Rename ICartesianControl::movi to pose

PeterBowman · PeterBowman · commit 90105df1459b · 2024-05-18T20:27:29.000+02:00
diff --git a/libraries/YarpPlugins/BasicCartesianControl/BasicCartesianControl.cpp b/libraries/YarpPlugins/BasicCartesianControl/BasicCartesianControl.cpp
@@ -251,7 +251,8 @@ bool BasicCartesianControl::presetStreamingCommand(int command)
 
     switch (command)
     {
-    case VOCAB_CC_MOVI:
+    case VOCAB_CC_POSE:
+    case VOCAB_CC_MOVI: // deprecated
         return setControlModes(VOCAB_CM_POSITION_DIRECT);
     case VOCAB_CC_TWIST:
         return setControlModes(VOCAB_CM_VELOCITY);
diff --git a/libraries/YarpPlugins/BasicCartesianControl/BasicCartesianControl.hpp b/libraries/YarpPlugins/BasicCartesianControl/BasicCartesianControl.hpp
@@ -125,7 +125,7 @@ class BasicCartesianControl : public yarp::dev::DeviceDriver,
     bool wait(double timeout) override;
     bool tool(const std::vector<double> & x) override;
     bool act(int command) override;
-    void movi(const std::vector<double> & x) override;
+    void pose(const std::vector<double> & x) override;
     void twist(const std::vector<double> & xdot) override;
     void wrench(const std::vector<double> & w) override;
     bool setParameter(int vocab, double value) override;
diff --git a/libraries/YarpPlugins/BasicCartesianControl/ICartesianControlImpl.cpp b/libraries/YarpPlugins/BasicCartesianControl/ICartesianControlImpl.cpp
@@ -426,9 +426,10 @@ bool BasicCartesianControl::act(int command)
 
 // -----------------------------------------------------------------------------
 
-void BasicCartesianControl::movi(const std::vector<double> &x)
+void BasicCartesianControl::pose(const std::vector<double> &x)
 {
-    if (getCurrentState() != VOCAB_CC_NOT_CONTROLLING || streamingCommand != VOCAB_CC_MOVI
+    if (getCurrentState() != VOCAB_CC_NOT_CONTROLLING || streamingCommand != VOCAB_CC_POSE
+            || streamingCommand != VOCAB_CC_MOVI // deprecated
             || !checkControlModes(VOCAB_CM_POSITION_DIRECT))
     {
         yCError(BCC) << "Streaming command not preset";
diff --git a/libraries/YarpPlugins/CartesianControlClient/CartesianControlClient.hpp b/libraries/YarpPlugins/CartesianControlClient/CartesianControlClient.hpp
@@ -66,7 +66,7 @@ class CartesianControlClient : public yarp::dev::DeviceDriver,
     bool wait(double timeout) override;
     bool tool(const std::vector<double> &x) override;
     bool act(int command) override;
-    void movi(const std::vector<double> &x) override;
+    void pose(const std::vector<double> &x) override;
     void twist(const std::vector<double> &xdot) override;
     void wrench(const std::vector<double> &w) override;
     bool setParameter(int vocab, double value) override;
diff --git a/libraries/YarpPlugins/CartesianControlClient/ICartesianControlImpl.cpp b/libraries/YarpPlugins/CartesianControlClient/ICartesianControlImpl.cpp
@@ -276,16 +276,16 @@ bool CartesianControlClient::act(int command)
 
 // -----------------------------------------------------------------------------
 
-void CartesianControlClient::twist(const std::vector<double> &xdot)
+void CartesianControlClient::pose(const std::vector<double> &x)
 {
-    handleStreamingConsumerCmd(VOCAB_CC_TWIST, xdot);
+    handleStreamingConsumerCmd(VOCAB_CC_POSE, x);
 }
 
 // -----------------------------------------------------------------------------
 
-void CartesianControlClient::movi(const std::vector<double> &x)
+void CartesianControlClient::twist(const std::vector<double> &xdot)
 {
-    handleStreamingConsumerCmd(VOCAB_CC_MOVI, x);
+    handleStreamingConsumerCmd(VOCAB_CC_TWIST, xdot);
 }
 
 // -----------------------------------------------------------------------------
diff --git a/libraries/YarpPlugins/CartesianControlServer/RpcResponder.cpp b/libraries/YarpPlugins/CartesianControlServer/RpcResponder.cpp
@@ -188,7 +188,7 @@ void RpcResponder::makeUsage()
 
     std::stringstream ss_cmd;
     ss_cmd << "(config param) preset streaming command, available:";
-    ss_cmd << " [" << Vocab::decode(VOCAB_CC_MOVI) << "]";
+    ss_cmd << " [" << Vocab::decode(VOCAB_CC_POSE) << "]";
     ss_cmd << " [" << Vocab::decode(VOCAB_CC_TWIST) << "]";
     ss_cmd << " [" << Vocab::decode(VOCAB_CC_WRENCH) << "]";
 
diff --git a/libraries/YarpPlugins/CartesianControlServer/StreamResponder.cpp b/libraries/YarpPlugins/CartesianControlServer/StreamResponder.cpp
@@ -19,8 +19,9 @@ void StreamResponder::onRead(yarp::os::Bottle& b)
 
     switch (b.get(0).asVocab32())
     {
-    case VOCAB_CC_MOVI:
-        handleConsumerCmdMsg(b, &ICartesianControl::movi);
+    case VOCAB_CC_POSE:
+    case VOCAB_CC_MOVI: // deprecated
+        handleConsumerCmdMsg(b, &ICartesianControl::pose);
         break;
     case VOCAB_CC_TWIST:
         handleConsumerCmdMsg(b, &ICartesianControl::twist);
diff --git a/libraries/YarpPlugins/ICartesianControl.h b/libraries/YarpPlugins/ICartesianControl.h
@@ -73,7 +73,11 @@ constexpr int VOCAB_CC_ACT = yarp::os::createVocab32('a','c','t');      ///< Act
  */
 
 // Streaming commands
-constexpr int VOCAB_CC_MOVI = yarp::os::createVocab32('m','o','v','i');   ///< Achieve pose (position control)
+constexpr int VOCAB_CC_POSE = yarp::os::createVocab32('p','o','s','e');   ///< Achieve pose
+#ifndef SWIG_PREPROCESSOR_SHOULD_SKIP_THIS
+[[deprecated("use `VOCAB_CC_POSE` instead")]]
+constexpr int VOCAB_CC_MOVI = yarp::os::createVocab32('m','o','v','i');
+#endif
 constexpr int VOCAB_CC_TWIST = yarp::os::createVocab32('t','w','s','t');  ///< Instantaneous velocity steps
 constexpr int VOCAB_CC_WRENCH = yarp::os::createVocab32('w','r','n','c'); ///< Exert force
 
@@ -332,7 +336,15 @@ class ICartesianControl
      * @param x 6-element vector describing desired instantaneous pose in cartesian space;
      * first three elements denote translation (meters), last three denote rotation (radians).
      */
-    virtual void movi(const std::vector<double> &x) = 0;
+    virtual void pose(const std::vector<double> &x) = 0;
+
+#ifndef SWIG_PREPROCESSOR_SHOULD_SKIP_THIS
+    [[deprecated("use `pose` instead")]]
+    virtual void movi(const std::vector<double> &x)
+    {
+        pose(x);
+    }
+#endif
 
     /**
      * @brief Instantaneous velocity steps
diff --git a/programs/keyboardController/KeyboardController.cpp b/programs/keyboardController/KeyboardController.cpp
@@ -220,9 +220,11 @@ bool KeyboardController::configure(yarp::os::ResourceFinder & rf)
 
         currentCartVels.resize(NUM_CART_COORDS, 0.0);
 
-        usingThread = rf.check("movi", "use MOVI command");
+        usingThread = rf.check("pose", "use POSE command");
+        usingThread = usingThread || rf.check("movi", "use POSE command"); // deprecated
 
-        int threadMs = rf.check("moviPeriodMs", yarp::os::Value(DEFAULT_THREAD_MS), "MOVI thread period [ms]").asInt32();
+        // `moviPeriodMs` is deprecated
+        int threadMs = rf.check("posePeriodMs", rf.check("moviPeriodMs", yarp::os::Value(DEFAULT_THREAD_MS)), "POSE thread period [ms]").asInt32();
 
         if (usingThread)
         {
@@ -239,7 +241,7 @@ bool KeyboardController::configure(yarp::os::ResourceFinder & rf)
 
             if (!linTrajThread->start())
             {
-                yCError(KC) << "Unable to start MOVI thread";
+                yCError(KC) << "Unable to start POSE thread";
                 return false;
             }
         }
diff --git a/programs/keyboardController/LinearTrajectoryThread.cpp b/programs/keyboardController/LinearTrajectoryThread.cpp
@@ -51,7 +51,7 @@ bool LinearTrajectoryThread::checkStreamingConfig()
 
 bool LinearTrajectoryThread::configure(const std::vector<double> & vels)
 {
-    if (usingStreamingCommandConfig && !iCartesianControl->setParameter(VOCAB_CC_CONFIG_STREAMING_CMD, VOCAB_CC_MOVI))
+    if (usingStreamingCommandConfig && !iCartesianControl->setParameter(VOCAB_CC_CONFIG_STREAMING_CMD, VOCAB_CC_POSE))
     {
         yCWarning(KC) << "Unable to preset streaming command";
         return false;
@@ -110,7 +110,7 @@ void LinearTrajectoryThread::run()
         deltaX = this->deltaX;
         mtx.unlock();
 
-        iCartesianControl->movi(deltaX);
+        iCartesianControl->pose(deltaX);
     }
     else
     {
@@ -119,6 +119,6 @@ void LinearTrajectoryThread::run()
         mtx.unlock();
 
         std::vector<double> position = KdlVectorConverter::frameToVector(H);
-        iCartesianControl->movi(position);
+        iCartesianControl->pose(position);
     }
 }
diff --git a/programs/streamingDeviceController/LeapMotionSensorDevice.cpp b/programs/streamingDeviceController/LeapMotionSensorDevice.cpp
@@ -15,10 +15,10 @@
 
 using namespace roboticslab;
 
-LeapMotionSensorDevice::LeapMotionSensorDevice(yarp::os::Searchable & config, bool usingMovi)
+LeapMotionSensorDevice::LeapMotionSensorDevice(yarp::os::Searchable & config, bool usingPose)
     : StreamingDevice(config),
       iAnalogSensor(nullptr),
-      usingMovi(usingMovi),
+      usingPose(usingPose),
       previousTimestamp(0.0),
       hasActuator(false),
       grab(false), pinch(false)
@@ -60,7 +60,7 @@ bool LeapMotionSensorDevice::initialize(bool usingStreamingPreset)
 {
     if (usingStreamingPreset)
     {
-        int cmd = usingMovi ? VOCAB_CC_MOVI : VOCAB_CC_TWIST;
+        int cmd = usingPose ? VOCAB_CC_POSE : VOCAB_CC_TWIST;
 
         if (!iCartesianControl->setParameter(VOCAB_CC_CONFIG_STREAMING_CMD, cmd))
         {
@@ -211,9 +211,9 @@ int LeapMotionSensorDevice::getActuatorState()
 
 void LeapMotionSensorDevice::sendMovementCommand(double timestamp)
 {
-    if (usingMovi)
+    if (usingPose)
     {
-        iCartesianControl->movi(data);
+        iCartesianControl->pose(data);
     }
     else
     {
diff --git a/programs/streamingDeviceController/LeapMotionSensorDevice.hpp b/programs/streamingDeviceController/LeapMotionSensorDevice.hpp
@@ -22,7 +22,7 @@ class LeapMotionSensorDevice : public StreamingDevice
 {
 public:
     //! Constructor
-    LeapMotionSensorDevice(yarp::os::Searchable & config, bool usingMovi);
+    LeapMotionSensorDevice(yarp::os::Searchable & config, bool usingPose);
 
     bool acquireInterfaces() override;
 
@@ -42,7 +42,7 @@ class LeapMotionSensorDevice : public StreamingDevice
 private:
     yarp::dev::IAnalogSensor * iAnalogSensor;
 
-    bool usingMovi;
+    bool usingPose;
 
     std::vector<double> initialTcpOffset;
     std::vector<double> initialLeapOffset;
diff --git a/programs/streamingDeviceController/SpnavSensorDevice.cpp b/programs/streamingDeviceController/SpnavSensorDevice.cpp
@@ -7,10 +7,10 @@
 
 using namespace roboticslab;
 
-SpnavSensorDevice::SpnavSensorDevice(yarp::os::Searchable & config, bool usingMovi, double gain)
+SpnavSensorDevice::SpnavSensorDevice(yarp::os::Searchable & config, bool usingPose, double gain)
     : StreamingDevice(config),
       iAnalogSensor(nullptr),
-      usingMovi(usingMovi),
+      usingPose(usingPose),
       gain(gain),
       buttonClose(false),
       buttonOpen(false)
@@ -31,15 +31,15 @@ bool SpnavSensorDevice::acquireInterfaces()
 
 bool SpnavSensorDevice::initialize(bool usingStreamingPreset)
 {
-    if (usingMovi && gain <= 0.0)
+    if (usingPose && gain <= 0.0)
     {
-        yCWarning(SDC) << "Invalid gain for movi command:" << gain;
+        yCWarning(SDC) << "Invalid gain for pose command:" << gain;
         return false;
     }
 
     if (usingStreamingPreset)
     {
-        int cmd = usingMovi ? VOCAB_CC_MOVI : VOCAB_CC_TWIST;
+        int cmd = usingPose ? VOCAB_CC_POSE : VOCAB_CC_TWIST;
 
         if (!iCartesianControl->setParameter(VOCAB_CC_CONFIG_STREAMING_CMD, cmd))
         {
@@ -54,7 +54,7 @@ bool SpnavSensorDevice::initialize(bool usingStreamingPreset)
         return false;
     }
 
-    if (usingMovi && !iCartesianControl->stat(currentX))
+    if (usingPose && !iCartesianControl->stat(currentX))
     {
         yCWarning(SDC) << "Unable to stat initial position, assuming zero";
         currentX.resize(6, 0.0);
@@ -92,7 +92,7 @@ bool SpnavSensorDevice::acquireData()
 
 bool SpnavSensorDevice::transformData(double scaling)
 {
-    if (usingMovi)
+    if (usingPose)
     {
         for (int i = 0; i < 6; i++)
         {
@@ -145,7 +145,7 @@ int SpnavSensorDevice::getActuatorState()
 
 bool SpnavSensorDevice::hasValidMovementData() const
 {
-    if (usingMovi)
+    if (usingPose)
     {
         for (int i = 0; i < 6; i++)
         {
@@ -165,9 +165,9 @@ bool SpnavSensorDevice::hasValidMovementData() const
 
 void SpnavSensorDevice::sendMovementCommand(double timestamp)
 {
-    if (usingMovi)
+    if (usingPose)
     {
-        iCartesianControl->movi(data);
+        iCartesianControl->pose(data);
 
         for (int i = 0; i < 6; i++)
         {
@@ -182,7 +182,7 @@ void SpnavSensorDevice::sendMovementCommand(double timestamp)
 
 void SpnavSensorDevice::stopMotion()
 {
-    if (!usingMovi)
+    if (!usingPose)
     {
         std::vector<double> zeros(6, 0.0);
         iCartesianControl->twist(zeros);
diff --git a/programs/streamingDeviceController/SpnavSensorDevice.hpp b/programs/streamingDeviceController/SpnavSensorDevice.hpp
@@ -41,7 +41,7 @@ class SpnavSensorDevice : public StreamingDevice
 
     std::vector<double> currentX;
 
-    bool usingMovi;
+    bool usingPose;
     double gain;
     bool buttonClose;
     bool buttonOpen;
diff --git a/programs/streamingDeviceController/StreamingDevice.cpp b/programs/streamingDeviceController/StreamingDevice.cpp
@@ -15,25 +15,26 @@ using namespace roboticslab;
 StreamingDevice * StreamingDeviceFactory::makeDevice(const std::string & deviceName, yarp::os::Searchable & config)
 {
     auto & deviceConfig = config.findGroup(deviceName.c_str());
-    bool usingMovi = config.check("movi", "enable movi command");
+    bool usingPose = config.check("pose", "enable pose command");
+    usingPose = usingPose || config.check("movi", "enable pose command"); // deprecated
 
     yCDebug(SDC) << "Device configuration:" << deviceConfig.toString();
 
     // https://github.com/roboticslab-uc3m/kinematics-dynamics/issues/186
-    yCWarning(SDC) << "Using MOVI commands, beware NOT TO EXCEED JOINT LIMITS";
+    yCWarning(SDC) << "Using POSE commands, beware NOT TO EXCEED JOINT LIMITS";
 
     if (deviceName == "SpaceNavigator")
     {
         double gain = config.check("gain", yarp::os::Value(0.0)).asFloat64();
-        return new SpnavSensorDevice(deviceConfig, usingMovi, gain);
+        return new SpnavSensorDevice(deviceConfig, usingPose, gain);
     }
     else if (deviceName == "LeapMotionSensor")
     {
-        return new LeapMotionSensorDevice(deviceConfig, usingMovi);
+        return new LeapMotionSensorDevice(deviceConfig, usingPose);
     }
     else if (deviceName == "WiimoteSensor")
     {
-        return new WiimoteSensorDevice(deviceConfig, usingMovi);
+        return new WiimoteSensorDevice(deviceConfig, usingPose);
     }
     else
     {
diff --git a/programs/streamingDeviceController/WiimoteSensorDevice.cpp b/programs/streamingDeviceController/WiimoteSensorDevice.cpp
@@ -10,11 +10,11 @@
 
 using namespace roboticslab;
 
-WiimoteSensorDevice::WiimoteSensorDevice(yarp::os::Searchable & config, bool usingMovi)
+WiimoteSensorDevice::WiimoteSensorDevice(yarp::os::Searchable & config, bool usingPose)
     : StreamingDevice(config),
       iAnalogSensor(nullptr),
       mode(NONE),
-      usingMovi(usingMovi),
+      usingPose(usingPose),
       step(0.0)
 {
     data.resize(3);  // already called by base constructor
@@ -37,15 +37,15 @@ bool WiimoteSensorDevice::acquireInterfaces()
 
 bool WiimoteSensorDevice::initialize(bool usingStreamingPreset)
 {
-    if (usingMovi && step <= 0.0)
+    if (usingPose && step <= 0.0)
     {
         yCWarning(SDC) << "Invalid step:" << step;
         return false;
     }
 
     if (usingStreamingPreset)
     {
-        int cmd = usingMovi ? VOCAB_CC_MOVI : VOCAB_CC_TWIST;
+        int cmd = usingPose ? VOCAB_CC_POSE : VOCAB_CC_TWIST;
 
         if (!iCartesianControl->setParameter(VOCAB_CC_CONFIG_STREAMING_CMD, cmd))
         {
@@ -149,9 +149,9 @@ void WiimoteSensorDevice::sendMovementCommand(double timestamp)
         return;
     }
 
-    if (usingMovi)
+    if (usingPose)
     {
-        iCartesianControl->movi(xdot);
+        iCartesianControl->pose(xdot);
     }
     else
     {
@@ -161,7 +161,7 @@ void WiimoteSensorDevice::sendMovementCommand(double timestamp)
 
 void WiimoteSensorDevice::stopMotion()
 {
-    if (!usingMovi)
+    if (!usingPose)
     {
         std::vector<double> zeros(6, 0.0);
         iCartesianControl->twist(zeros);
diff --git a/programs/streamingDeviceController/WiimoteSensorDevice.hpp b/programs/streamingDeviceController/WiimoteSensorDevice.hpp

Original file line number	Diff line number	Diff line change
`@@ -251,7 +251,8 @@ bool BasicCartesianControl::presetStreamingCommand(int command)`
`251`	`251`
`252`	`252`	`switch (command)`
`253`	`253`	`{`
`254`		`- case VOCAB_CC_MOVI:`
	`254`	`+ case VOCAB_CC_POSE:`
	`255`	`+ case VOCAB_CC_MOVI: // deprecated`
`255`	`256`	`return setControlModes(VOCAB_CM_POSITION_DIRECT);`
`256`	`257`	`case VOCAB_CC_TWIST:`
`257`	`258`	`return setControlModes(VOCAB_CM_VELOCITY);`
Original file line number	Diff line number	Diff line change
`@@ -426,9 +426,10 @@ bool BasicCartesianControl::act(int command)`
`426`	`426`
`427`	`427`	`// -----------------------------------------------------------------------------`
`428`	`428`
`429`		`-void BasicCartesianControl::movi(const std::vector<double> &x)`
	`429`	`+void BasicCartesianControl::pose(const std::vector<double> &x)`
`430`	`430`	`{`
`431`		`- if (getCurrentState() != VOCAB_CC_NOT_CONTROLLING \|\| streamingCommand != VOCAB_CC_MOVI`
	`431`	`+ if (getCurrentState() != VOCAB_CC_NOT_CONTROLLING \|\| streamingCommand != VOCAB_CC_POSE`
	`432`	`+ \|\| streamingCommand != VOCAB_CC_MOVI // deprecated`
`432`	`433`	`\|\| !checkControlModes(VOCAB_CM_POSITION_DIRECT))`
`433`	`434`	`{`
`434`	`435`	`yCError(BCC) << "Streaming command not preset";`
Original file line number	Diff line number	Diff line change
`@@ -276,16 +276,16 @@ bool CartesianControlClient::act(int command)`
`276`	`276`
`277`	`277`	`// -----------------------------------------------------------------------------`
`278`	`278`
`279`		`-void CartesianControlClient::twist(const std::vector<double> &xdot)`
	`279`	`+void CartesianControlClient::pose(const std::vector<double> &x)`
`280`	`280`	`{`
`281`		`- handleStreamingConsumerCmd(VOCAB_CC_TWIST, xdot);`
	`281`	`+ handleStreamingConsumerCmd(VOCAB_CC_POSE, x);`
`282`	`282`	`}`
`283`	`283`
`284`	`284`	`// -----------------------------------------------------------------------------`
`285`	`285`
`286`		`-void CartesianControlClient::movi(const std::vector<double> &x)`
	`286`	`+void CartesianControlClient::twist(const std::vector<double> &xdot)`
`287`	`287`	`{`
`288`		`- handleStreamingConsumerCmd(VOCAB_CC_MOVI, x);`
	`288`	`+ handleStreamingConsumerCmd(VOCAB_CC_TWIST, xdot);`
`289`	`289`	`}`
`290`	`290`
`291`	`291`	`// -----------------------------------------------------------------------------`
Original file line number	Diff line number	Diff line change
`@@ -220,9 +220,11 @@ bool KeyboardController::configure(yarp::os::ResourceFinder & rf)`
`220`	`220`
`221`	`221`	`currentCartVels.resize(NUM_CART_COORDS, 0.0);`
`222`	`222`
`223`		`- usingThread = rf.check("movi", "use MOVI command");`
	`223`	`+ usingThread = rf.check("pose", "use POSE command");`
	`224`	`+ usingThread = usingThread \|\| rf.check("movi", "use POSE command"); // deprecated`
`224`	`225`
`225`		`- int threadMs = rf.check("moviPeriodMs", yarp::os::Value(DEFAULT_THREAD_MS), "MOVI thread period [ms]").asInt32();`
	`226`	+ // `moviPeriodMs` is deprecated
	`227`	`+ int threadMs = rf.check("posePeriodMs", rf.check("moviPeriodMs", yarp::os::Value(DEFAULT_THREAD_MS)), "POSE thread period [ms]").asInt32();`
`226`	`228`
`227`	`229`	`if (usingThread)`
`228`	`230`	`{`
`@@ -239,7 +241,7 @@ bool KeyboardController::configure(yarp::os::ResourceFinder & rf)`
`239`	`241`
`240`	`242`	`if (!linTrajThread->start())`
`241`	`243`	`{`
`242`		`- yCError(KC) << "Unable to start MOVI thread";`
	`244`	`+ yCError(KC) << "Unable to start POSE thread";`
`243`	`245`	`return false;`
`244`	`246`	`}`
`245`	`247`	`}`
Original file line number	Diff line number	Diff line change
`@@ -51,7 +51,7 @@ bool LinearTrajectoryThread::checkStreamingConfig()`
`51`	`51`
`52`	`52`	`bool LinearTrajectoryThread::configure(const std::vector<double> & vels)`
`53`	`53`	`{`
`54`		`- if (usingStreamingCommandConfig && !iCartesianControl->setParameter(VOCAB_CC_CONFIG_STREAMING_CMD, VOCAB_CC_MOVI))`
	`54`	`+ if (usingStreamingCommandConfig && !iCartesianControl->setParameter(VOCAB_CC_CONFIG_STREAMING_CMD, VOCAB_CC_POSE))`
`55`	`55`	`{`
`56`	`56`	`yCWarning(KC) << "Unable to preset streaming command";`
`57`	`57`	`return false;`
`@@ -110,7 +110,7 @@ void LinearTrajectoryThread::run()`
`110`	`110`	`deltaX = this->deltaX;`
`111`	`111`	`mtx.unlock();`
`112`	`112`
`113`		`- iCartesianControl->movi(deltaX);`
	`113`	`+ iCartesianControl->pose(deltaX);`
`114`	`114`	`}`
`115`	`115`	`else`
`116`	`116`	`{`
`@@ -119,6 +119,6 @@ void LinearTrajectoryThread::run()`
`119`	`119`	`mtx.unlock();`
`120`	`120`
`121`	`121`	`std::vector<double> position = KdlVectorConverter::frameToVector(H);`
`122`		`- iCartesianControl->movi(position);`
	`122`	`+ iCartesianControl->pose(position);`
`123`	`123`	`}`
`124`	`124`	`}`
Original file line number	Diff line number	Diff line change
`@@ -15,10 +15,10 @@`
`15`	`15`
`16`	`16`	`using namespace roboticslab;`
`17`	`17`
`18`		`-LeapMotionSensorDevice::LeapMotionSensorDevice(yarp::os::Searchable & config, bool usingMovi)`
	`18`	`+LeapMotionSensorDevice::LeapMotionSensorDevice(yarp::os::Searchable & config, bool usingPose)`
`19`	`19`	`: StreamingDevice(config),`
`20`	`20`	`iAnalogSensor(nullptr),`
`21`		`- usingMovi(usingMovi),`
	`21`	`+ usingPose(usingPose),`
`22`	`22`	`previousTimestamp(0.0),`
`23`	`23`	`hasActuator(false),`
`24`	`24`	`grab(false), pinch(false)`
`@@ -60,7 +60,7 @@ bool LeapMotionSensorDevice::initialize(bool usingStreamingPreset)`
`60`	`60`	`{`
`61`	`61`	`if (usingStreamingPreset)`
`62`	`62`	`{`
`63`		`- int cmd = usingMovi ? VOCAB_CC_MOVI : VOCAB_CC_TWIST;`
	`63`	`+ int cmd = usingPose ? VOCAB_CC_POSE : VOCAB_CC_TWIST;`
`64`	`64`
`65`	`65`	`if (!iCartesianControl->setParameter(VOCAB_CC_CONFIG_STREAMING_CMD, cmd))`
`66`	`66`	`{`
`@@ -211,9 +211,9 @@ int LeapMotionSensorDevice::getActuatorState()`
`211`	`211`
`212`	`212`	`void LeapMotionSensorDevice::sendMovementCommand(double timestamp)`
`213`	`213`	`{`
`214`		`- if (usingMovi)`
	`214`	`+ if (usingPose)`
`215`	`215`	`{`
`216`		`- iCartesianControl->movi(data);`
	`216`	`+ iCartesianControl->pose(data);`
`217`	`217`	`}`
`218`	`218`	`else`
`219`	`219`	`{`
Original file line number	Diff line number	Diff line change
`@@ -7,10 +7,10 @@`
`7`	`7`
`8`	`8`	`using namespace roboticslab;`
`9`	`9`
`10`		`-SpnavSensorDevice::SpnavSensorDevice(yarp::os::Searchable & config, bool usingMovi, double gain)`
	`10`	`+SpnavSensorDevice::SpnavSensorDevice(yarp::os::Searchable & config, bool usingPose, double gain)`
`11`	`11`	`: StreamingDevice(config),`
`12`	`12`	`iAnalogSensor(nullptr),`
`13`		`- usingMovi(usingMovi),`
	`13`	`+ usingPose(usingPose),`
`14`	`14`	`gain(gain),`
`15`	`15`	`buttonClose(false),`
`16`	`16`	`buttonOpen(false)`
`@@ -31,15 +31,15 @@ bool SpnavSensorDevice::acquireInterfaces()`
`31`	`31`
`32`	`32`	`bool SpnavSensorDevice::initialize(bool usingStreamingPreset)`
`33`	`33`	`{`
`34`		`- if (usingMovi && gain <= 0.0)`
	`34`	`+ if (usingPose && gain <= 0.0)`
`35`	`35`	`{`
`36`		`- yCWarning(SDC) << "Invalid gain for movi command:" << gain;`
	`36`	`+ yCWarning(SDC) << "Invalid gain for pose command:" << gain;`
`37`	`37`	`return false;`
`38`	`38`	`}`
`39`	`39`
`40`	`40`	`if (usingStreamingPreset)`
`41`	`41`	`{`
`42`		`- int cmd = usingMovi ? VOCAB_CC_MOVI : VOCAB_CC_TWIST;`
	`42`	`+ int cmd = usingPose ? VOCAB_CC_POSE : VOCAB_CC_TWIST;`
`43`	`43`
`44`	`44`	`if (!iCartesianControl->setParameter(VOCAB_CC_CONFIG_STREAMING_CMD, cmd))`
`45`	`45`	`{`
`@@ -54,7 +54,7 @@ bool SpnavSensorDevice::initialize(bool usingStreamingPreset)`
`54`	`54`	`return false;`
`55`	`55`	`}`
`56`	`56`
`57`		`- if (usingMovi && !iCartesianControl->stat(currentX))`
	`57`	`+ if (usingPose && !iCartesianControl->stat(currentX))`
`58`	`58`	`{`
`59`	`59`	`yCWarning(SDC) << "Unable to stat initial position, assuming zero";`
`60`	`60`	`currentX.resize(6, 0.0);`
`@@ -92,7 +92,7 @@ bool SpnavSensorDevice::acquireData()`
`92`	`92`
`93`	`93`	`bool SpnavSensorDevice::transformData(double scaling)`
`94`	`94`	`{`
`95`		`- if (usingMovi)`
	`95`	`+ if (usingPose)`
`96`	`96`	`{`
`97`	`97`	`for (int i = 0; i < 6; i++)`
`98`	`98`	`{`
`@@ -145,7 +145,7 @@ int SpnavSensorDevice::getActuatorState()`
`145`	`145`
`146`	`146`	`bool SpnavSensorDevice::hasValidMovementData() const`
`147`	`147`	`{`
`148`		`- if (usingMovi)`
	`148`	`+ if (usingPose)`
`149`	`149`	`{`
`150`	`150`	`for (int i = 0; i < 6; i++)`
`151`	`151`	`{`
`@@ -165,9 +165,9 @@ bool SpnavSensorDevice::hasValidMovementData() const`
`165`	`165`
`166`	`166`	`void SpnavSensorDevice::sendMovementCommand(double timestamp)`
`167`	`167`	`{`
`168`		`- if (usingMovi)`
	`168`	`+ if (usingPose)`
`169`	`169`	`{`
`170`		`- iCartesianControl->movi(data);`
	`170`	`+ iCartesianControl->pose(data);`
`171`	`171`
`172`	`172`	`for (int i = 0; i < 6; i++)`
`173`	`173`	`{`
`@@ -182,7 +182,7 @@ void SpnavSensorDevice::sendMovementCommand(double timestamp)`
`182`	`182`
`183`	`183`	`void SpnavSensorDevice::stopMotion()`
`184`	`184`	`{`
`185`		`- if (!usingMovi)`
	`185`	`+ if (!usingPose)`
`186`	`186`	`{`
`187`	`187`	`std::vector<double> zeros(6, 0.0);`
`188`	`188`	`iCartesianControl->twist(zeros);`
Original file line number	Diff line number	Diff line change
`@@ -15,25 +15,26 @@ using namespace roboticslab;`
`15`	`15`	`StreamingDevice * StreamingDeviceFactory::makeDevice(const std::string & deviceName, yarp::os::Searchable & config)`
`16`	`16`	`{`
`17`	`17`	`auto & deviceConfig = config.findGroup(deviceName.c_str());`
`18`		`- bool usingMovi = config.check("movi", "enable movi command");`
	`18`	`+ bool usingPose = config.check("pose", "enable pose command");`
	`19`	`+ usingPose = usingPose \|\| config.check("movi", "enable pose command"); // deprecated`
`19`	`20`
`20`	`21`	`yCDebug(SDC) << "Device configuration:" << deviceConfig.toString();`
`21`	`22`
`22`	`23`	`// https://github.com/roboticslab-uc3m/kinematics-dynamics/issues/186`
`23`		`- yCWarning(SDC) << "Using MOVI commands, beware NOT TO EXCEED JOINT LIMITS";`
	`24`	`+ yCWarning(SDC) << "Using POSE commands, beware NOT TO EXCEED JOINT LIMITS";`
`24`	`25`
`25`	`26`	`if (deviceName == "SpaceNavigator")`
`26`	`27`	`{`
`27`	`28`	`double gain = config.check("gain", yarp::os::Value(0.0)).asFloat64();`
`28`		`- return new SpnavSensorDevice(deviceConfig, usingMovi, gain);`
	`29`	`+ return new SpnavSensorDevice(deviceConfig, usingPose, gain);`
`29`	`30`	`}`
`30`	`31`	`else if (deviceName == "LeapMotionSensor")`
`31`	`32`	`{`
`32`		`- return new LeapMotionSensorDevice(deviceConfig, usingMovi);`
	`33`	`+ return new LeapMotionSensorDevice(deviceConfig, usingPose);`
`33`	`34`	`}`
`34`	`35`	`else if (deviceName == "WiimoteSensor")`
`35`	`36`	`{`
`36`		`- return new WiimoteSensorDevice(deviceConfig, usingMovi);`
	`37`	`+ return new WiimoteSensorDevice(deviceConfig, usingPose);`
`37`	`38`	`}`
`38`	`39`	`else`
`39`	`40`	`{`
Original file line number	Diff line number	Diff line change
`@@ -10,11 +10,11 @@`
`10`	`10`
`11`	`11`	`using namespace roboticslab;`
`12`	`12`
`13`		`-WiimoteSensorDevice::WiimoteSensorDevice(yarp::os::Searchable & config, bool usingMovi)`
	`13`	`+WiimoteSensorDevice::WiimoteSensorDevice(yarp::os::Searchable & config, bool usingPose)`
`14`	`14`	`: StreamingDevice(config),`
`15`	`15`	`iAnalogSensor(nullptr),`
`16`	`16`	`mode(NONE),`
`17`		`- usingMovi(usingMovi),`
	`17`	`+ usingPose(usingPose),`
`18`	`18`	`step(0.0)`
`19`	`19`	`{`
`20`	`20`	`data.resize(3); // already called by base constructor`
`@@ -37,15 +37,15 @@ bool WiimoteSensorDevice::acquireInterfaces()`
`37`	`37`
`38`	`38`	`bool WiimoteSensorDevice::initialize(bool usingStreamingPreset)`
`39`	`39`	`{`
`40`		`- if (usingMovi && step <= 0.0)`
	`40`	`+ if (usingPose && step <= 0.0)`
`41`	`41`	`{`
`42`	`42`	`yCWarning(SDC) << "Invalid step:" << step;`
`43`	`43`	`return false;`
`44`	`44`	`}`
`45`	`45`
`46`	`46`	`if (usingStreamingPreset)`
`47`	`47`	`{`
`48`		`- int cmd = usingMovi ? VOCAB_CC_MOVI : VOCAB_CC_TWIST;`
	`48`	`+ int cmd = usingPose ? VOCAB_CC_POSE : VOCAB_CC_TWIST;`
`49`	`49`
`50`	`50`	`if (!iCartesianControl->setParameter(VOCAB_CC_CONFIG_STREAMING_CMD, cmd))`
`51`	`51`	`{`
`@@ -149,9 +149,9 @@ void WiimoteSensorDevice::sendMovementCommand(double timestamp)`
`149`	`149`	`return;`
`150`	`150`	`}`
`151`	`151`
`152`		`- if (usingMovi)`
	`152`	`+ if (usingPose)`
`153`	`153`	`{`
`154`		`- iCartesianControl->movi(xdot);`
	`154`	`+ iCartesianControl->pose(xdot);`
`155`	`155`	`}`
`156`	`156`	`else`
`157`	`157`	`{`
`@@ -161,7 +161,7 @@ void WiimoteSensorDevice::sendMovementCommand(double timestamp)`
`161`	`161`
`162`	`162`	`void WiimoteSensorDevice::stopMotion()`
`163`	`163`	`{`
`164`		`- if (!usingMovi)`
	`164`	`+ if (!usingPose)`
`165`	`165`	`{`
`166`	`166`	`std::vector<double> zeros(6, 0.0);`
`167`	`167`	`iCartesianControl->twist(zeros);`