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Release v1.7.0
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@nim65s nim65s released this 10 May 11:11
· 1532 commits to master since this release
v1.7.0
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nim65s Guilhem Saurel
GPG key ID: 7D2ACDAF4653CF28
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0985b92

Changes in v1.7.0:

  • Updated the examples based on new API in example-robot-data
  • Removed reference in std::sized_t (and other primitives)
  • Improved computation and handled richer conditions in friction and wrench cone (e.g., inner/outer apprx. in wrench cone, and rotation matrix in friction cone)
  • Added more unit-tests for cones
  • Included the CoP support notion
  • Updated minimal version of EigenPy as it fixes a bug with 4x6 matrices
  • Developed a gravity-based cost function for both free and in contact conditions (included its unit-test code)
  • Added assignment operator in FrameXXX structures
  • Replaced isMuchSmallerThan by isZero in all the unit-tests
  • Enabled free-flyer joint in full actuation model
  • Improved multicopter actuation API + unit-tests
  • Exposed in Python ActionModelUnicyle::dt_
  • Fixed multithreading support: running the correct number of threads
  • Enabled that the user can set the number of threads (also in Python)
  • Added publication list and updated README file
  • Registered in Python the shared pointers of all the model classes
  • Fixed Meshcat visualizer after update
  • Added Github Action CI with ROS dependency resolution
  • Improved efficiency of backward pass by defining properly RowMajor matrices
  • Activated all warnings and Werror
  • Improved documentation
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