions for the IFrrameTransform methods
 returning strings or vectors

---
 bindings/yarp.i | 23 +++++++++++++++++++++++
 1 file changed, 23 insertions(+)

diff --git a/bindings/yarp.i b/bindings/yarp.i
index 73115db1f09..24d18189e47 100644
--- a/bindings/yarp.i
+++ b/bindings/yarp.i
@@ -1590,6 +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

From f269a3b1445f013be75e2dbfef1c99d16faf746a Mon Sep 17 00:00:00 2001
From: Stefano <stefano.dafarra@gmail.com>
Date: Mon, 20 Jan 2025 14:23:20 +0100
Subject: [PATCH 3/3] Include iFrameTransform in yarp/dev/all.h only if the
 math is compiled

---
 cmake/YarpFindDependencies.cmake   | 4 ++++
 src/libYARP_dev/src/yarp/dev/all.h | 4 ++++
 2 files changed, 8 insertions(+)

diff --git a/cmake/YarpFindDependencies.cmake b/cmake/YarpFindDependencies.cmake
index 71561a5c746..46c42aabdac 100644
--- 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
index 8661b9a9cc5..5fd85860c9d 100644
--- a/src/libYARP_dev/src/yarp/dev/all.h
+++ b/src/libYARP_dev/src/yarp/dev/all.h
@@ -41,7 +41,11 @@
 #include <yarp/dev/ISpeechTranscription.h>
 #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