iDynTree 3.3.0 (2021-07-08)

[3.3.0] - 2021-07-08

Added

• Add the is/asPrismaticJoint methods in the bindings (#881, #882)
• Add the possibility of building the binding of iDynTree (bindings directory) on their own, against an already compiled system iDynTree (#892, robotology/robotology-superbuild#817).

Deprecated

• The tools that depend on YARP (urdf2dh, yarprobotstatepublisher, idyntree-sole-gui, iDynTreePlotter) have been moved in idyntree-yarp-tools and their use in iDynTree has been deprecated. The option IDYNTREE_COMPILES_YARP_TOOLS has been introduced to disable their compilation. This option is set by default to ON on iDynTree 3, will exist but default to OFF in iDynTree 4, and will be removed in iDynTree 5.

iDynTree 3.2.1 (2021-06-07)

[3.2.1] - 2021-06-07

Fixed

• The example file examples/python/KinDynComputationsTutorial.py has been fixed to work with Python 3 and iDynTree >= 2.0 (#873).
• Fix of a bug introduced by #845 and present in iDynTree 3.1.0 and 3.2.0 in the visualization of boxes (#874)

iDynTree 3.2.0 (2021-05-15)

[3.2.0] - 2021-05-15

Changed

• The SwigRef.m, SwigMem.m and SwigGet.m MATLAB files are now named iDynTreeSwigRef.m, iDynTreeSwigMem.m and iDynTreeSwigGet.m. This ensure prevent the possibility that other libraries (such as CasADi) install files with the same name in the MATLAB path with incompatible content (#865, #868).

iDynTree 3.1.0 (2021-04-23)

[3.1.0] - 2020-04-23

Added

• Add the possibility to use MatrixView and Span as input/output objects for InverseKinematics class (#822).
• Add the possibility to get frame trasform from the visualizer, and to use frame/link name in place of indices (#849).
• Add IDYNTREE_DETECT_ACTIVE_PYTHON_SITEPACKAGES CMake option (default value: OFF) to detect and install in the active site-package directory the Python bindings (#852).
• Add inverseDynamicsWithInternalJointForceTorques method to KinDynComputations, this method permits to compute the inverse dynamics, but providing as an output the internal joint 6D force/torque for each joint (#857).

Changed

• The wheels uploaded to PyPI are now manylinux_2_24 compliant (#844)

Fixed

• Dynamics: In RNEA Dynamic Loop, return zero for wrench corresponding to non-existing parent joint of base link (#857).
• Fixed compilation when using Eigen 3.4 (#861).

iDynTree 3.0.2 (2021-04-11)

Fixed

• Fixed compilation of Python bindings on Windows (#843).

iDynTree 3.0.1 (2021-03-11)

Fixed

• Fixed the IDYNTREE_USES_ASSIMP option on Windows if IDYNTREE_USES_YARP is also enabled (#832).
• Fixed the OBJ meshes visualization in the Visualizer library (#833).
• Fixed ModelVisualization::getWorldLinkTransform() method (#836)
• Only link required MATLAB libraries when compiling iDynTree MATLAB bindings (#840).

Deprecated

• The method ModelVisualization::getWorldModelTransform() is deprecated, and will be removed in iDynTree 4.0.

iDynTree 3.0.0 (2021-02-03)

Release Notes

Added

• Add the possibility to plot and update frames in the Matlab visualizer.
• Added getFileLocationOnLocalFileSystem method in ExternalMesh that attempts to find the mesh location in the local file system. This is now used by the Visualizer when loading the robot model (#798). This can also be used by the iDynTreeWrapper.prepareVisualization MATLAB function, if meshFilePrefix is explicitly set to "" (#817).
• Add the possibility to extract submatrix with MatrixView (#800)
• Improved the Visualizer library: camera animations and corrections, interface for frames and texture, fix of STL visualization. These improvements also include mouse control support for the camera, also in the idyntree-model-view application (#802).

Changed

• Promoted the functions computeBoundingBoxFromShape and computeBoxVertices to public in the idyntree-solid-shapes library (#801).
• The idyntree-yarp and idyntree-icub libraries are now header-only, and are always installed even if IDYNTREE_USES_YARP or IDYNTREE_USES_ICUB_MAIN are set to OFF, to simplify deployment of the library. The downstream libraries that want to use them need to find and link YARP and ICUB CMake packages on their own (#807).

Fixed

• Fixed the IDYNTREE_USES_IRRLICHT option when irrlicht is installed via vcpkg (#806).

iDynTree 2.0.3 (2021-02-03)

Release Notes

Fixed

• Fixed use of sphere shape in MATLAB-based Visualizer (#796).
• Fixed compilation against conda-forge-provided Ipopt on Windows (#793).

iDynTree 2.0.2 (2020-12-04)

Release Notes

Fixed

• Fixed compilation of MATLAB bindings on macOS and Windows (#789, #790).

iDynTree 2.0.1 (2020-11-24)

Release Notes

Fixed

• Fixed problem in pybind11-based Python bindings (#781).