changed naming of HumanWrenchWrapper and HumanWrenchRemapper #1751

Workflow file for this run

	name: C++ CI Workflow

	# template derived from https://github.com/robotology/how-to-export-cpp-library/tree/master/.github/workflows
	# and https://github.com/robotology/idyntree/blob/master/.github/workflows/ci.yml

	on:
	push:
	pull_request:
	schedule:
	# run a cron job for a nightly build
	# * is a special character in YAML so you have to quote this string
	# Execute a "nightly" build at 2 AM UTC
	- cron: '0 2 * * *'

	env:
	vcpkg_robotology_TAG: v0.10.1
	YCM_TAG: v0.15.3
	YARP_TAG: v3.8.1
	iDynTree_TAG: v9.0.0
	wearables_TAG: v1.7.1
	icub_main_TAG: v2.2.1
	osqp_TAG: v0.6.3
	OsqpEigen_TAG: v0.8.1
	matioCpp_TAG: v0.2.2
	robometry_TAG: v1.2.1
	# Overwrite the VCPKG_INSTALLATION_ROOT env variable defined by Github Actions to point to our vcpkg
	VCPKG_INSTALLATION_ROOT: C:\robotology\vcpkg

	jobs:
	build:
	name: '[${{matrix.os}}@${{matrix.build_type}}]'
	runs-on: ${{matrix.os}}
	strategy:
	matrix:
	build_type: [Release]
	os: [ubuntu-latest, windows-latest, macOS-latest]
	fail-fast: false

	steps:
	# Clone the repository in $GITHUB_WORKSPACE
	- uses: actions/checkout@master

	# Use mamba for Windows dependencies
	- uses: mamba-org/setup-micromamba@v1
	if: contains(matrix.os, 'windows')
	with:
	environment-file: ci_env.yml

	# Print the environment variables to simplify development and debugging
	- name: Environment Variables
	# Use bash in order to have same basic commands in all OSs
	shell: bash
	run: env

	# Remove apt repos on Ubuntu that are known to break from time to time
	# See https://github.com/actions/virtual-environments/issues/323
	- name: Remove broken apt repos [Ubuntu]
	if: matrix.os == 'ubuntu-latest'
	run: \|
	for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done

	# ============
	# DEPENDENCIES
	# ============


	- name: Dependencies [macOS]
	if: matrix.os == 'macOS-latest'
	run: \|
	brew install ccache eigen ace tinyxml gsl irrlicht libmatio boost glfw sdl2

	- name: Dependencies [Ubuntu]
	if: matrix.os == 'ubuntu-latest'
	run: \|
	sudo apt update
	sudo apt install git build-essential cmake libace-dev coinor-libipopt-dev libboost-system-dev libboost-filesystem-dev \
	libboost-thread-dev liborocos-kdl-dev libeigen3-dev swig qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev libqt5charts5-dev \
	libxml2-dev liburdfdom-dev libtinyxml-dev liburdfdom-dev liboctave-dev python3-dev valgrind libassimp-dev libirrlicht-dev libmatio-dev libglfw3-dev

	- name: Cache Source-based dependencies [Ubuntu/macOS]
	if: steps.cache-source-deps.outputs.cache-hit != 'true' && (contains(matrix.os, 'ubuntu') \|\| contains(matrix.os, 'macOS'))
	id: cache-source-deps
	uses: actions/cache@v1
	with:
	path: ${{ github.workspace }}/install/deps
	# Including ${{ runner.temp }} is a workaround for https://github.com/robotology/whole-body-estimators/issues/60
	key: source-deps-${{runner.os}}-${{runner.temp}}-vcpkg-robotology-${{env.vcpkg_robotology_TAG}}-ycm-${{env.YCM_TAG}}-yarp-${{env.YARP_TAG}}-iDynTree-${{env.iDynTree_TAG}}-wearables-${{env.wearables_TAG}}-icub_main-${{env.icub_main_TAG}}-OsqpEigen-${{env.OsqpEigen_TAG}}-matioCpp-${{env.matioCpp_TAG}}-robometry-${{env.robometry_TAG}}

	- name: Source-based Dependencies [Ubuntu/macOS]
	if: steps.cache-source-deps.outputs.cache-hit != 'true' && (matrix.os == 'ubuntu-latest' \|\| matrix.os == 'macOS-latest')
	shell: bash
	run: \|
	# YCM
	cd ${GITHUB_WORKSPACE}
	git clone -b ${YCM_TAG} https://github.com/robotology/ycm
	cd ycm
	mkdir -p build
	cd build
	cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{matrix.build_type}} --target install

	# YARP
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/robotology/yarp
	cd yarp
	git checkout ${YARP_TAG}
	mkdir -p build
	cd build
	cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{matrix.build_type}} --target install

	# icub-main
	cd ${GITHUB_WORKSPACE}
	git clone -b ${icub_main_TAG} https://github.com/robotology/icub-main
	cd icub-main
	mkdir -p build
	cd build
	cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{matrix.build_type}} --target install

	# iDynTree
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/robotology/iDynTree
	cd iDynTree
	git checkout ${iDynTree_TAG}
	mkdir -p build
	cd build
	cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DIDYNTREE_USES_IRRLICHT:BOOL=ON \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{matrix.build_type}} --target install

	# wearables
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/robotology/wearables
	cd wearables
	git checkout ${wearables_TAG}
	mkdir -p build
	cd build
	cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{matrix.build_type}} --target install

	# osqp
	cd ${GITHUB_WORKSPACE}
	git clone --recursive -b ${osqp_TAG} https://github.com/oxfordcontrol/osqp
	cd osqp
	mkdir -p build
	cd build
	cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{ matrix.build_type }} --target install

	# OsqpEigen
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/robotology/osqp-eigen
	cd osqp-eigen
	git checkout ${OsqpEigen_TAG}
	mkdir -p build
	cd build
	cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{matrix.build_type}} --target install

	# matioCpp
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/dic-iit/matio-cpp
	cd matio-cpp
	git checkout ${matioCpp_TAG}
	mkdir -p build
	cd build
	cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{matrix.build_type}} --target install
	# robometry
	cd ${GITHUB_WORKSPACE}
	git clone https://github.com/robotology/robometry
	cd robometry
	git checkout ${robometry_TAG}
	mkdir -p build
	cd build
	cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
	cmake --build . --config ${{matrix.build_type}} --target install

	# ===================
	# CMAKE-BASED PROJECT
	# ===================
	# We will just configure and build the project now. Further modifications and tests can be added
	# Configure step
	- name: Configure [Windows]
	if: matrix.os == 'windows-latest'
	shell: bash -l {0}
	run: \|
	mkdir -p build
	cd build
	cmake -A x64 cmake -G"Visual Studio 17 2022" -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_BUILD_TYPE=${{matrix.build_type}} \
	-DHUMANSTATEPROVIDER_ENABLE_VISUALIZER:BOOL=ON \
	-DHUMANSTATEPROVIDER_ENABLE_LOGGER:BOOL=ON \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..

	- name: Configure [Ubuntu/macOS]
	if: matrix.os == 'ubuntu-latest' \|\| matrix.os == 'macOS-latest'
	shell: bash
	run: \|
	mkdir -p build
	cd build
	cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
	-DCMAKE_BUILD_TYPE=${{matrix.build_type}} \
	-DHUMANSTATEPROVIDER_ENABLE_VISUALIZER:BOOL=ON \
	-DHUMANSTATEPROVIDER_ENABLE_LOGGER:BOOL=ON \
	-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..

	# Build step
	- name: Build
	shell: bash
	run: \|
	cd build
	# Attempt of fix for using YARP idl generators (that link ACE) in Windows
	# See https://github.com/robotology/idyntree/issues/569
	export PATH=$PATH:${GITHUB_WORKSPACE}/install/bin:${VCPKG_INSTALLATION_ROOT}/install/x64-windows/bin:${VCPKG_INSTALLATION_ROOT}/installed/x64-windows/debug/bin
	cmake --build . --config ${{matrix.build_type}}

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changed naming of HumanWrenchWrapper and HumanWrenchRemapper #1751

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changed naming of HumanWrenchWrapper and HumanWrenchRemapper #1751

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