Idyntree: [Bindings] Can not access the visual objects in Matlab

[fjandrad]

In matlab when executing the following code :+1:

KinDynModel = iDynTreeWrappers.loadReducedModel(cJoints,'torso_link',path,file,false);

model=KinDynModel.kinDynComp.model 

visual= model.visualSolidShapes % http://wiki.icub.org/codyco/dox/html/idyntree/html/classiDynTree_1_1Model.html

linkSolids=visual.linkSolidShapes % http://wiki.icub.org/codyco/dox/html/idyntree/html/classiDynTree_1_1ModelSolidShapes.html

linkSolids would be std::vector< std::vector > iDynTree::ModelSolidShapes::linkSolidShapes , but we seem unable to access the individual SolidShape variables.

When attempting to get the size of the vector we get:

linkSolids.size()
Unrecognized method, property, or field 'size' for class 'SwigRef'. 
   Error in SwigRef/subsref (line 33)
        [varargout{1:nargout}] = builtin('subsref',self,s);

It seems the bindings are not generating the code for those kinds of variables. We should update the bindings to achieve this.
An example ( courtesy of @traversaro ) of the a similar case can be seen in https://github.com/robotology/idyntree/blob/master/bindings/iDynTree.i#L9 what we do for std::vector

[fjandrad]

It seems that we are missing a template for std::vector< std::vector<SolidShape *>>. This is a vector of vectors of pointers of Solidshapes.

The solution is then to add something like :

%template(StringVector) std::vector<std::string>;

Probably something like

%template(linksSolidshapesVector) std::vector< std::vector<SolidShape *>>;

Required classes seem to be available already in https://github.com/robotology/idyntree/blob/685c0803fda91e5f8046efcd55fba3bcdc9f6907/bindings/iDynTree.i#L86

[traversaro]

I guess you need to esplicitly instantiate and give a name to both std::vector< std::vector<SolidShape *>> and std::vector<SolidShape *>.

[fjandrad]

Should I define one before the other?
Something like

1. %template(SolidshapesVector) std::vector<SolidShape *>
2. %template(linksSolidshapesVector) std::vector< std::vector<SolidShape *>>

or

1. %template(SolidshapesVector) std::vector<SolidShape *>
2. %template(linksSolidshapesVector) std::vector< SolidshapesVector>

Does the order matters?

[traversaro]

Should I define one before the other?
Something like

1. `%template(SolidshapesVector) std::vector<SolidShape *>`

2. `%template(linksSolidshapesVector) std::vector< std::vector<SolidShape *>>`

or

1. `%template(SolidshapesVector) std::vector<SolidShape *>`

2. `%template(linksSolidshapesVector) std::vector< SolidshapesVector>`

Does the order matters?

I do not know.

[fjandrad]

I'll give it a try to the second case first and see if it works. If not I'll try the first.

[fjandrad]

The addition to the binding is failing for debugging purposes I tried to generate bindings alone and it is working.

Then I tried to both and it failed.

So I tried the following cases:

Errors in the autogeneration step

%template(SolidshapesVector) std::vector<SolidShape *>

The error I get in this case is in this file:
cmake_output.txt

The last output of cmake is :

/home/iiticublap138/shared-folder/dev/robotology-superbuild/robotology/iDynTree/bindings/matlab/autogenerated/iDynTreeMATLAB_wrap.cxx:1818:76: error: ‘type_name’ is not a member of ‘swig::traits<int>’
     return traits<typename noconst_traits<Type >::noconst_type >::type_name();
            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~
make[2]: *** [bindings/matlab/CMakeFiles/iDynTreeMEX.dir/autogenerated/iDynTreeMATLAB_wrap.cxx.o] Error 1
make[1]: *** [bindings/matlab/CMakeFiles/iDynTreeMEX.dir/all] Error 2
make: *** [all] Error 2

%template(SolidshapesVector) std::vector<SolidShape>

Same error if I take out the *

@traversaro does this mean I need to change the iDyntree source code to make it const?

Update I was missing the namespace... iDynTree::

[fjandrad]

Trying alone the SolishapesVector compiles with no error but when trying to include the second vector of vectors I get the following errors.

Trying without SolishapesVector

Trying %template(linksSolidshapesVector) std::vector< std::vector<SolidShape *>> alone

The output file is
cmake_output.txt

The error is :

/home/iiticublap138/shared-folder/dev/robotology-superbuild/robotology/iDynTree/bindings/matlab/autogenerated/iDynTreeMATLAB_wrap.cxx:1816:76: error: ‘type_name’ is not a member of ‘swig::traits<iDynTree::SolidShape>’
     return traits<typename noconst_traits<Type >::noconst_type >::type_name();
            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~
bindings/matlab/CMakeFiles/iDynTreeMEX.dir/build.make:70: recipe for target 'bindings/matlab/CMakeFiles/iDynTreeMEX.dir/autogenerated/iDynTreeMATLAB_wrap.cxx.o' failed
make[2]: *** [bindings/matlab/CMakeFiles/iDynTreeMEX.dir/autogenerated/iDynTreeMATLAB_wrap.cxx.o] Error 1
CMakeFiles/Makefile2:1352: recipe for target 'bindings/matlab/CMakeFiles/iDynTreeMEX.dir/all' failed
make[1]: *** [bindings/matlab/CMakeFiles/iDynTreeMEX.dir/all] Error 2
Makefile:129: recipe for target 'all' failed
make: *** [all] Error 2

Trying with SolishapesVector

Trying %template(linksSolidshapesVector) std::vector< SolidshapesVector>

The output file is
cmake_output.txt

Some of the errors are:

/home/iiticublap138/shared-folder/dev/robotology-superbuild/robotology/iDynTree/bindings/matlab/autogenerated/iDynTreeMATLAB_wrap.cxx:63565:16: error: ‘SolidshapesVector’ was not declared in this scope
   std::vector< SolidshapesVector > *arg1 = (std::vector< SolidshapesVector > *) 0 ;
                ^~~~~~~~~~~~~~~~~
/home/iiticublap138/shared-folder/dev/robotology-superbuild/robotology/iDynTree/bindings/matlab/autogenerated/iDynTreeMATLAB_wrap.cxx:63565:16: note: suggested alternative: ‘_wrap_new_SolidshapesVector’
   std::vector< SolidshapesVector > *arg1 = (std::vector< SolidshapesVector > *) 0 ;
                ^~~~~~~~~~~~~~~~~
                **_wrap_new_SolidshapesVector**
/home/iiticublap138/shared-folder/dev/robotology-superbuild/robotology/iDynTree/bindings/matlab/autogenerated/iDynTreeMATLAB_wrap.cxx:63565:34: error: template argument 1 is invalid
   std::vector< SolidshapesVector > *arg1 = (std::vector< SolidshapesVector > *) 0 ;

It makes a suggestion to use _wrap_new_SolidshapesVector instead of SolidshapesVector
The last error is :

/home/iiticublap138/shared-folder/dev/robotology-superbuild/robotology/iDynTree/bindings/matlab/autogenerated/iDynTreeMATLAB_wrap.cxx:1820:76: error: ‘type_name’ is not a member of ‘swig::traits<int>’
     return traits<typename noconst_traits<Type >::noconst_type >::type_name();
            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~
bindings/matlab/CMakeFiles/iDynTreeMEX.dir/build.make:70: recipe for target 'bindings/matlab/CMakeFiles/iDynTreeMEX.dir/autogenerated/iDynTreeMATLAB_wrap.cxx.o' failed
make[2]: *** [bindings/matlab/CMakeFiles/iDynTreeMEX.dir/autogenerated/iDynTreeMATLAB_wrap.cxx.o] Error 1
CMakeFiles/Makefile2:1352: recipe for target 'bindings/matlab/CMakeFiles/iDynTreeMEX.dir/all' failed
make[1]: *** [bindings/matlab/CMakeFiles/iDynTreeMEX.dir/all] Error 2
Makefile:129: recipe for target 'all' failed
make: *** [all] Error 2

Trying the suggestion %template(linksSolidshapesVector) std::vector< _wrap_new_SolidshapesVector>

The output file is:
cmake_output.txt

The errors are:

/home/iiticublap138/shared-folder/dev/robotology-superbuild/robotology/iDynTree/bindings/matlab/autogenerated/iDynTreeMATLAB_wrap.cxx:63579:69: note:   expected a type, got ‘_wrap_new_SolidshapesVector’
/home/iiticublap138/shared-folder/dev/robotology-superbuild/robotology/iDynTree/bindings/matlab/autogenerated/iDynTreeMATLAB_wrap.cxx:63579:69: error: template argument 2 is invalid
/home/iiticublap138/shared-folder/dev/robotology-superbuild/robotology/iDynTree/bindings/matlab/autogenerated/iDynTreeMATLAB_wrap.cxx:63579:71: error: expected ‘>’ before ‘*’ token
  arg1 = reinterpret_cast< std::vector< _wrap_new_SolidshapesVector > * >(argp1);

The last error:

/home/iiticublap138/shared-folder/dev/robotology-superbuild/robotology/iDynTree/bindings/matlab/autogenerated/iDynTreeMATLAB_wrap.cxx:1820:76: error: ‘type_name’ is not a member of ‘swig::traits<int>’
     return traits<typename noconst_traits<Type >::noconst_type >::type_name();
            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~
bindings/matlab/CMakeFiles/iDynTreeMEX.dir/build.make:70: recipe for target 'bindings/matlab/CMakeFiles/iDynTreeMEX.dir/autogenerated/iDynTreeMATLAB_wrap.cxx.o' failed
make[2]: *** [bindings/matlab/CMakeFiles/iDynTreeMEX.dir/autogenerated/iDynTreeMATLAB_wrap.cxx.o] Error 1
CMakeFiles/Makefile2:1352: recipe for target 'bindings/matlab/CMakeFiles/iDynTreeMEX.dir/all' failed
make[1]: *** [bindings/matlab/CMakeFiles/iDynTreeMEX.dir/all] Error 2
Makefile:129: recipe for target 'all' failed
make: *** [all] Error 2

Trying %template(linksSolidshapesVector) std::vector< std::vector<SolidShape *>>

Compiles without error. Now we can move on to test.

[fjandrad]

For testing we use the following code:

%
icubModelPath=[ getenv('ROBOTOLOGY_SUPERBUILD_SOURCE_DIR') '/build-linux/install/share/iCub/robots/iCubGazeboV2_5/'];
fileName='model.urdf';
jointOrder={
    'r_hip_pitch';
    'r_hip_roll';
    'r_hip_yaw';
    'r_knee';
    'r_ankle_pitch';
    'r_ankle_roll';
    'l_hip_pitch';
    'l_hip_roll';
    'l_hip_yaw';
    'l_knee';
    'l_ankle_pitch';
    'l_ankle_roll';
    'torso_pitch';
    'torso_roll';
    'torso_yaw';
    'r_shoulder_pitch';
    'r_shoulder_roll';
    'r_shoulder_yaw';
    'r_elbow';
    'r_wrist_prosup';
    'r_wrist_pitch';
    'r_wrist_yaw';
    'l_shoulder_pitch';
    'l_shoulder_roll';
    'l_shoulder_yaw';
    'l_elbow';
    'l_wrist_prosup';
    'l_wrist_pitch';
    'l_wrist_yaw';
    'neck_pitch';
    'neck_roll';
    'neck_yaw'
    };
%
KinDynModel = iDynTreeWrappers.loadReducedModel(jointOrder,'root_link',icubModelPath,fileName,false);
model=KinDynModel.kinDynComp.model;
visual=model.visualSolidShapes;
linkSolidShapesV=visual.linkSolidShapes;
% get number of links
numberOfLinks=linkSolidShapesV.size;
% get pointer to beggining of vector
iterator=linkSolidShapesV.begin;

% iterate getting the name of the mesh and the name of the link
for links=1:numberOfLinks
    solidarray=iterator.next
    if solidarray{1}.isExternalMesh
        meshName=split(solidarray{1}.asExternalMesh.filename,':')
        meshFiles{links}=meshName{2};
        linkNames{links}=model.getLinkName(links-1)        
    end
end

The output is

Therefore we can consider it a success.

[fjandrad]

Changes in iDyntree.i are in a9bb7156c08c544d12f6336afd429e495f359128
Updated bindings accordingly are in a542765bcd27ea676cbd011d4490f77ff671101f

[fjandrad]

PR merged #658