From 83f343f4262316768ae2335a53f0df48ac92371d Mon Sep 17 00:00:00 2001
From: Nicogene <nicolo.genesio@iit.it>
Date: Wed, 13 Dec 2023 14:53:23 +0100
Subject: [PATCH] CouplingXCubHandMk5: make it loadble as plugin

---
 CMakeLists.txt                                | 10 +----
 .../couplingXCubHandMk5/CMakeLists.txt        |  2 -
 .../CouplingXCubHandMk5.cpp                   |  7 ----
 .../couplingXCubHandMk5/CouplingXCubHandMk5.h | 37 +++++++++----------
 4 files changed, 20 insertions(+), 36 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index ca477c54..2619f445 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,7 +9,7 @@ cmake_minimum_required(VERSION 3.12)
 project(ergocub-software LANGUAGES C CXX
                          VERSION 0.6.0)
 
-find_package(YARP 3.7.2 REQUIRED)
+find_package(YARP 3.9.0 REQUIRED)
 
 # Give error if add_dependencies is called on a non-existing target
 if(POLICY CMP0046)
@@ -72,10 +72,4 @@ if (BUILD_TESTING)
 endif()
 
 add_subdirectory(app)
-
-if(COMPILE_ergoCubEmotions)
-  add_subdirectory(src)
-endif()
-
-
-
+add_subdirectory(src)
diff --git a/src/modules/couplingXCubHandMk5/CMakeLists.txt b/src/modules/couplingXCubHandMk5/CMakeLists.txt
index 60f9f0f1..a2207635 100644
--- a/src/modules/couplingXCubHandMk5/CMakeLists.txt
+++ b/src/modules/couplingXCubHandMk5/CMakeLists.txt
@@ -4,8 +4,6 @@
 # This software may be modified and distributed under the terms of the
 # BSD-3-Clause license. See the accompanying LICENSE file for details.
 
-find_package(YARP 3.9.0 REQUIRED)
-
 yarp_configure_plugins_installation(ergocub-software)
 
 yarp_prepare_plugin(couplingXCubHandMk5
diff --git a/src/modules/couplingXCubHandMk5/CouplingXCubHandMk5.cpp b/src/modules/couplingXCubHandMk5/CouplingXCubHandMk5.cpp
index e14b07fe..12b71a4f 100644
--- a/src/modules/couplingXCubHandMk5/CouplingXCubHandMk5.cpp
+++ b/src/modules/couplingXCubHandMk5/CouplingXCubHandMk5.cpp
@@ -72,13 +72,6 @@ double CouplingXCubHandMk5::evaluateCoupledJointJacobian(const double& q1, const
 }
 
 
-CouplingXCubHandMk5::CouplingXCubHandMk5()
-{
-    m_couplingSize = 12;
-}
-
-
-
 bool CouplingXCubHandMk5::parseFingerParameters(yarp::os::Searchable& config)
 {
 
diff --git a/src/modules/couplingXCubHandMk5/CouplingXCubHandMk5.h b/src/modules/couplingXCubHandMk5/CouplingXCubHandMk5.h
index 421bf6e5..9e5fdb27 100644
--- a/src/modules/couplingXCubHandMk5/CouplingXCubHandMk5.h
+++ b/src/modules/couplingXCubHandMk5/CouplingXCubHandMk5.h
@@ -16,13 +16,28 @@
 #include <vector>
 #include <string>
 
+/**
+ * Parameters from https://icub-tech-iit.github.io/documentation/hands/hands_mk5_coupling
+ */
+struct FingerParameters
+{
+    double L0x;
+    double L0y;
+    double q2bias;
+    double q1off;
+    double k;
+    double d;
+    double l;
+    double b;
+};
+
 /** TBD
  */
 class CouplingXCubHandMk5 : public yarp::dev::DeviceDriver,
                             public yarp::dev::ImplementJointCoupling {
 public:
-    CouplingXCubHandMk5();
-    ~CouplingXCubHandMk5() override;
+    CouplingXCubHandMk5() = default;
+    virtual ~CouplingXCubHandMk5() override = default;
     bool convertFromPhysicalJointsToActuatedAxesPos(const yarp::sig::Vector& physJointsPos, yarp::sig::Vector& actAxesPos) override;
     bool convertFromPhysicalJointsToActuatedAxesVel(const yarp::sig::Vector& physJointsPos, const yarp::sig::Vector& physJointsVel, yarp::sig::Vector& actAxesVel) override;
     bool convertFromPhysicalJointsToActuatedAxesAcc(const yarp::sig::Vector& physJointsPos, const yarp::sig::Vector& physJointsVel, const yarp::sig::Vector& physJointsAcc, yarp::sig::Vector& actAxesAcc) override;
@@ -32,8 +47,7 @@ class CouplingXCubHandMk5 : public yarp::dev::DeviceDriver,
     bool convertFromActuatedAxesToPhysicalJointsAcc(const yarp::sig::Vector& actAxesPos, const yarp::sig::Vector& actAxesVel, const yarp::sig::Vector& actAxesAcc, yarp::sig::Vector& physJointsAcc) override;
     bool convertFromActuatedAxesToPhysicalJointsTrq(const yarp::sig::Vector& actAxesPos, const yarp::sig::Vector& actAxesTrq, yarp::sig::Vector& physJointsTrq) override;
 
-    //DeviceDriver
-    bool close() override;
+    // //DeviceDriver
     /**
         * Configure with a set of options.
         * @param config The options to use
@@ -42,21 +56,6 @@ class CouplingXCubHandMk5 : public yarp::dev::DeviceDriver,
     bool open(yarp::os::Searchable& config) override;
 private:
 
-    /**
-     * Parameters from https://icub-tech-iit.github.io/documentation/hands/hands_mk5_coupling
-     */
-    struct FingerParameters
-    {
-        double L0x;
-        double L0y;
-        double q2bias;
-        double q1off;
-        double k;
-        double d;
-        double l;
-        double b;
-    };
-
     std::unordered_map<std::string, FingerParameters> mFingerParameters;