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What are best entry points to understand iDynTree structure?

The best way to understand iDynTree is probably to read directly the source code.

Some classes extremly used are the following:

Class name Description Doxygen docs Headers (.h) Source Code (.cpp) Relevant Tests
iDynTree::Transform Generic transform between two different frames. link src/core/include/iDynTree/Core/Transform.h src/core/src/Transform.cpp src/core/tests
iDynTree::Model Generic undirected (i.e. with no "base") multibody model. link src/model/include/iDynTree/Model/Model.h src/model/src/Model.cpp src/model/tests/ModelUnitTest.cpp
iDynTree::Traversal Class describing a order in which link are visited once a "base link" is choosen link src/model/include/iDynTree/Model/Traversal.h src/model/src/Traversal.cpp src/model/tests/ModelUnitTest.cpp

If you need any additional doxygen comments, please open an issue detailing which point of the code you find difficul to understand.

Internally iDynTree uses a lot the Eigen C++ template vector library, and in particularly the Eigen::Map class is used a lot. Please check Eigen documentation for more details.

How to run the tests

iDynTree uses tests to prevent regressions caused by modification in the source code of the library. To compile and run the test locally, enable the IDYNTREE_COMPILE_TESTS CMake option and then compile iDynTree as usual. Once you have compiled the library, run the ctest program from the build directory to run all the tests. If you enabled the compilation of MATLAB bindings using the IDYNTREE_USES_MATLAB options, test validating the functionality of the MATLAB interface will be automatically run.

How to run the Valgrind-based tests

Valgrind MemCheck is a tool to identify memory related software bugs (use of initialize memory, memory leaks, ...). To automatically run the iDynTree test suite under Valgrind, just enabled the IDYNTREE_RUN_VALGRIND_TESTS CMake option (together with the IDYNTREE_COMPILE_TESTS option).

What are the things that needs to be done before merging a pull request?

  • Check if the GitHub Actions jobs compiles and run the test without any failure.

How to add wrap a new class or function with SWIG

  • Include the new header in bindings/iDynTree.i . For a little more detailed overview, check doc/generating-idyntree-matlab-bindings.md .
    • Notice that the headers should be included two times, take inspiration from the headers already present to get the idea.
    • Remember to include the headers following the inheritance order of the classes.
  • If you add a instantiated template, remember to add it to swig with the %template SWIG command.
  • Regenerate the MATLAB bindings, following the instructions in https://github.com/robotology/idyntree#matlaboctave-bindings-modifications .
  • (Optional) Add a new matlab test testing the new code in bindings/matlab/tests.
    • The structure of tests in bindings/matlab/tests uses MOxUnit a unit test framework for Matlab and Octave. Please see the MOxUnit documentation and existing tests for understanding the structure of the tests. As the tests are run by GitHub Actions also on Octave, please make sure that your tests do not use Matlab-specific features.
  • Run matlab tests with ctest -VV -R matlab in the build directory, and check that they are running file.
  • Commit the updated version of the bindings by adding everything inside the bindings/matlab directory, with commit message [bindings] update matlab bindings.

How to add a class or a function to a component documentation

  • For each component (i.e. "part" of iDynTree, such as Core, Model, ...) a Doxygen group is defined in doc/main.dox, usually following the iDynTree${ComponentName} structure ( iDynTreeCore, iDynTreeModel).
  • To add a class or a function to a group, just add \ingroup iDynTree${ComponentName} to the doxygen documentation of the class/function. Search for \ingroup in the repo to see how this is done for existing classes.

How do I generated Doxygen documentation locally on my computer?

  • If you have Doxygen installed on your machine, you can simply generate the iDynTree Doxygen documentation by building the dox target, for example using make you just need to type:
make dox

in the iDynTree build, and the Doxygen documentation in HTML format will be generated in build/doc/html/index.html.

  • To generate the call/caller graphs in the Doxygen documentation to simplify code inspection, just enable the IDYNTREE_DOXYGEN_VERBOSE advanced CMake option. This are disabled by default because they render the documentation quite unreadable for the simple users.