Migration.md

wholeBodyInterface 0.1.0 to 0.2.0

In this version we changed a lot of the internal working of the wholeBodyInterface.

wbi::LocalId --> wbi::ID

Relevant discussion: The main identifier for all elements (Sensors, Estimates, Joints, ..) is now the wbi::ID, that is a basic wrapper over the standard std::string . There are a lot of changes related to this, more notably the list type migrated from wbi::LocalIdList to wbi::IDList.

All add* methods should be called before init()

Relevant discussion: robotology-legacy/codyco-modules#18

Now all add* / remove* methods must be called before calling the init() function. Once the interface is initialized, the list of joints/sensors/estimates cannot be changed.

All the geometric iWholeBodyModel methods now accept frames id

Relevant discussion: robotology-legacy/codyco-modules#39

Accordingly, a virtual const wbiIdList& getFrameList() method has been added to the iWholeBodyModel. This is substituting the ugly getLinkId method.

Relevant code changes

int root_link_id;
bool ok = getLinkId("root_link",root_link_id);

becomes

int root_link_id;
bool ok = getFramesList().wbiIdToNumericId("root_link",root_link_id);