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Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[Unreleased]

[2.0.1] - 2020-11-24

Fixed

[2.0.0] - 2020-11-22

Added

  • Added a new CMake option IDYNTREE_COMPILES_TOOLS to disable compilation of iDynTree tools.
  • Added a KinDynComputations::getCentroidalTotalMomentumJacobian() method (robotology#706)
  • iDynTree now supports build compiled as a shared library also on Windows.
  • When used in Python, new iDynTree objects can be constructed from generic iterable objects and NumPy arrays (*.FromPython), and existing objects can be converted to NumPy arrays (*.toNumPy) (robotology#726).
  • iDynTree Python bindings can now be installed with pip3 install git+https://github.com/robotology/idyntree.git (robotology#733).
  • Implement the MatrixView class (robotology#734)
  • Add the possibility to use MatrixView and Span as input/output objects for KinDynComputations class (robotology#736).
  • New Python bindings based on pybind11. They can be compiled by specifying the CMake option IDYNTREE_USES_PYTHON_PYBIND11. Note that the generated bindings are not compatible with the SWIG-generated bindings (e.g. functions have different names). They can be imported as idyntree.pybind Python module.

Fixed

  • Fixed bug in yarprobotstatepublisher that caused segmentation fault each time an unknown joint name was read from the input joint states topic (robotology#719)
  • Fixed bug in CubicSpline() that causes wrong coefficients calculation when boundary conditions are set (robotology#723)

Changed

  • By default iDynTree is compiled as a shared library also on Windows. The BUILD_SHARED_LIBS CMake variable can be used to control if iDynTree is built as a shared or a static library.
  • The Python method *.fromPyList is replaced by *.FromPython (robotology#726).
  • The minimum required CMake version to configure and compile iDynTree is now 3.16 (robotology#732).
  • The Python package name of the SWIG bindings changed from iDynTree to idyntree.bindings (robotology#733, robotology#735). To continue referring to iDynTree classes as iDynTree.<ClassName>, you can change your import iDynTree statements to import idyntree.bindings as iDynTree. Otherwise, you can use import idyntree.bindings to refer them as idyntree.bindings.<ClassName>.
  • Improve the use of const keyword in KinDynComputations(robotology#736).
  • Cleanup size and indices attributes. For consistency with std and Eigen, all sizes and indices have been changed to use std::size_t for unsigned quantities and std::ptrdiff_t for signed quantities. The only exception is the index stored in the triplets of the iDynTree::SparseMatrix data structure, that have been left defined to int for compatibility with Eigen (robotology#767).

Removed

  • Remove the CMake option IDYNTREE_USES_KDL and all the classes available when enabling it. They were deprecated in iDynTree 1.0 .
  • Remove the semantics related classes. They were deprecated in iDynTree 1.0 .
  • Remove unnecessary warning messages from ModelSensorsTransformers.cpp and URDFDocument.cpp (see PR 718)
  • Python2 will not be maintained past 2020 and its support has been dropped (robotology#726).
  • Remove the need to call iDynTree.init_helpers() and iDynTree.init_numpy_helpers() from Python (robotology#726).
  • Remove headers and methods that were deprecated in iDynTree 1.0 (robotology#751).

[1.2.0] - 2020-10-17

Added

  • Added the possibility of reusing an already opened figure with the MATLAB iDynTree Visualizer either if the name coincides or by using gcf.

Changed

  • SolidShapes.h public API changes. API changes are back compatible, but as the ABI has changed, this means a re-compilation of the dependent projects is needed. In details:
    • Added getters and setters to all classes in SolidShapes.h (idyntree-model). Public attributes are still available for compatibility but are now deprecated and will be removed in the next major release of iDynTree (2.x).
    • Added Material class in SolidShapes.h (idyntree-model). The material attribute in SolidShape is now deprecated. Please use the color property in the new Material class to maintain the previous behaviour. Note that the old and new properties are completely orthogonal. Ensure the code is consistent with their uses.

Fixed

  • Fixed bug in init() of SimpleLeggedOdometry that used an incorrect initial world frame location if used with an additional frame of a link (robotology#698).
  • Fixed bug that prevented to use iDynTree cmake packages directly from the build directory (robotology#728).

[1.1.0] - 2020-06-08

Added

  • Added a new function to iDynTreeWrappers for the function getWorldTransformsAsHomogeneous.
  • Added functions for having a MATLAB iDynTree Visualizer in iDynTreeWrappers. Some time optimization has been performed (robotology#659).
  • Added bindings for getWorldTransformsAsHomogeneous function.
  • Added function getWorldTransformsAsHomogeneous that gives a vector of Matrix4x4 based on a vector of strings containing the frame transforms.
  • Added bindings for handling linkSolidShapes properly (robotology#656).
  • Added bindings for InverseKinematics (robotology#633).
  • Implement cbegin() / cend() and begin() / end() methods for VectorDynSize and VectorFixSize (robotology#646).
  • Added CI for MacOS with IDYNTREE_USES_OCTAVE ON

[1.0.7] - 2020-06-07

Fixed

[1.0.6] - 2020-05-06

Fixed

[1.0.5] - 2020-04-03

Fixed

  • Fix find_package(iDynTree) when iDynTree is built with IDYNTREE_USES_ASSIMP ON and BUILD_SHARED_LIBS OFF (robotology#667).

[1.0.4] - 2020-04-02

Fixed

  • Further fix for configuration compilation with Assimp >= 5.0.0 (robotology#666).

[1.0.3] - 2020-04-01

Fixed

  • Fixed configuration and compilation with Assimp >= 5.0.0 (robotology#661).
  • Fixed runtime errors of the MATLAB bindings on Windows and compatibility with MATLAB 2020a (robotology#664).

[1.0.2] - 2020-02-21

Fixed

  • Remove spurious inclusion of Eigen headers in ExtendedKalmanFilter.h public header, that could create problems when using that header in a downstream project that does not use Eigen (robotology#639).
  • Added find_dependency(OsqpEigen) and find_dependency(LibXml2) when iDynTree is compiled as a static library, fixing the use of iDynTree on Windows (robotology#642).

Changed

  • To reduce the possible unexpected problems, the automatic set of the IDYNTREE_USES_<pkg> CMake variable when the <pkg> CMake package is available in the system has been removed for Irrlicht and WORHP, as it was already disabled for ASSIMP and ALGLIB (robotology#642). To use this dependencies it is now compulsory to set manually the IDYNTREE_USES_<pkg> variable to ON.

[1.0.1] - 2020-01-14

Fixed

  • Change CMake version compatibility from SameMajorVersion to AnyNewerVersion, as API breakage between major version will be limited, and to avoid breaking the compatibility of any downstream project that request a minimum version of iDynTree as in find_package(iDynTree 0.11 REQUIRED) (robotology#629).

[1.0.0] - 2020-01-14

Added

  • Added method to compute the inverse dynamics inertial parameters regressor in KinDynComputations ( robotology#480 ). KinDynComputations finally reached feature parity with respect to DynamicsComputations, that will finally be removed in one of the future iDynTree feature releases.
  • Added method to return the convex hull of the constraint on the projection of the center of mass (robotology#478).
  • Added objects to deal with linear optimal control problems in the optimalcontrol library.
  • Added OSQP interface via osqp-eigen in the optimalcontrol library.
  • Fixed bugs in MultipleShooting solver in the optimalcontrol library.
  • Added few lines of documentation in the optimalcontrol library.
  • Added interface for ALGLIB and WORHP in the optimalcontrol library.
  • Multiple shooting solvers can use hessians of costs and constraints in the optimalcontrol library.
  • Taking into account also the sparsity pattern of constraints and dynamical system (both in jacobians and hessians) in the optimalcontrol library.
  • Added visualization of vectors in the visualization library.
  • Added a SolidShape helper library. This library is part of iDynTree, and is meant to contain all the algorithms that use in some form the visual and collision geometries of the model, and so they depend on the Assimp library to load meshes.
  • Added an helper function that provides rough estimates of the inertial parameters (mass, first moments of mass, 3d inertia matrix elements) of a robot given the total mass of the robot, and its collisions shapes. While the estimates provided are quite rough, they can be quite useful at least to provide an expected order of magnitude of the parameters, to normalize errors or as initial points of a nonlinear optimization procedure.
  • Added attitude estimator interface to estimate the orientation of an IMU, given the IMU measurements (robotology#516).
  • Added DiscreteExtendedKalmanFilterHelper base class (robotology#516).
  • Added AttitudeMahonyFilter implementation of an explicit formulation of passive complementary filter over quaternion groups (robotology#516).
  • Added AttitudeQuaternionEKF implementation (robotology#516).
  • Added getWorldFrameTransform implementation in SimpleLeggedOdometry class
  • Added a new version of changeFixedFrame in SimpleLeggedOdometryclass. This can be used to set a desired homogeneous transformation for the fixed frame
  • Added bindings for AttitudeMahonyFilter, AttitudeQuaternionEKF, DiscreteExtendedKalmanFilterHelper (robotology#522)
  • Added basic tests for the Attitude Estimator classes (robotology#522)
  • Added DiscreteKalmanFilterHelper class for an implementation of a discrete, linear time-invariant Kalman Filter (robotology#559)
  • Added dynamic reset functionality to DiscreteExtendedKalmanFilterHelper class (robotology#553)
  • Added high-level Matlab/Octave wrappers of the iDyntree bindings (robotology#530)
  • Added bindings for the class Span with the name DynamicSpan (robotology#522)
  • Implement RPYRightTrivializedDerivativeRateOfChange() and RPYRightTrivializedDerivativeInverseRateOfChange() into Rotation class
  • Implement left Jacobian and left Jacobian inverse of SO(3) in Rotation class (robotology#562)
  • Add nameIsValid attribute to iDynTree::SolidShape class.
  • Add operator[] method to iDynTree::VectorDynSize (robotology#596)
  • Add operator[] method to iDynTree::VectorFixSize (robotology#596)
  • Implement getTotalMass() method for Model class(
  • Enable the installation of the ModelTestUtils.h file (robotology#607)
  • Added iDynTree::ModelExporter class to export iDynTree::Model instances to URDF files (robotology#554).
  • Added support in the URDF parser to correctly parse the optional name parameter of visual and collision elements.
  • Added iDynTree::ModelCalibrationHelper to simplify loading a model from file, update its inertial parameters and exporting again to file (robotology#576).
  • In yarprobotstatepublisher, add tf-prefix and jointstates-topic options for the tf prefixes and ROS topic.
  • In yarprobotstatepublisher, add reduced-model optional parameter to stream only the link transformations to transform server. By default, tranformations from all the frames are streamed to the transform server.

Changed

  • The changelog has been migrated to the format described in https://keepachangelog.com/en/1.0.0/ .
  • If the IDYNTREE_USES_YARP option is enabled, the minimum required version of YARP is 3.3 .
  • The CMake config files are now installed in ${CMAKE_INSTALL_PREFIX}/lib/cmake/iDynTree also in Windows.
  • Updated iDynTree::ModelLoader class to load by default models with normalized joint ordering (robotology#491).
  • In yarprobotstatepublisher the model joint positions values are initialized to zero and the joint positions values are updadted in run time if the values are available in ROS topic given through jointstates-topic parameter.
  • In yarprobotstatepublisher, joint size check between model joints and joints in ROS topic given through jointstates-topic parameter have been removed.

Deprecated

  • All the classes and methods that end in Semantics are deprecated, and will be removed in iDynTree 2.0, see robotology#622 for more info.
  • The CMake option IDYNTREE_USES_KDL and all the classes available when enabling it are deprecated, and will be removed in iDynTree 2.0 .
  • In yarprobotstatepublisher, the robot option is deprecated, and replaced by name-prefix.

Fixed

  • Fixed missing DOF_ACCELLERATION data in dynamic variable cache ordering (robotology#587)
  • Fixed compatibility of Span with SWIG bindings compilation (robotology#522)
  • Fixed implementation of Transform::log() method (robotology#562)
  • Fixed implementation of SpatialMotionVector::exp() method (robotology#562)

[0.11.2] - 2019-12-12

Added

  • The getFrameAcc method that returns the acceleration of a frame was added to the KinDynComputations class. As this method takes in input every time the robot acceleration, it is computationally expensive and is not suitable to be used for multiple frames in a tight loop. If you need a computationally convenient method to access frame accelerations, please open an issue ( robotology#482 ).
  • It is now possible to specify a non-zero bias base acceleration as input of the ForwardBiasAccKinematics function. This is convenient if the bias acceleration that is being computed is the bias acceleration obtained with the MIXED velocity representation ( robotology#482 ).

Fixed

  • Fixed cache invalidation bug in the getFrameBiasAcc method of KinDynComputations. The internal cache used by getBiasAcc was never updated even if the method setRobotState was called, so the getFrameBiasAcc method always returned the bias acceleration corresponding to the first call to setRobotState ( robotology#482 ).
  • Fixed getBiasAcc method in KinDynComputations to take into account the effect of non-zero and non-parallel linear and angular base velocity, described in robotology#370 .
  • Fixed compilation on 32-bit Windows ( robotology#506 )
  • Fixed a URDF parser regression introduced in iDynTree 0.11 for which collision geometries were also loaded as visual geometries, and viceversa (robotology#497, robotology#559).
  • Fixed a URDF parser regression introduced in iDynTree 0.11 for which geometry elements without origin tag were not correctly parsed (robotology#496, robotology#564).

[0.11.1] - 2018-09-10

Fixed

  • Fix a locale-dependent floating point parsing in the URDF parser (robotology#475).
  • Fix compatibility with SWIG 2 (robotology#476).
  • Fix behavior of InverseKinematics if Add***Constraint method are called multiple times (robotology#479).

[0.11.0] - 2018-08-31

Added

  • A new URDF parser was implemented. A side effect of the new parser is that the serialization of the links and joints of models parsed from URDF may change. In your code, please use name string (in place of indices) to identify joints and links, or use the iDynTree::ModelLoader class to load a Model with the specified joint serialization.
  • Added library idyntree-modelio-xml to parse generic XML files. Support for XSD validation (when parsing from file). This library requires Gnome libxml2.
  • Added toEigen methods for Span and added typedef for Eigen maps of vectors.
  • Added some typedefs to VectorDynsize and VectorFixSize classes to enable the use of make_span with these objects.
  • Added copy operator in VectorDynSize and VectorFixSize for Span<double>.
  • Added method to obtain relative Jacobians sparsity pattern.
  • Added method to obtain free floating Jacobians sparsity pattern.

Changed

  • iDynTree now official supports the following compilers: Microsoft Visual Studio 2015/2017, GCC >= 5.3 and clang >= 3.8 .
  • The C++14 standard language is now used in the project, including in the public headers.
  • libxml2 is now a required dependency. Check the docs to see how to install it.
  • CMake 3.5 is now required to build iDynTree.
  • Improve SpatialInertia documentation ( robotology#435 ).
  • Changed URDF parser to use libxml2 instead of TinyXML.

Deprecated

  • The iDynTree/Sensors/SixAxisFTSensor.h header has been deprecated in favor of the iDynTree/Sensors/SixAxisForceTorqueSensor.h.
  • Constraints Jacobian now exploit sparsity pattern

[0.10.0] - 2018-06-20

Added

  • Added the iDynTree::Span class (robotology#434), modeled after the C++20's std::span ( http://en.cppreference.com/w/cpp/container/span ). This class can be used to write methods and functions that access a contiguous sequence of objects in memory with a known length. This is extremly useful to make sure that iDynTree classes are easy to use regardless of which vector type the downstream code is using, for example if it is one of std::vector<double>, Eigen::VectorXd or yarp::sig::Vector
  • In the InverseKinematics library, the Frame Constraints can now be enabled and disabled dynamically ( robotology#389 ).
  • Addition of iDynTree::SchmittTrigger, iDynTree::ContactStateMachine and iDynTree::BipedFootContactClassifier classes for performing contact state detection using Schmitt trigger based thresholding and biped foot contact classification based on an alternate contact switching pattern reasoning over contact makes used for getting primary foot in contact (robotology#410 , robotology#411 ).
  • Addition of iDynTree::GravityCompensationHelpers class for computing gravity compensation torques using accelerometer measurements (robotology#438)
  • Initial improvement of the optimal control library ( robotology#442 ). See the inline documentation of the classes for more details, or open an issue ( https://github.com/robotology/idyntree/issues/new ) requesting documentation on some specific aspects of the optimal control library.

Changed

  • Since 0.10 release, iDynTree uses C++14 in its headers, and requires GCC >= 5 and Visual Studio >= 2015 to compile.
  • Similar to the YARP policy, any new version of iDynTree will have a consecutive minor version number. Development version (the one contained in the devel branch before release will be denoted with a patch version number greater than 100. The next minor release of iDynTree will be 0.11 .

[0.8.2] - 2018-06-20

Fixed

  • In the classes devoted to the external force-torque estimation, since robotology#343 it is possible to have external forces that are completly estimated from external sensors such as skin sensors. If in a given submodels there are no unknown due to this, the pseudoinverse should be skipped ( robotology#443 ) .
  • Fix compatibility with YARP 3.

[0.8.1] - 2017-09-29

Fixed

  • The toEigen(const SpatialMotionVector & vec) and toEigen(const SpatialForceVector & vec) inline helpers functions in the iDynTree/Core/EigenHelpers.h have been modified to return a const copy of their content. While this is technically an API change, it was critical because most of the other toEigen methods return an Eigen::Map object, and users expect to be able to use Eigen modifiers methods such as toEigen(...).setZero(). Enforcing a compilation error in this case will help to prevent subtle bugs. As this is an inline function, this modification does not affect iDynTree's ABI ( robotology#378 ) .
  • The CMake configuration files of the release 0.8.0 were generated with the wrong version 0.7.2.

[0.8.0] - 2017-09-25

Added

  • This is the first version of iDynTree for which a changelog was introduced.
  • The iDynTree::Model class now supports prismatic joints, using the iDynTree::PrismaticJoint class. Support for prismatic joints was added also to the URDF parser ( robotology#269 ).
  • Classes and function to convert between chains rappresented by the Denavit Hartnberg convention and iDynTree::Model object have been implemented ( robotology#350 ).

Changed

  • The methods and constructors of the iDynTree::RevoluteJoint and iDynTreee::PrismaticJoint classes handling joints have been cleaned up ( robotology#339 ).
  • The logic to enable/disable dependencies has changed. In particular, now all the dependencies (excluding the legacy dependency on KDL) that are found on the system are enabled. Users can still select manually the dependency that they want to compile using the IDYNTREE_USES_<dep> variables ( robotology#323 ).
  • IPOPT has been added as an optional dependency for the Inverse Kinematics component.
  • The Octave bindings have been migrated to use the exact same mex code used for the Matlab bindings ( robotology#305 ).