bipedal-locomotion-framework 0.3.0

What's Changed

• Add the possibility to log the joint state and the base imu in FTIMULoggerDevice by @GiulioRomualdi in #336
• Invalidate the cache in GitHub CI by @GiulioRomualdi in #349
• Implement cubic spline class by @GiulioRomualdi in #344
• Implement PWM control in IRobotControl by @GiulioRomualdi in #346
• Add common Python files to gitignore by @diegoferigo in #338
• conda CI: Use CasADi>=3.5.5 to avoid that an old CasADi without ipopt is picked by the conda solver by @traversaro in #354
• Use manif provided by conda-forge in CondaForge CI by @GiulioRomualdi in #355
• Generalize the blf-calibration-delta-updater script by @GiulioRomualdi in #361
• Implement Contact wrench Cone in math component by @GiulioRomualdi in #352
• Add the possibility to control a subset of coordinates in IK::SE3Task by @GiulioRomualdi in #356
• Rename macOS-latest in macos-latest in GitHub CI by @GiulioRomualdi in #365
• Add the possibility to control a subset of coordinates in IK::CoMTask by @GiulioRomualdi in #357
• Reduce the duplicate code in IK and TSID by @GiulioRomualdi in #364
• Implement Floating base TSID by @GiulioRomualdi in #366
• Stream motor state, joint torques and PID state in SensorBridge by @isorrentino in #359
• Fix YarpRobotControl when PWM or Torque control is used by @GiulioRomualdi in #371
• Implement FeasibleContactWrenchTask for TSID component by @GiulioRomualdi in #369
• Implement QPInverseKinematics python bindings by @paolo-viceconte in #303
• Enable the Current control in RobotInterface class by @GiulioRomualdi in #375
• YarpSensorBridge: add checks in control board getter methods by @prashanthr05 in #378
• Add the possibility to disable the proportional controller in the IK::SE3Task by @GiulioRomualdi in #373
• Add the possibility to use manif objects in the ForwardEuler integrator by @GiulioRomualdi in #379
• Update vcpkg_robotology_TAG in CI.yml by @GiulioRomualdi in #374
• Enable Python bindings in conda-forge CI and fix Python bindings compilation and tests on MSVC by @traversaro in #380
• Add PCL and OpenCV to conda dependencies in conda-based CI by @traversaro in #383
• Allow changing the log verbosity by @diegoferigo in #385
• Fix realsense installation in Ubuntu CI by @GiulioRomualdi in #392
• Implement the CoMZMP controller by @GiulioRomualdi in #387
• Fix the TOML and YARP implementation of the parameters handler when a std::vector<bool> is passed to the setParameter() by @GiulioRomualdi in #390
• conda-forge-ci: Use tomlplusplus conda package by @traversaro in #381
• Release 0.3.0 by @GiulioRomualdi in #393

Full Changelog: v0.2.0...v0.3.0

bipedal-locomotion-framework 0.2.0

What's Changed

• General update of the GitHub CI by @GiulioRomualdi in #173
• Implement IRobotControl python bindings by @GiulioRomualdi in #200
• Fix missing implementation of YarpSensorBridge::getFailedSensorReads(). by @GiulioRomualdi in #202
• Implement ISensorBridge python bindings by @GiulioRomualdi in #203
• C++ refactoring of Contact by @GiulioRomualdi in #204
• Allow FloatingBaseEstimator to handle multiple contacts, Implement Legged Odometry and favor iDynTree KinDynComputations instead of Model by @prashanthr05 in #151
• Fix Changelog by @prashanthr05 in #205
• LeggedOdometry: add changeFixedFrame overload with frame pose by @prashanthr05 in #207
• Migrate ContactDetectors into Contacts folder by @prashanthr05 in #209
• Add the possibility to pass a reference DCM trajectory to the DCMPlanner by @GiulioRomualdi in #208
• Substitute 9.81 with BipedalLocomotion::Math::StandardAccelerationOfGravitation by @GiulioRomualdi in #211
• Add python bindings for SchmittTriggerDetector class by @prashanthr05 in #213
• FloatingBaseEstimators: Replace iDynTree types with Eigen/manif by @prashanthr05 in #215
• Add ModelComputationsHelper to constuct KinDynComputations object by @prashanthr05 in #216
• Add python bindings for FloatingBaseEstimator and LeggedOdometry by @prashanthr05 in #218
• [TimeVaryingDCMPlanner] restructure of setDCMReference() and setContactPhaseList() by @GiulioRomualdi in #220
• ModelComputationsHelper: Option to load KinDynComputationsDescriptor without specifying joints list by @prashanthr05 in #224
• Fix mas-imu-test by @S-Dafarra in #227
• Use std::optional instead of raw pointer in ISensorBridge by @GiulioRomualdi in #226
• Start using spdlog in the repo by @GiulioRomualdi in #225
• bug fix: YarpSensorBridge attach FT sensors by @prashanthr05 in #231
• Reduce the time needed by the SO3PlannerTest by @S-Dafarra in #232
• Add Perception pipeline with RealSense driver and Improve RobotInterface with ICameraBridge and IPointCloudBridge by @prashanthr05 in #165
• Add conda-force-ci GitHub Action job by @traversaro in #221
• Implement the Inverse kinematics in the repository by @GiulioRomualdi in #229
• Move LinearTask in System component by @GiulioRomualdi in #240
• Update IK and TSID to the latest manif version by @GiulioRomualdi in #239
• Restructure python bindings in submodules by @GiulioRomualdi in #238
• Avoid the "Generating the Urdf Model from" message to appear when doing ccmake by @S-Dafarra in #243
• Implement LinearizedFrictionCone class by @GiulioRomualdi in #244
• Fix installation path for public headers of perception related libraries by @prashanthr05 in #245
• Check on if the install and build paths coincide by @S-Dafarra in #247
• Implement python bindings for VariablesHandler class by @GiulioRomualdi in #234
• Update ci.yml by @GiulioRomualdi in #248
• Fix - update of m_isValid variable added in JointTrackingTask by @isorrentino in #249
• Fixed InstallBasicPackageFiles to avoid the same problem of ami-iit/matio-cpp#41 by @S-Dafarra in #253
• Ask for a specific version for the dependencies by @GiulioRomualdi in #252
• General improvement of DynamicalSystem and implementation of FixedBaseDynamics by @GiulioRomualdi in #242
• Add PerceptionFeatures library and implement ArucoDetector class by @prashanthr05 in #159
• Fix pybind11 version by @GiulioRomualdi in #255
• Make BipedaLocomotion::log() function thread safe. by @GiulioRomualdi in #257
• Fixed InstallBasicPackageFiles by @S-Dafarra in #262
• conda-forge-ci: Switch to use official robotology channel by @traversaro in #263
• General improvement of the TextLogging component by @GiulioRomualdi in #266
• Add Find Trailing Whitespace GitHub action by @GiulioRomualdi in #268
• Refactoring of advanceable by @GiulioRomualdi in #267
• Implement Clock class by @GiulioRomualdi in #269
• Bugfix in YarpRobotControl::Impl::setReferences by @GiulioRomualdi in #271
• Add a PointCloudProcessor class to the PerceptionFeatures library by @prashanthr05 in #236
• Add YarpCameraBridge to PerceptionInterfaceYarpImplementation library by @prashanthr05 in #237
• Introduce Advanceable Runner and SharedResource by @GiulioRomualdi in #272
• General improvements for FloatingBaseEstimators library by @prashanthr05 in #254
• If FRAMEWORK_DETECT_ACTIVE_PYTHON_SITEPACKAGES is OFF, for Python bindings use installation directory provided by sysconfig Python module by @traversaro in #274
• Bugfix in AdvanceableRunnerTest.cpp by @GiulioRomualdi in #276
• Avoid to set a shared_ptr of kinDyn object in ContinuousDynamicalSystem classes by @GiulioRomualdi in #275
• Implement handleQuitSignals() function in System component by @GiulioRomualdi in #277
• Some improvements in sensorbridge by @GiulioRomualdi in #278
• Implement TaskSpaceInverseDynamics interface by @GiulioRomualdi in #279
• Implement SO3 task in TSID by @GiulioRomualdi in #281
• Improve LeggedOdometry implementation by @prashanthr05 in #282
• [FloatingBaseEstimator] Bug fix in initialization LeggedOdometry by @prashanthr05 in #289
• Implement clone method in ParametersHandler classes by @GiulioRomualdi in #288
• Bugfix in LeggedOdometry::updateKinematics() by @GiulioRomualdi in #292
• Add the possibility to initialize the VariablesHandler with the ParametersHandler by @GiulioRomualdi in #291
• Fix copy-constructor and copy-assignment operator in ContactPhaseList class by @GiulioRomualdi in #295
• Add the possibility to set the dafault contact in ContactList class by @GiulioRomualdi in #297
• Implement FixedFootDetector class by @GiulioRomualdi in #284
• Move from doxygen to mcss documentation by @GiulioRomualdi in #300
• Upload missing documentattion file by @GiulioRomualdi in #301
• Fix toString in VariableHandler class by @iso...

bipedal-locomotion-framework 0.1.0

What's Changed

• Add cmake skeleton by @GiulioRomualdi in #1
• Implement the BipedalLocomotionControllers interface by @GiulioRomualdi in #6
• Implement Yarp Utilities library by @GiulioRomualdi in #5
• Update the iDynTree required version by @GiulioRomualdi in #8
• Revert "Update the iDynTree required version" by @GiulioRomualdi in #9
• Add CI pipeline with Github Actions by @GiulioRomualdi in #4
• Fix GitHub Actions CI by removing apt Microsoft repos by @GiulioRomualdi in #10
• Add the possibility to use YarpUtilities::getVectorFromSearchable() with fix sized vectors by @GiulioRomualdi in #12
• Add the possibility to compile the library as static and shared by @GiulioRomualdi in #15
• Implement ParametersHandler library by @GiulioRomualdi in #13
• Implement isEmpty() method in ParameterHandler library by @GiulioRomualdi in #17
• Small refactoring of ParametersHandler by @S-Dafarra in #18
• Fix missing fields when parsing config files by @S-Dafarra in #21
• Added valgrind tests. by @S-Dafarra in #19
• Enable automatic Doxygen documentation generation by @GiulioRomualdi in #22
• Add a custom cmake function for enhancing the components compilation by @GiulioRomualdi in #25
• Add generic container by @S-Dafarra in #29
• Add cache GitHub Action to cache dependency compiled from source by @GiulioRomualdi in #32
• Avoid to use CRTP in ParameterHanlder component by @GiulioRomualdi in #28
• Implement the Recursive Least Square algorithm by @GiulioRomualdi in #23
• Fix typo in GenericContainer CMakeLists.txt file by @GiulioRomualdi in #36
• Add the possibility to specify the installation folder AddBipedalLocomotionControllersComponent function by @GiulioRomualdi in #37
• Rename project by @S-Dafarra in #40
• Update README.md by @S-Dafarra in #41
• Update the CI workflow by @GiulioRomualdi in #42
• Adding skeleton for planners by @S-Dafarra in #43
• Add ContactList and utilities for defining contact phases. by @S-Dafarra in #45
• Update the AddBipedalLocomotionLibrary.cmake by @GiulioRomualdi in #48
• Implement contact models library by @GiulioRomualdi in #7
• Require iDynTree v1.1.0 in ci.yml by @GiulioRomualdi in #49
• Introduce the Variables Handler by @GiulioRomualdi in #50
• Implement the ConvexHullHelper class by @GiulioRomualdi in #51
• Fix missing vitual keyword in Advanceable class by @GiulioRomualdi in #55
• Implement the DynamicalSystem class by @GiulioRomualdi in #46
• Move the ParameterHanlder::BasicImplementation from tests to the library by @GiulioRomualdi in #58
• Bugfix in ContactPhaseList::cbegin() function by @GiulioRomualdi in #60
• Set possibility to force enabling a dependency and added macro to install ini files by @S-Dafarra in #66
• Use Eigen in ConvexHullHelper class by @GiulioRomualdi in #65
• Improve continuous contact model test by @GiulioRomualdi in #68
• Use Eigen in DynamicalSystems by @GiulioRomualdi in #70
• Add toEigen in generic vector by @S-Dafarra in #71
• Use Eigen in RecursiveLeastSquare class by @GiulioRomualdi in #73
• Implement the time-varying dcm planner by @GiulioRomualdi in #61
• Implement a Eigen-CppAD skeleton by @GiulioRomualdi in #78
• Add FloatingBaseEstimator skeleton class by @prashanthr05 in #79
• Avoid checking FRAMEWORK_HAS_Eigen3 in Planner/test/CMakeLists.txt by @GiulioRomualdi in #80
• Add StdImplementation.tpp to Public headers in ParameterHandler CMakeList by @prashanthr05 in #81
• [workflows] Update YCM tag in ci.yml by @prashanthr05 in #86
• Use manif in the contacts component by @GiulioRomualdi in #82
• Implement the QuinticSpline class by @GiulioRomualdi in #83
• Add USE_MATH_DEFINES for tests and library compile definitions by @prashanthr05 in #93
• Add the Debug compilation in GitHub Action by @GiulioRomualdi in #92
• Enable cppad on Windows by @GiulioRomualdi in #89
• Add RobotInterface library and a SensorBridge interface class by @prashanthr05 in #87
• Bump CMake minimum version for LAST_EXT option in get_file_component by @prashanthr05 in #101
• Implement the possibility to automatic generate a stair urdf models by @GiulioRomualdi in #98
• Add Ref class to GeneriContainer::Vector by @S-Dafarra in #102
• README: Fix typo Doxigen --> Doxygen by @traversaro in #104
• Implement the IRobotControl interface by @GiulioRomualdi in #97
• [RobotInterface] Fix installation folder for YarpImplementation by @prashanthr05 in #105
• Implement a 2-point minimum jerk trajectory generator in SO(3) by @GiulioRomualdi in #84
• Use Ref in parameters handlers by @S-Dafarra in #103
• YarpSensorBridge Implementation by @prashanthr05 in #106
• Handle optional configuration of sensor streams in YarpSensorBridge by @prashanthr05 in #116
• Improve performances TimeVaryingDCMPlanner by @GiulioRomualdi in #119
• Bugfix in Yarp iRobotControl implementation by @GiulioRomualdi in #118
• Fix some bugs in the python script for generating urdf files by @GiulioRomualdi in #117
• Use booleans instead of int as configuration parameters in YarpSensorBridge class by @GiulioRomualdi in #122
• Make the joints_list parameter as optional in the YarpSensorBridge by @GiulioRomualdi in #123
• Use Casadi::Map function to compute the system dynamics in the Time varying DCM planner by @GiulioRomualdi in #126
• Implement the swing foot trajectory planner by @GiulioRomualdi in #90
• Implement Invariant EKF Floating Base Estimator by @prashanthr05 in #85
• General improvements of the TimeVarying DCM planner by @GiulioRomualdi in #127
• Fix doxygen documentation in the Planners library by @GiulioRomualdi in https://githu...