Add BAFStateProvider YARP device (#97)

Author: RiccardoGrieco

.github/workflows/ci.yml

@@ -92,6 +92,7 @@ jobs:
                   -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
                   -DCMAKE_BUILD_TYPE=${{matrix.build_type}} \
                   -DFRAMEWORK_COMPILE_YarpImplementation=ON \
+                  -DFRAMEWORK_COMPILE_YarpDevices=ON \
                   -DBUILD_TESTING:BOOL=ON \
                   -DBUILD_EXAMPLES:BOOL=ON \
                   -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON \
@@ -108,6 +109,7 @@ jobs:
                   -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
                   -DCMAKE_BUILD_TYPE=${{matrix.build_type}} \
                   -DFRAMEWORK_COMPILE_YarpImplementation=ON \
+                  -DFRAMEWORK_COMPILE_YarpDevices=ON \
                   -DBUILD_TESTING:BOOL=ON \
                   -DBUILD_EXAMPLES:BOOL=ON \
                   -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON \

CMakeLists.txt

@@ -21,6 +21,8 @@ option(BUILD_EXAMPLES "Compile examples of the implemented classes" OFF)
 # Check BiomechanicalAnalysisFramework dependencies, find necessary libraries.
 include(BiomechanicalAnalysisFrameworkDependencies)
 
+option(FRAMEWORK_COMPILE_YarpDevices "Compile the YARP device plugins in the devices folder" OFF)
+
 #set default build type to "Release" in single-config generators
 if(NOT CMAKE_CONFIGURATION_TYPES)
     if(NOT CMAKE_BUILD_TYPE)
@@ -76,6 +78,13 @@ include(AddBiomechanicalAnalysisLibrary)
 
 add_subdirectory(src)
 
+if(FRAMEWORK_COMPILE_YarpDevices)
+  if(NOT FRAMEWORK_COMPILE_YarpImplementation)
+    message(FATAL_ERROR "FRAMEWORK_COMPILE_YarpDevices requires FRAMEWORK_COMPILE_YarpImplementation to be enabled")
+  endif()
+  add_subdirectory(devices)
+endif()
+
 #Creates the interface target BiomechanicalAnalysis::Framework that depends on all the targets.
 #By including the file "BiomechanicalAnalysis/Framework.h" it is possible to include all the headers automatically.
 include(AddBiomechanicalAnalysisFrameworkTarget)

README.md

@@ -87,6 +87,10 @@ For detailed instructions on how to install and use the Python package, as well
 
 For practical guidance on HumanIK calibration, world alignment, pose and position task behavior, and the typical calibrate-update-advance loop, see [docs/ik-calibration-and-runtime.md](docs/ik-calibration-and-runtime.md).
 
+## Devices
+
+This repository also provides yarp devices in the `devices` folder, enabled by the CMake option `FRAMEWORK_COMPILE_YarpDevices`. See the [`README`](devices/README.md) in the `devices` directory for build, installation, and configuration instructions.
+
 ## Maintainers
 
 - RiccardoGrieco ([@RiccardoGrieco](https://github.com/RiccardoGrieco))

ci_env.yml

@@ -16,4 +16,5 @@ dependencies:
   - pybind11
   - cmake-package-check
   - libresolve-robotics-uri-cpp
+  - human-dynamics-estimation<6.0.0