Add support for osqp v1.0.0 and refresh CI (#252)

Author: traversaro

.github/workflows/conda-ci.yml

@@ -16,7 +16,7 @@ jobs:
     strategy:
       matrix:
         build_type: [Release]
-        os: [ubuntu-latest, windows-2019, macos-14]
+        os: [ubuntu-latest, windows-latest, macos-14]
       fail-fast: false
 
     steps:

.github/workflows/website.yml

@@ -10,7 +10,7 @@ on:
 jobs:
   website:
     name: Build and Deploy
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
 
     steps:
 

CMakeLists.txt

@@ -3,7 +3,7 @@
 # GNU Lesser General Public License v2.1 or any later version.
 
 cmake_minimum_required(VERSION 3.16)
-project(WB-Toolbox LANGUAGES CXX VERSION 6.0.0)
+project(WB-Toolbox LANGUAGES CXX VERSION 6.0.1)
 
 if(WBT_BUILD_DOCS)
     add_subdirectory(doc)

ci_env.yml

@@ -4,7 +4,7 @@ channels:
   - robotology
 dependencies:
   - cmake
-  - compilers
+  - cxx-compiler
   - make
   - ninja
   - pkg-config

deps/thrift/CMakeLists.txt

@@ -21,7 +21,7 @@ set_target_properties(ClockRpc PROPERTIES POSITION_INDEPENDENT_CODE ON)
 
 # Link it with YARP
 find_package(YARP 3.0.0 REQUIRED)
-target_link_libraries(ClockRpc YARP::YARP_OS)
+target_link_libraries(ClockRpc YARP::YARP_os)
 
 # Extract the include directory from the files names
 foreach(file ${CLOCK_RPC_FILES})

toolbox/base/CMakeLists.txt

@@ -20,7 +20,7 @@ set_target_properties(WBToolboxBase PROPERTIES
 
 target_link_libraries(WBToolboxBase
     BlockFactory::Core
-    YARP::YARP_OS
+    YARP::YARP_os
     YARP::YARP_init
     YARP::YARP_dev
     iDynTree::idyntree-model

toolbox/library/CMakeLists.txt

@@ -96,7 +96,7 @@ target_include_directories(WBToolbox PUBLIC
 
 # Main dependencies
 list(APPEND WBTOOLBOXLIBRARY_EXT_LIBRARIES
-    YARP::YARP_OS
+    YARP::YARP_os
     YARP::YARP_dev
     YARP::YARP_math
     iDynTree::idyntree-core

toolbox/library/src/OSQP.cpp

@@ -16,7 +16,6 @@
 #include <Eigen/Core>
 #include <OsqpEigen/Constants.hpp>
 #include <OsqpEigen/OsqpEigen.h>
-#include <osqp/util.h>
 
 #include <ostream>
 #include <tuple>
@@ -610,7 +609,7 @@ bool wbt::block::OSQP::output(const BlockInformation* blockInfo)
 
     if (pImpl->computeObjVal) {
 
-        double objVal = pImpl->sqSolver->workspace()->info->obj_val;
+        double objVal = pImpl->sqSolver->getObjValue();
 
         OutputSignalPtr objValSignal = blockInfo->getOutputPortSignal(OutputIndex_objVal);
         if (!objValSignal) {