YARP 2.3.72.1 (2018-06-11)

YARP 2.3.72.1 (2018-06-11) Release Notes

A (partial) list of bug fixed and issues resolved in this release can be found
here.

Bug Fixes

Build System

• Fixed build with CMake < 3.4

CMake Modules

• Removed IMPORTED_GLOBAL property from YarpOSXUtilities.cmake.

Libraries

YARP_sig

• Fixed bug in yarp::sig::Sound::operator+=

YARP_dev

• ControlBoardWrapper now correctly passes on any monitoring to wrapped
  subdevices.
• Subdevices wrapped by ControlBoardWrapper are now identified by their actual
  name by the monitor object, that is, their name will be displayed on the
  command line if yarpdev was called with --verbose.
  Previously, it used a generic "subdevice" identifier.
• Added missing IFrameGrabberControl2 to RGBDSensorWrapper.
• Fixed RGBDSensorWrapper compatibilty with frameGrabberGui2.
• Fixed joint remapping in method getRefVelocity().
• Fix VOCAB_CURRENT_REF_GROUP message parser in ControlBoardWrapper (#1734)

YARP_serversql

• Added check if rossrv, tcpros and xmlrpc are installed when
  yarpserver is launched with --ros option. (#722)

YARP_OS

• Added timeout parameter in TcpConnector::connect() to unify behaviour with the
  ACE_SOCK_Connector.

GUIs

yarpscope

• Fixed bottle handling.

yarpmanager

• Added checkNetwork before contacting the nameserver.(#1536)
• Added the ping on yarprun nodes.
• Fixed mismatch of port connections when not ordered by ID.(#964)
• Fixed mismatch of resources when not ordered by ID

yarpmotorgui

• Fixed compilation on macOS

yarplogger

• Fixed compilation on macOS

Devices

ControlBoardRemapper

• Fixed getEncoderAccelerations() method.

depthCamera

• Fixed find OpenNI2 in CMakelists.txt.

AnalogWrapper

• Fixed issue preventing publication of FT sensor data to ROS.

Bindings

• Fixed out of source builds.
• Added SWIG_PREPROCESSOR_SHOULD_SKIP_THIS to avoid the SWIG preprocessor from
  parsing VOCAB. Introduced SWIG-compliant working VOCAB definitions in
  yarp.i, with required checks on target language and SWIG version.
• Removed related hacks required for compilation from YARP internals.
• Added test_vocab.lua to catch regressions on VOCAB in the future.
• Renamed test_string.lua to more representative test_port.lua, enabled it to
  run without the yarpserver, and integrate it in the test infrastructure.

Contributors

This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v2.3.72..v2.3.72.1):

    55	Daniele E. Domenichelli <daniele.domenichelli@iit.it>
    21	Nicolò Genesio <nicolo.genesio@iit.it>
    14	Juan G. Victores <jcgvicto@gmail.com>
     6	Alberto Cardellino <alberto.cardellino@iit.it>
     5	Silvio Traversaro <silvio.traversaro@iit.it>
     3	Damiano Enerli <damiano.enerli@iit.it>
     3	Ugo Pattacini <ugo.pattacini@iit.it>
     2	Bartek Łukawski <bwmn.peter@gmail.com>
     2	Claudio Fantacci <claudio.fantacci@iit.it>
     2	Marco Randazzo <marco.randazzo@iit.it>
     2	Matteo Brunettini <matteo.brunettini@iit.it>
     2	Nuno Guedelha <nuno.guedelha@iit.it>
     1	Andrea Ruzzenenti <andrea.ruzzenenti@iit.it>
     1	Lorenzo Rapetti <lorenzo.rapetti@iit.it>
     1	Prashanth Ramadoss <prashanthramadoss@gmail.com>

YARP 2.3.72 (2018-02-12)

YARP 2.3.72 (2018-02-12) Release Notes

A (partial) list of bug fixed and issues resolved in this release can be found
here.

Important Changes

• All the functionalities deprecated in YARP 2.3.65 and previous releases were
  removed.
• C++11 is required also for using YARP, not just for compiling.
• Optional dependency on YCM now requires version 0.6.0 or later.
• Optional dependency on RTF now requires version 1.4.0 or later.
• Dropped YARP1 support.
• Changed how JAVA bindings are generated
• yarp::sig::image::getIplImage() now can return a null pointer
  (instead of teminating with an assert) for not valid Ipl image formats
• yarp::sig::image::setPixelCode() now set the pixelSize accordingly (which
  should not be set).
  Since yarp::sig::image::setPixelSize() also sets an arbitrary pixel code
  equal to negative itself (setPixelSize(3) will set the pixelCode to -3), it
  should be use only for image with custom formats not covered by a yarp
  pixelCode.

Libraries

YARP_OS

• Clock refactoring: clock type can be initialized in the yarp::os::Network
  constructor or in the Network::init() function.
  This will take precedence over the environment variable.
  yarp::os::SystemRateThread class created as RateThread clone but runs
  using system clock only, independently from other settings.
  Any call to yarp::os::Time::now() or delay() before the object
  yarp::os::Network is initialized will abort the program in order to avoid
  undefined behaviour of uninitialized Time object
• Contactable::open(void) was deprecated. Use open("...") instead.
• The following methods in yarp::os::RateThread are now protected instead
  of public:
  • virtual bool threadInit();
  • virtual void threadRelease();
  • virtual void run() = 0;
  • virtual void beforeStart();
  • virtual void afterStart(bool success);
• The following methods in yarp::os::PortReaderBufferBase are now deprecated:
  • void setAllowReuse(bool flag = true)
  • void release(yarp::os::PortReader* completed)
• The methods yarp::os::Bottle::operator==() and
  yarp::os::Bottle::operator!=() are now const.

New Features

Libraries

YARP_OS

• Added the property yarprun to ports opened through yarprun --server.
• Added the property nameserver for the port opened through yarpserver.
• The method yarp::os::Network::runNameServer() was removed.
• Added possibility to enable and disable macOS AppNap (yarp/os/Os.h).
• Added a few missing ConstString::assign overloads.
• Added method yarp::os::carrier::createFace(), that returns the needed face
  of the carrier.
  This method is used in carriers::listen() and carriers::connect() in order
  to open new connection using the correct face.
• The YARP_WRAP_STL_STRING option value is now by default OFF on non-MSVC
  platforms. This means that yarp::os::ConstString is now by default a typedef
  to std::string on these platforms.
• Improve how parameters are given to the chosen carrier for a connection:
  all parameters given both on registration and on connect command are collected
  and made available in the connection initialization step.
• Added support for register a contact with an associated carrier different from
  tcp. If the chosen carrier provides a custom yarp::os::Face implementation
  this becomes the handler of incoming connections.
  In any case the carrier becomes the default for future connections.

YARP_dev

• Added a new interface for visual servoing: IVisualServoing.h.
• yarp::dev::CanBuffer now supports a const version of operator[].
• Methods of yarp::dev::IVirtualAnalogSensor renamed in order to avoid
  conflicts with similar methods of yarp::dev::IAnalogSensor.
• FrameGrabber: add a way to get cropped image via RPC. Streaming of full images
  can be disabled.

YARP_serversql

• Added a new Server class for using yarp server inside an applications.
  Both the yarp server application and the yarpserver rtf fixture use it.

Carriers

• New H264 carrier. It let you to read and decoding a h264 stream
  published by Gstreamer server.

Devices

ovrheadset

• Added hud element setted by the configuration file and connected diretly to
  image ports

Map2DServer

• Several RPC commands were added and removed.
• Added options ROS::enable_ros_subscriber and ROS::enable_ros_publisher.

laserHokuyo

• Serial port configuration is now searched in the SERIAL_PORT_CONFIGURATION
  configuration group.

GUIs

• New yarpviz gui imported from https://github.com/robotology/yarpviz

yarpmanager

• Imported the iCubCluster GUI from iCub
  (https://github.com/robotology/icub-main/tree/master/app/iCubCluster).
  It is available only on Unix.
• Added file system watcher to reload the applications when the xml
  has been modified externally. The automatic reload can be disabled
  through a dedicated checkbox in "File" menu.
• Added yarp name list and yarp clean actions after importing
  profiling capabilities of yarpviz.
• Added modifiers column in the connection list for portmonitors.
• Added the possibility to switch broker run-time, from LocalBroker to
  YarpBroker and viceversa.

RTF Plugins

• yarpserver: created a RTF Fixture manager for running yarpserver as a
  fixture.

Bindings

Java

• Completely refactored JAVA Bindings (#1372)
  Java sources and pre-compiled classes are no more generated during the build
  process (PREPARE_CLASS_FILES option has been removed too).
  Two .jar files are instead generated and installed:
  • <install_dir>/share/yarp/java/yarp.jar: contains all the YARP Java
    classes.
  • <install_dir>/share/yarp/java/yarp_matlab_java.jar: contains Java
    utilities for MATLAB.
    The JNI libraries to be loaded by the JAVA application is now called
    libyarp_java.jnilib and it is installed in
    <install_dir>/lib/jni/libyarp_java.jnilib.
• Changed package of JAVA MATLAB Utilities: from global package to
  yarp.matlab

Bug Fixes

Libraries

YARP_OS

• Added unprepare method to Publisher. See BufferedPort for documentation
  on how to use prepare and unprepare (#1425).
• Optimized Stamp::read() and Stamp::write() for textMode.

YARP_sig

• Fixed pixelSize information loss in yarp::sig::FlexImage:::read().

GUIs

yarpmanager

• Fixed the check of the status of the Computers, now it verifies that the
  corresponding port has been opened through yarp run. Be aware that after
  these changes yarpmanager will not detect machines with yarp 2.3.70
  and earlier.
• Added scan among the available carriers when you click connect and disconnect,
  if the specified carrier is not available a proper error message will be
  written on log.
• the column carrier in the connection list has been substituted with a combobox
  with the available carriers.

yarpdataplayer

• Fixed yarpdataplayer going to idle because of AppNap on macOS (#1153)

Contributors

This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v2.3.70..v2.3.72):

   192	Daniele E. Domenichelli <daniele.domenichelli@iit.it>
   169	Nicolò Genesio <nicolo.genesio@iit.it>
   166	Damiano Enerli <damiano.enerli@iit.it>
    64	Alberto Cardellino <alberto.cardellino@iit.it>
    49	Andrea Ruzzenenti <andrea.ruzzenenti@iit.it>
    35	Marco Randazzo <marco.randazzo@iit.it>
    25	Francesco Romano <francesco.romano@iit.it>
    22	Ali Paikan <ali.paikan@iit.it>
    14	Claudio Fantacci <claudio.fantacci@iit.it>
    13	Silvio Traversaro <silvio.traversaro@iit.it>
    12	Valentina Gaggero <valentina.gaggero@iit.it>
     7	YARP Developers <yarp0-devel@lists.sourceforge.net>
     5	Bartek Łukawski <bwmn.peter@gmail.com>
     5	Nuno Guedelha <nuno.guedelha@iit.it>
     4	Ugo Pattacini <ugo.pattacini@iit.it>
     3	David-Estevez <david.estevez.fdez@gmail.com>
     3	Lorenzo Natale <lorenzo.natale@iit.it>
     2	Juan G Victores <jcgvicto@gmail.com>
     2	Matteo Brunettini <matteo.brunettini@iit.it>
     1	Elena Rampone <elena.rampone18@gmail.com>
     1	Giovanni Saponaro <gsaponaro@isr.ist.utl.pt>
     1	Marco Monforte <marco.monforte@iit.it>
     1	Massimiliano Iacono <massimiliano.iacono@iit.it>

YARP 2.3.70.2 (2017-12-11)

YARP 2.3.70.2 (2017-12-11) Release Notes

A (partial) list of bug fixed and issues resolved in this release can be found
here.

Important Changes

Libraries

YARP_OS

• Unification of code in DGramTwoWayStream for the allocation of write
  and read buffers (#899).
• Added extra checks in the port names in Network:metaConnect(), with
  dedicated error messages.

YARP_math

• The RandScalar methods are now using C++11 mersenne_twister_engine instead
  of a custom engine.

Carriers

• portmonitor, rossrv, tcpros, and xmlrpc carriers can now be enabled
  when SKIP_ACE is ON.

Build System

• Added YARP_DISABLE_OSX_BUNDLES option to disable macOS bundles.

• Added YARP_DISABLE_FAILING_TESTS option to disable tests known for randomly
  failing due to race conditions.

Bug Fixes

• Fixed several warnings reported by Clang static analyzer.
• Fixed several defects reported by Coverity.

Libraries

YARP_OS

• Fixed truncation of double in Property::fromString().
• Fixed append to wrong string in BufferedConnectionWriter.h.
• Fixed yarp::os::ConstString::getline for MSVC (#1357).
• Reverted flush() added in YARP v2.3.71.1 at the end of
  AbstractCarrier::writeYarpInt().

YARP_dev

• Fixed RPC calls when connecting to right image port (split mode on)

Tools

• Added the fallback port in yarpserver also if yarp
  is compiled without ACE, since we support mcast without
  ACE since v2.3.70.
• Fixed yarpdev --list for Windows.

Contributors

This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v2.3.70.1..v2.3.70.2):

   144  Damiano Enerli <damiano.enerli@iit.it>
    60  Nicolò Genesio <nicolo.genesio@iit.it>
    39  Daniele E. Domenichelli <daniele.domenichelli@iit.it>
     9  Alberto Cardellino <alberto.cardellino@iit.it>
     3  Silvio Traversaro <silvio.traversaro@iit.it>
     1  Marco Monforte <marco.monforte@iit.it>

YARP 2.3.70.1 (2017-09-21)

YARP 2.3.70.1 (2017-09-21) Release Notes

A (partial) list of bug fixed and issues resolved in this release can be found
here.

Bug Fixes

CMake Modules

• Full paths were never exported by yarp_configure_external_installation
  command. This has been fixed.

Libraries

YARP_OS

• Fixed Route::swapNames() segfault in Windows and MacOS.
• Fixed mcast without ACE on macOS
• Fixed memory leak for inactive carriers
• Fixed mcast, the connection now continue working also if you disconnect
  the first mcast connection.
• Removed the inheritance from SocketTwoWayStream in LocalCarrierStream.
• Fixed setConnectionQos() for local carrier.
• Added flush() at the end of AbstractCarrier::writeYarpInt() to finalize
  the write.
• Fixed memory leak in port authentication.
• Fixed Buffer not null terminated in impl/SplitString.
• Added the check for spaces in the port names in Network:metaConnect().

YARP_dev

• IPWMControl and ICurrentControl interfaces are now correctly wrapped by the the ControlBoardRemapper.

YARP_manager

• Removed using namespace directive from headers.

Devices

rplidar2

• Fixed build on MSVC

GUIs

yarpview

• Fixed coordinates of clicked point when yarpview window is resized.
• Added Unix signal handler(SIGQUIT, SIGINT, SIGTERM, SIGHUP).

Contributors

This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v2.3.70..v2.3.70.1):

    30  Daniele E. Domenichelli <daniele.domenichelli@iit.it>
    21  Nicolò Genesio <nicolo.genesio@iit.it>
     3  Marco Randazzo <marco.randazzo@iit.it>
     2  Bartek Łukawski <bwmn.peter@gmail.com>
     1  Andrea Ruzzenenti <andrea.ruzzenenti@iit.it>
     1  Matteo Brunettini <matteo.brunettini@iit.it>
     1  Nuno Guedelha <nuno.guedelha@iit.it>
     1  Silvio Traversaro <silvio.traversaro@iit.it>
     1  Ugo Pattacini <ugo.pattacini@iit.it>

YARP 2.3.70 (2017-06-15)

YARP 2.3.70 Release Notes

A (partial) list of bug fixed and issues resolved in this release can be found
here.

Important Changes

System Configuration

• The YARP_CONF environment variable has been deprecated for a long time
  (since April 2013) and it is no longer used. Since there was not a proper
  warning, the warning is printed now at runtime when the variable is set. See
  ResourceFinder::getConfigHome() documentation
  for informations about paths used by YARP to detect the configuration files.
  If you still need to use the YARP_CONF for some reason, you can use the
  YARP_CONFIG_HOME environment variable instead.

Build System

• A compiler supporting C++11 is now required.
• CMake 3.0 or newer is now required.
• Optional dependency on YCM now requires version 0.4.0 (devel) or later.
• Robot Testing Framework (RTF)
  1.2.0 is now an optional dependency.

CMake Modules

• YarpPlugin
  • The following commands, deprecated since YARP 2.3.21, were removed:
    • BEGIN_PLUGIN_LIBRARY
    • ADD_PLUGIN_NORMALIZED
    • PREPARE_PLUGIN
    • PREPARE_DEVICE
    • PREPARE_CARRIER
    • END_PLUGIN_LIBRARY
    • ADD_PLUGIN_LIBRARY_EXECUTABLE
    • YARP_ADD_PLUGIN_LIBRARY_EXECUTABLE
• The YARP_HAS_NAME_LIB variable has been removed since YARP_name is always
  available, and is considered a private library.
• All CMake targets now export the include directories required to build using
  that library. Using include_directories(${YARP_INCLUDE_DIRS}) should no
  longer be required.
• YarpPlugin.cmake and YarpInstallationHelpers.cmake are now automatically
  included from YARPConfig.cmake, therefore all commands defined in these
  files are available after find_package(YARP). Including them explicitly is
  now considered deprecated. For the same reason, adding YARP_MODULE_PATH to
  the CMAKE_MODULE_PATH variable is considered deprecated. If you need some
  modules not available in CMake, please consider using YCM.

Libraries

• A lot of refactoring was performed in order to improve c++11 usage and to
  simplify porting to other platforms without ACE

YARP_conf

• Added the new YARP_conf header only library target. Formerly these files
  existed but they did not belong to any target.

YARP_OS

• The i command is now enabled only in Debug and DebugFull builds.
• The following commands have been marked as deprecated and will be removed in
  future version of YARP:
  • yarp::os::exit()
  • yarp::os::abort()
  • yarp::os::signal()
  • yarp::os::ResourceFinder::setContext(const char* contextName)

YARP_dev

• Opening a device using a configuration of type (device (device (foo bar)))
  is now deprecated, use (device (foo bar)) instead.
• Removed some old interfaces methods, deprecated since yarp 2.3.65.
  i.e: setPositionDirectMode(), setPositionMode(), setVelocityMode(),
  setOpenLoopMode(), setTorqueMode()`, etc.
• Removed Interface IOpenLoopControl, deprecated since yarp 2.3.65.
• Removed deprecated device ClientControlBoard and related tests.
• Removed deprecated device ServerControlBoard and related tests.
• Major changes to iPIDControl methods. Now they aren't bound anymore to
  Position Control. (#499)
  They accept a new parameter PidControlTypeEnum which defines the PID id
  on which the method will operate.
  For example
  setPid(const PidControlTypeEnum& pidtype, int j, const Pid &pid).
  Currently, pidtype can be one of the following types:
  • VOCAB_PIDTYPE_POSITION,
  • VOCAB_PIDTYPE_VELOCITY,
  • VOCAB_PIDTYPE_TORQUE,
  • VOCAB_PIDTYPE_CURRENT.
• All pid-related methods from interfaces different from iPidControl have been
  deprecated.
  To provide backward-compatibility, old methods automatically call the new
  methods (e.g. setTorquePid(int j, const Pid &pid) calls
  setPid(VOCAB_PIDTYPE_TORQUE,int j,const PID &pid))
• The following methods have been deprecated, use
  IControlMode2::setControlMode(int, VOCAB_CM_XXX) instead:
  • IControlMode::setPositionMode(int)
  • IControlMode::setVelocityMode(int)
  • IControlMode::setTorqueMode(int)
  • IControlMode::setImpedancePositionMode(int)
  • IControlMode::setImpedanceVelocityMode(int)
  • ...plus their IControlModeRaw counterparts

YARP_math

• YARP_math can no longer be built using GSL. The CREATE_LIB_MATH_USING_GSL
  option was removed. Only Eigen is supported. FindGSL.cmake is no longer
  installed.

New Features

CMake Modules

• YarpPlugin
  • Add QUIET/VERBOSE arguments and YarpPlugin_QUIET/VERBOSE variables.
• YarpInstallationHelpers
  • A new command yarp_configure_plugins_installation has been introduced to
    simplify installation of YARP plugins when
    yarp_configure_external_installation is not invoked.

Libraries

• New library libYARP_rtf to simplify the creation of unit tests using the
  Robot Testing Framework (RTF)
  and YARP. This is a slightly modified version of the RTF_YARP_utilities
  library in RTF 1.0.
  It can be enabled with the option YARP_COMPILE_RTF_ADDONS.

YARP_OS

• The following methods were added to the yarp::os namespace:
  • char* yarp::os::getcwd(char *buf, size_t size)
  • int yarp::os::fork(void)
• The following methods were added to the yarp::os::Publisher class:
  • virtual void onRead(T &datum)
  • void useCallback(TypedReaderCallback< T > &callback)
  • void useCallback()
  • void disableCallback()
• The following methods were added to the yarp::os::Subscriber class:
  • void setStrict(bool strict = true)
• The following overload method is added to the yarp::os::ResourceFinder
  class:
  • bool setDefaultContext(const yarp::os::ConstString& contextName)
• Added clear() method to PID class.
• The class yarp::os::Route was refactored:
  • The following methods were deprecated:
    • addFromName()
    • addToName()
    • addCarrierName()
    • addToContact()
  • The following methods were added:
    • setFromName()
    • setToName()
    • setCarrierName()
    • setToContact()
    • swapNames()

YARP_dev

• Added getRgbResolution and getRgbSupportedConfigurations to the
  IRgbVisualParams interface.
• Added the new yarp::dev::IJoypadController interface and the new
  JoypadControlClient and JoypadControlServer devices.
• Added rpc port to dialogue with FrameTransformClient.
  The implemented commands are:
  • get_transform: print the transform from src to dst
  • list_frames: print all the available refence frames
  • list_ports: print all the opened ports for tranform broadcasting
  • publish_transform: opens a port to publish transform from src to dst
  • unpublish_transform: closes a previously opened port to publish a
    transform
  • unpublish_all: closes a all previously opened ports to publish a transform
• iPIDControl class pulled out from ControlBoardInterfaces yarpdev headers and
  put in separated files. Reimplemented without templates.
• Gaze control: added sync equivalent to lookAt-like methods in order to wait
  for reply.
• Added iRobotDescription interface.
• Added two new motion control interfaces: IPWMControl, ICurrentControl and
  related helpers for units conversions.
• Added IMap2D interface.
• Added yarp::dev::MapGrid2D data type.
• Added IHapticDevice interface.

YARP_math

• Added methods:
  • yarp::sig::Vector dcm2ypr(const yarp::sig::Matrix&)
  • yarp::sig::Matrix ypr2dcm(const yarp::sig::Vector&)
• Added template class Vec2d<>. can be only instantiated as int or double.
• Added operator*(quaternion, quaternion) overload for quaternion multiplication
• Added normalize method in the quaternion class

Tools

yarpidl_rosmsg

• All generated classes now implement the clear() method.

GUIs

yarplaserscannergui

• Accept --help argument.

yarpview

• Added --autosize and checkbox to force yarpview to resize whenever a frame
  of a different size is received.
• Implemented dragvector function on yarpview. Left-click on the image and keep
  left button pressed: yarpview starts to draw a line.
  When the left button is released, the coordinates of the initial and the final
  point are sent to the 'out' yarp port.

yarpmotorgui:

• Create an instance of RobotDescriptionClient to automatically get the names
  of robot parts.
• New button "idle all parts".
• New button "execute script1/2".
• yarpmotorgui now enforces the correct "go to home" behaviour:
  • home is asked to the robot, and, as a consequence, the "Home" button will
    apply the robot home position as specified by the Calibrator, see
    this comment in QA#108
  • added possibility to specified custom positions in the configuration file.
    These positions can be executed by newly introduced "Custom positions"
    submenus. Syntax is described in the yarpmotorgui documentation.
    #1160
• Added CurrentPid tab in yarpmotorgui.
• Added new control mode widgets to handle current and pwm control modes.

yarpmanager

• Handle also wait states upon shutting down the modules of an application
  (#1051).
• Added local and environment variable parsing (#885, #1031).
• Added --add_current_dir option.

Carriers

• New zfp portmonitor for compressing floating ...

YARP 2.3.68.1 (2017-06-15)

YARP 2.3.68.1 Release Notes

A (partial) list of bug fixed and issues resolved in this release can be found
here.

Important Changes

Build System

• YARP_gsl was removed from the YARP_LIBRARIES CMake variable where it was
  erroneously added. If you are using that library you might need to add
  YARP::YARP_gsl to the list of libraries linked by your target.

• The CREATE_SHARED_LIBRARY option is deprecated in favour of the standard
  BUILD_SHARED_LIBS.

• Plugins are now added to FeatureSummary if available.

• Fixed symbol visibility logic. Not exported symbols are now always hidden. The
  YARP_EXPERIMENTAL_FILTER_API option can be used to hide also symbols from
  the impl libraries (it will not build at the moment).

Devices

depthCamera

• Spelling of the length-related parameters was fixed. You might have to fix
  your configuration files.

New Features

Build System

• Builds from git repositories will now contain the git commit and dirty state
  in the version number (For example 2.3.68+98-20161222.4+git3942468+dirty
  (2.3.68+98)). YARP_VERSION_MAJOR, YARP_VERSION_MINOR, YARP_VERSION_PATCH
  and YARP_VERSION_TWEAK meanings hasn't changed. YARP_VERSION_STRING was
  removed since it was never used.

Devices

• Added new laserFromDepth device.

Bug Fixes

Build System

• Fixed YARP_CLEAN_API build with GCC 6.1 or later (that uses c++14 by
  default) by forcing -std=c++98 (#978).
• Fixed YARP_EXPERIMENTAL_CXX11 on MSVC 12 2013.
• The YARP_ABORT_ON_WARNING and YARP_FATAL_ERRORS options were restored.
• Added workaround for FindCUDA bug when crosscompiling.
  See https://gitlab.kitware.com/cmake/cmake/issues/16509.

CMake Modules

• Fixed issues in yarp_add_idl command when generating files using paths
  containing ..
• Fixed issues in yarp_idl_to_dir command when generating files on paths
  containing white spaces.

Libraries

YARP_OS

• Fixed typo preventing successful compilation on linux/mac with C++11 enabled.
• yarp::os::idl::BareStyle<T> and yarp::os::idl::BareStyle<T> are no longer
  erroneously marked as YARP_OS_API.
• Fixed memory leak in yarp::os::Contact when SKIP_ACE is enabled.
• Fixed Windows 2000 detection in SystemInfo.
• Fixed security issue related to the buffer size in yInfo(), yDebug(), etc.
  functions.
• Maximum string size in yInfo(), yDebug(), etc. functions was increased to 1024
  characters.
• Fixed commands yarp name get /port accepts and yarp name get /port offers.
• Fixed deadlock during a device closure after calling a prepare of a closed port.
• Fixed reply to yarp::os::Node::Helper::getBusInfo if no connections available,
  now it returns an empty list.

YARP_sig

• Ensure that after yarp::sig::VectorOf::resize(), the constructor operator
  for the new objects is called.
• Added missing YARP_sig_API to yarp::sig::file::soundStreamReader.

YARP_dev

• Added warning when loading a plugin with a wrong library parameter (#975).
• Fixed the comunication of mirroring and intrinsic parameter through sender and
  parser in IVisualParamsImpl.
• Fixed ControlBoardRemapper not returning an error on malformed axesNames.
• IControlLimits2Raw now inherits publicly from IControlLimitsRaw.
• Fixed missing include of yarp/dev/api.h in IEncoders.h (#1127)
• Fixed missing include of yarp/os/Vocab.h in IControlMode.h (#1199)
• Fixed FrameTransformClient::waitForTransform() (#1183)
• Fixed memory leak in ControlBoardWrapper.
• Fixed memory leak in Rangefinder2DClient.
• Fixed wrong ROS message in ControlBoardWrapper if ROS = only.

YARP_math

• Fix resizing of output matrices in SVD (#1062, #1066).

Private libraries

YARP_manager

• Fixed typo in setEnvironemnt, now setEnvironment

Tools

yarprobotinterface

• Devices are now closed in the reverse order as they are created.

yarpidl_rosmsg

• Fixed an out-of-bounds error if an array contained in a ros message has size
  == 0
• Fixed segfault when publishing a ros message including a null vector

yarpdataplayer

• Fixed memory leak.

GUIs

yarpview

• Fixed RPATH.

yarpscope

• Fixed RPATH.

yarpmanager

• Removed extra ';' from enviornment variables and port prefix (#980, #982).
• Fixed saveAs action(#755).
• Added warning in case of creation of a new file(application) that already
  exists.
• Fixed double tab open of the same application.
• Added key shortcuts for the actions.
• Removed automatically applications, modules and resources that no longer exist
  on disk when double click on them or click edit.
• Fixed the addition to the tree of multiple applications pointing to the same xml
  file.
• Fixed refresh button, before ignored every text entry changed int the application
  tab.
• Added automatic refresh on the application tab open.
• Added automatic application tab open when you load an application from disk.
• Disabled the select all after pressing run all, stop all, refresh all and kill
  all actions.
• Added run/stop/kill/connect/disconnect all and run/stop/kill/connect/disconnect
  selected

yarplaserscannergui

• Fixed close button not closing the gui (#720).
• Fixed laser orientation to have x axis pointing towards N and y axis towards
  W (as in ROS)

yarpbatterygui

• Fixed memory leak in closing.

Carriers

• Fixed issue in tcpros carrier causing a severe slowdown of
  yarp::os::Publisher when multiple ros clients are connected to the same
  topic.

Devices

• Fixed rangeFinder2DClient and getLaserMeasurement() function of various
  hardware devices: laser_angle_of_view was not computed correctly.
• Fixed bugs in AnalogWrapper: start() return value is checked (important
  for avoiding address conflict), all the ports needed are opened only once and
  not multiple times, fixed memory leaks.

fakeMotionControl

• Fixed error in open function.
• Better param check.

depthCamera

• Added missing distortion model params.
• Implemented camInfo messages for ros interoperation.
• Fixed parsing file error.
• Cleanup and improved documentation.
• Fixed segmentation fault on device shutdown.
• Fixed segmentation fault when passing an incorrect configuration.
• Fixed resolution from config.

fakeLaser

• Improved fakeLaser test to display x and y axis.

rangeFinder2DWrapper

• Added internal subdevice spawn and attach.
• Fixed parameter name in error message.

rpLidar

• Allow to set negative max_angle & min_angle, allowing a virtual rotation of
  the sensor zero (#1019).

Bindings

• RPATH is now correctly set for python bindings.

Contributors

This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v2.3.68..v2.3.68.1):

   145	Daniele E. Domenichelli <daniele.domenichelli@iit.it>
    44	Nicolò Genesio <nicolo.genesio@iit.it>
    15	Andrea Ruzzenenti <andrea.ruzzenenti@iit.it>
    13	Alberto Cardellino <alberto.cardellino@iit.it>
    12	Marco Randazzo <marco.randazzo@iit.it>
     9	Francesco Romano <francesco.romano@iit.it>
     6	Matteo Brunettini <matteo.brunettini@iit.it>
     6	Silvio Traversaro <silvio.traversaro@iit.it>
     5	Lorenzo Natale <lorenzo.natale@iit.it>
     4	Bartek Łukawski <bwmn.peter@gmail.com>
     3	Aiko Dinale <aiko.dinale@iit.it>
     2	Ali Paikan <ali.paikan@iit.it>
     2	Bertrand Higy <bertrand.higy@iit.it>
     2	Juan G Victores <jcgvicto@gmail.com>
     1	Giovanni Saponaro <gsaponaro@isr.ist.utl.pt>
     1	Tobias Fischer <t.fischer@imperial.ac.uk>
     1	Ugo Pattacini <ugo.pattacini@iit.it>
     1	Vítor Galvão <info@vitorgalvao.com>
     1	Zero King <l2dy@icloud.com>

YARP 2.3.68

YARP 2.3.68 (2016-11-28) Release Notes

A (partial) list of bug fixed and issues resolved in this release can be found
here.

Important Changes

Dependencies

• Readline library is no longer used and was replaced with the NetBSD Editline
  library (libedit-dev on debian/ubuntu).
• YCM 0.2.2 is now an optional dependency.

YARP_OS

• The yarp::os::Contact class was widely refactored:
  • The add_() methods are now deprecated. The new set_() methods should be used
    instead.
  • The by*(), invalid() and empty() factory methods are now deprecated. The
    class constructors should be used instead (a few new constructors were added
    to allow this).
  • The byConfig() method is now deprecated. fromConfig() should be used
    instead.
  • The Contact::toURI() method now accepts an includeCarrier parameter (true by
    default) to simplify the generation of the URI without the carrier.
    Moreover the string returned always end with a / character.
  • ROS integration was heavily improved and it is now possible to register
    one Publisher and one Subscriber on the same Node using the same
    topic, and to use tools like roswtf and rqt.
    If you are using YARP with ROS, upgrading is strongly recommended.
  • Added ConnectionReader::setParentConnectionReader method. This method
    should be used by Carriers that reimplement modifyIncomingData and that
    return a ConnectionReader that is not the same as the one in input.
• PortCore now uses the "new" version of the protocol for signalling to
  suppress the reply. This was expected since YARP 2.1.2, but it was never
  applied. Both versions of the protocol are accepted in input, unless
  YARP_NO_DEPRECATED is enabled, in this case YARP it is not compatible with
  previous releases since only the new version is recognized.
• It is now possible to get and set parameters to portmonitors directly attached
  to a port.

YARP_sig

• Important: we removed methods for interoperability with the GNU Scientific
  Library (GSL).
  The reason for this was to avoid licensing problems generated by the inclusion
  of a structure defined by GSL. Methods for interoperability have been
  implemented in a new library libYARP_gsl (see below). In details:
  • We removed yarp::sig::Matrix::getGslMatrix()
  • We removed yarp::sig::Vector::getGslVector()

YARP_dev

• New depth camera stack, device driver interface and wrapper. The old
  interfaces and devices will be deprecated in the next release, when all the
  features will be ported to the new stack.

YARP_gsl

• This library contains methods for interoperability with the GNU Scientific
  Library. Notice that this library is released as GPL (and not LGPL) because it
  uses a structure defined by GSL.
  • Checkout yarp::gsl::GslMatrix and yarp::gsl::GslVector

YARP_math

• libYARP_math can be compiled with GSL or Eigen (via CMake flag
  CREATE_LIB_MATH_USING_GSL). Important: the use of GSL and this flag will be
  removed in the next release of YARP.
  • When compiled with GSL libYARP_math uses libYARP_gsl internally. A small
    performance hit could affect methods that use GSL.
  • When compiled without GSL libYARP_math uses Eigen.
• The option to link Atlas library has been broken for a while, and therefore it
  was removed. On debian/ubuntu it is still possible to use the atlas library by
  installing the libatlas-base-dev package, and use update-alternatives to
  configure the alternatives for libblas.so, libblas.so.3, liblapack.so,
  and liblapack.so.3

CMake Modules

• All deprecated CMake modules have been removed.
• All GTK2 CMake modules have been removed and are no longer installed in
  ${YARP_MODULE_PATH}. They can still be found in
  YCM.
• The FindReadline module has been removed.
• The FindAtlas module has been removed.
• The YarpPlugin module and the relative templates received several
  improvements and fixes:
  • yarp_prepare_plugin no longer include any directory or namespace.
    As a consecuence, it might be necessary to fix the TYPE for plugins adding
    the full namespace to the class name, and to add the current directory to
    CMake include directories.
  • yarp_prepare_carrier and yarp_prepare_device are deprecated in favour
    of yarp_prepare_plugin.
  • The new TEMPLATE and TEMPLATE_DIR accepted by yarp_prepare_plugin
    can be used to specify a file name and a directory for the template that
    will be configured and added to the plugin. If a template is not specified,
    a file yarp_plugin_<CATEGORY>.cpp.in is searched in current directory, in
    CMake module path, and in YARP cmake modules directory. If still it cannot
    be found, but the PARENT_TYPE argument, containing the name of the parent
    class for the plugin, was specified, then a default template is generated in
    current binary directory. This should simplify the creation of new types of
    plugins. Please note that static plugins will not work with the default
    template.
  • The CODE and WRAPPER arguments for the yarp_prepare_plugin command are
    deprecated, the new EXTRA_CONFIG argument should be used instead.
    Each variable in the form KEY=VALUE passed to the EXTRA_CONFIG argument
    is changed to YARPPLUG_<KEY> and used when the template is configured.
    For example EXTRA_CONFIG WRAPPER=foo generates the YARPPLUG_WRAPPER
    variable that is then replaced in the yarp_plugin_device.cpp.in.
  • The DEFAULT argument for the yarp_prepare_plugin can be used to specify
    whether the plugin should be enabled by default or not (default = OFF).
  • The ADVANCED option for the yarp_prepare_plugin can be used to specify
    that the generated CMake variable should be marked as advanced
    (default = OFF).
  • The INTERNAL option for the yarp_prepare_plugin can be used to specify
    that the generated CMake variable should be marked as internal (and
    therefore not displayed in CMake gui). This also implies DEFAULT=ON unless
    explicitly specified.
  • The DOC argument for the yarp_prepare_plugin can be used to specify a
    documentation line for the generated CMake variable.
  • The OPTION argument for the yarp_prepare_plugin can be used to rename
    the generated CMake option.
  • The DEPENDS argument for the yarp_prepare_plugin can be used to specify
    a list of dependencies that should be satisfied in order to enable the
    plugin. If these dependencies are not available, the plugin is disabled, and
    the generated CMake option is not shown on CMake.
• All CMake modules from YCM, CMake, and private are now deprecated, and are
  installed only if YARP_NO_DEPRECATED is OFF. Projects that require these
  files should depend on YCM instead.

Tools

• yarpserver2 and yarpserver3 have been deprecated for a long time, and
  replaced by yarpserver, therefore they have been removed. Please update your
  scripts

GUIs

• All GTK2 GUIs have a Qt5 replacement and have been deprecated since YARP
  2.3.65, therefore they have been removed.
• yarpmanager++ and yarpbuilder no longer exists, yarpmanager now includes
  all the builder functionality.

Devices

• The microphone device is deprecated in favour of portaudio (#891).
• The new depthCamera camera driver implements the IRGBD and
  FrameGrabberControl2 interfaces, and works with the devices supported by
  openni2.

Bug Fixes

YARP_OS

• Fixed some cases of connections leaving a streaming connection pending.
• Support dynamic plugins when YARP is built without ACE.
• Fixed several possible race conditions in yarp::os::Thread.
• getBusInfo ROS command was implemented.
• getMasterUri ROS command was implemented.
• getPid ROS command was fixed and now returns just one integer instead of a
  vector.
• The right caller_id is returned by PortCore for publisherUpdate and
  requestTopic ROS commands.
• The right caller_id is returned by the tcpros carrier.
• yarp::os::Node now handles correctly multiple publishers and subscribers on
  the same topic. The limit on YARP is that only one publisher and one
  subscriber can be registered on the same node using the same topic.
• The Carriers class was moved outside of the impl namespace (#402).
• Fixed crash on prop get command from admin rpc port (#969).

Carriers

• Fixed portmonitor and bayer carriers not handling envelope correctly when
  attached on the receiving side (#729, #782, #909).

Devices

• RemoteControlBoard
  • Fixed race condition.
• ControlBoardWrapper
  • Fixed bug in setRemoteVariable`
  • Fixed value not initialized in CheckMotionDone
• fakeMotionControl
  • controlboardwrapper2 is now used as default wrapper instead of
    controlboard and is no longer erroneously reported as deprecated.

GUIs

• yarpmanager
  • Fixed yarpmanager cannot display and disconnect mjpeg connections
    (#595).
• yarplogger
  • Fixed segfault when the logger receives a malformed log message.

New Features

YARP_OS

• Improved PortCore list [in|out] commands
  They also return now:
  • (connectionless 1) when the connection is connectionless (i.e. udp).
  • (push 0) when the connection is not push (i.e. mjpeg).
• Improved Portcore [prop] [get] $portname command.
  It also returns now some more information about the port in this form:
  (port ((is_input [0|1]) (is_output [0|1]) (is_rpc [0|1]) (type "[type]")))
• Improved compiler detection and added <yarp/conf/compiler.h> header
  containing macros to check if a specific feature is available.
• Added method...

YARP 2.3.66.2

YARP 2.3.66.2 (2016-11-28) Release Notes

A (partial) list of bug fixed and issues resolved in this release can be found
here.

Important Changes

Bug Fixes

YARP_OS

• Fixed join() return values of threads when C++11 compilation is activated.
• Fixed segmentation fault while closing YARP modules. (#942)

YARP_dev

• Added missing YARP_dev_API to ControlBoard interfaces.
• Fixed segfault in ControlBoardWrapper2 for multiJoints functions

GUIs

• yarpdataplayer
  • Dataset with one entry can now be played. (#936)
  • Resetting sendstrict upon new dataset. (#941)
• yarplogger
  • Open logs by drag'n'drop. (#934)

Devices

• serial
  • Print error when the device cannot be opened.

Contributors

This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v2.3.66.1..v2.3.66.2):

    12  Daniele E. Domenichelli <daniele.domenichelli@iit.it>
     4  Vadim Tikhanoff <vadim.tikhanoff@iit.it>
     3  Claudio Fantacci <claudio.fantacci@iit.it>
     2  Matteo Brunettini <matteo.brunettini@iit.it>
     1  Alberto Cardellino <Alberto.Cardellino@iit.it>
     1  Alberto Cardellino <alberto.cardellino@iit.it>
     1  Alexandros Paraschos <paraschos@ias.tu-darmstadt.de>
     1  Gabriele Nava <gabriele.nava@mail.polimi.it>
     1  Giovanni Saponaro <gsaponaro@isr.ist.utl.pt>
     1  Marco Randazzo <marco.randazzo@iit.it>
     1  Silvio Traversaro <silvio.traversaro@iit.it>

YARP 2.3.66.1

YARP 2.3.66.1 (2016-10-20) Release Notes

A (partial) list of bug fixed and issues resolved in this release can be found
here.

Important Changes

YARP_dev

• The analogServer device (implemented in yarp::dev::AnalogWrapper has
  removed the support for the deviceId parameter, that has been
  deprecated since 2014. Invalid configuration files of the form:

robotName icub
deviceId left_arm

can be updated with the valid:

name /icub/left_arm/analog:o

• The controlboardwrapper2 device (implemented in
  yarp::dev::ControlBoardWrapper has removed the supported for the
  threadrate parameter, that has been deprecated since 2014.
  Invalid configuration files of the form threadrate 10 can be update with the
  valid form period 10.

Bug Fixes

YARP_OS

• Fixed PlatformThread for macOS, no ACE, no c++11.
• Fixed memory leak in SharedLibrary.
• Fixed memory leak in Property::fromArgs.
• Use reentrant version of get_host_addr in NameConfig and
  SocketTwoWayStream (fixes a few possible race conditions).
• Fixed memory leak in NameConfig::getHostName with SKIP_ACE enabled.
• Fixed "Conditional jump or move depends on uninitialised value" issues
  reported by valgrind --memcheck in SocketTwoWayStream with SKIP_ACE
  enabled.
• Added implementation of SystemInfo for macOS.
• Fixed bug in yarprun currently occuring only on macOS, but potentially on
  other platforms (#633)
• yarp plugin command now works with SKIP_ACE enabled.
• Fixed UDP and MCAST on macOS (#637)
• Fixed SIGPIPE when closing input port before output ports.

YARP_DEV

• Fixed yarp::dev::BatteryClient::getBatteryTemperature().
• Fixed memory leak in ImplementTorqueControl.
• Export some important classes that were erroneously not exported in the ABI.
• Fixed memory leak in PolyDriver.
• ControlBoardWrapper: Added checks for testing if joint number is out of bound.

Modules

• Rangefinder2DWrapper: angle_increment is now obtained from the hardware
  device.
• laserHokuyo: added parameters max_angle and min_angle.
• imuBosch_BNO055: fixed use of char (a signed type) for the byte buffer that
  was corrupting positive measures when converting from 2 bytes to a single 16
  bit value.
• fakeMotionControl: Fix memory leak.
• portaudio: fix bug in number of samples recorded, changed default values to
  have the device more responsive.

Tools

• yarpdatadumperAppGenerator.py is now installed as
  yarpdatadumperAppGenerator on non Windows platforms.

GUIs

• yarpview:
  • Fixed .app bundle on macOS.
  • QT_DEVICE_PIXEL_RATIO is now set to "auto" to support 4k displays.
• yarpscope:
  • Fixed .app bundle on macOS.
  • Fixed help for --min and --max arguments.
  • Fixed reading minval and maxval from xml.
• yarpmotorgui:
  • Max number of joints was fixed to 16. Now memory is dynamically allocated.
  • Fixed issue preventing sequence tab to acquire encoder positions on double
    click, if the control mode of the selected joint is not POSITION.
  • Fixed bug preventing correct copy-and-paste action
  • Fixed issue preventing a GO action from being executed if timing is less
    than zero.
  • Allow copying single lines to clipboard from sequence tab.
  • QT_DEVICE_PIXEL_RATIO is now set to "auto" to support 4k displays.
  • Added box to display openloop output.
• yarpdataplayer
  • QT_DEVICE_PIXEL_RATIO is now set to "auto" to support 4k displays.
  • Fixed error when opening readonly files.
  • Fixed variable sample rate data playing too fast.
• yarplogger:
  • The date is now taken into account.
  • Copying to clipboard preserves new lines.
  • New icon-set is displayed in the "filter" section when a log is disabled.
  • Double-clicking on the table to make each line of the logger to adjusts
    the row height to display all of its contents. Added context menu entry.
  • New lines at the end of log messages are now removed.
  • The log is now displayed using a fixed size font.

IDLs

• The script executed by RosTypeSearch::fetchFromRos now supports the creation
  of .msg files in a non-existing directory.

Bindings

• Properly define TypedReaderCallbackSound (Fixes TypedReaderCallbackImageMono
  redefinition).

Build System

• YarpPlugin.cmake no longer redefines the FIND_PACKAGE CMake command.

Contributors

This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v2.3.66..v2.3.66.1):

   153  Daniele E. Domenichelli <daniele.domenichelli@iit.it>
    15  Francesco Romano <francesco.romano@iit.it>
    11  Marco Randazzo <marco.randazzo@iit.it>
     9  Silvio Traversaro <silvio.traversaro@iit.it>
     9  Tobias Fischer <t.fischer@imperial.ac.uk>
     6  Alexandros Paraschos <paraschos@ias.tu-darmstadt.de>
     6  Matteo Brunettini <matteo.brunettini@iit.it>
     5  Alberto Cardellino <alberto.cardellino@iit.it>
     2  Andrea Ruzzenenti <andrea.ruzzenenti@iit.it>
     2  Daniele E. Domenichelli <ddomenichelli@drdanz.it>
     2  Giovanni Saponaro <gsaponaro@isr.ist.utl.pt>
     2  Lorenzo Natale <lorenzo.natale@iit.it>
     2  Ugo Pattacini <ugo.pattacini@iit.it>
     2  Vadim Tikhanoff <vadim.tikhanoff@iit.it>
     1  Claudia Latella <claudia.latella.86@gmail.com>
     1  Claudio Fantacci <claudio.fantacci@iit.it>
     1  Plinio Moreno <plinio@isr.tecnico.ulisboa.pt>
     1  Valentina Gaggero <valentina.gaggero@iit.it>

YARP 2.3.66

YARP 2.3.66 (2016-06-01) Release Notes

A (partial) list of bug fixed and issues resolved in this release can be found
here.

Important Changes

YARP_dev

• The yarp::dev::IDepthSensor, yarp::dev::IRGBDSensor interfaces and the
  RGBDSensorClient and RGBDSensorWrapper devices, that were erroneously
  introduced were removed.

Bug Fixes

CMake Modules

• StandardFindModule: Fix INTERFACE_COMPILE_DEFINITIONS and
  INTERFACE_COMPILE_OPTIONS properties.

YARP_dev

• Add missing YARP_dev_API export symbol to StubImplPositionDirectRaw
• Fixed errors on ROS topic message, in particular:
  • measurement unit for linear joints.
  • timeStamps for joint message. This fixes issue on ROS TF while using
    simulator.
• RemoteFrameGrabber: moved template explicit instantiation into .cpp to avoid
  duplicating symbols.

Modules

• Critical bugfix for laserHokuyo

GUIs

• yarpmanager++: fixed crashes on deleting connection after changing prefix (#761)
• yarpmanager++: fixed connections do not update when prefix is changed (#751)
• yarpmanager++: fixed icon on Mac OSX (#758)

Contributors

This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v2.3.65..v2.3.66):

    18  Daniele E. Domenichelli <daniele.domenichelli@iit.it>
     3  Alberto Cardellino <alberto.cardellino@iit.it>
     3  Silvio Traversaro <silvio.traversaro@iit.it>
     2  Matteo Brunettini <matteo.brunettini@iit.it>
     1  Claudio Fantacci <claudio.fantacci@iit.it>
     1  Davide Perrone <dperrone@aitek.it>
     1  Lorenzo Natale <lorenzo.natale@iit.it>
     1  Marco Randazzo <marco.randazzo@iit.it>
     1  Ugo Pattacini <ugo.pattacini@iit.it>