iDynTree 1.2.1 (2020-11-22)

iDynTree 1.2.1 Release Notes

Fixed

Fix compatibility with ipopt from conda-forge on Windows (#764) .

iDynTree 1.2.0 (2020-10-17)

iDynTree 1.2.0 Release Notes

Detailed Changelog

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 (#698).
• Fixed bug that prevented to use iDynTree cmake packages directly from the build directory (#728).

iDynTree 1.1.0 (2020-06-08)

iDynTree 1.1.0 Release Notes

Release Highlights

This new release introduce two new features:

New MATLAB based visualizer

A new MATLAB iDynTree visualizer (#682, #668) has been added to the iDynTree's high-level-wrappers.

A tutorial on how to use this new MATLAB visualizer is available in the https://github.com/robotology/idyntree/tree/v1.1.0/bindings/matlab/%2BiDynTreeWrappers#matlab-native-visualization .

Thanks a lot to Francisco Andrade (@fjandrad) that implemented this feature in #668 and #682 .

iDynTree's InverseKinematics MATLAB and Python bindings

The iDynTree's InverseKinematics class has been added to the iDynTree's bindings, so it is now usable from MATLAB and Python bindings. See the following snippet to have an idea on how to use iDynTree.InverseKinematics in MATLAB:

ik = iDynTree.InverseKinematics();
ik.setModel(robotModel);

% Set IK tolerances
ik.setCostTolerance(0.001);
% ik.setCostTolerance(1.0);
ik.setConstraintsTolerance(0.00001);
% Set targets as cost in the cost function
ik.setDefaultTargetResolutionMode(iDynTree.InverseKinematicsTreatTargetAsConstraintFull);
% Use roll pitch yaw parametrization for the rotational part of the IK
ik.setRotationParametrization(iDynTree.InverseKinematicsRotationParametrizationRollPitchYaw);
ik.setVerbosity(3);
ik.setDefaultTargetResolutionMode(iDynTree.InverseKinematicsTreatTargetAsConstraintNone);

% Add position target 
ik.addPositionTarget(frameIdx, G_targetPos);

% --------- Add starting point
% As the IK optimization problem is a non-linear iterative optimization, the
% optimization requires a starting point (to be assumed). Be aware
% that this choice can influence the actual convergence of the algorithm
jointsInitPosInRadians = iDynTree.VectorDynSize();
jointsInitPosInRadians.zero();
ik.setFullJointsInitialCondition(G_T_base, jointsInitPosInRadians);

% --------- Solve the IK
if ~ik.solve()
    fprintf('\n Fail to solve IK!\n')
end
G_H_base_optimized          = iDynTree.Transform();
jointPos_optimizedInRadians = iDynTree.VectorDynSize();
ik.getFullJointsSolution(G_H_base_optimized, jointPos_optimizedInRadians);

Thanks a lot to Lorenzo Rapetti (@lrapetto) that implemented this feature in #633 .

Acknowledgements

Thanks to the contributors (either as code authors, code reviewers or by contributing documentation) of this version of iDynTree:

• Francisco Andrade (@fjandrad)
• Stefano Dafarra (@S-Dafarra)
• Gabriele Nava (@gabrielenava)
• Giulio Romualdi (@GiulioRomualdi)
• Lorenzo Rapetti (@lrapetti)
• Claudia Latella (@claudia-lat)
• Silvio Traversaro (@traversaro)

Detailed ChangeLog

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 (#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 (#656).
• Added bindings for InverseKinematics (#633).
• Implement cbegin() / cend() and begin() / end() methods for VectorDynSize and VectorFixSize (#646).
• Added CI for MacOS with IDYNTREE_USES_OCTAVE ON

iDynTree 1.0.7 (2020-06-07)

iDynTree 1.0.7 Release Notes

Fixed

• Fixed compilation with assimp installed with apt-get on Ubuntu 20.04 (#692, #693).
• Fixed compilation with Octave >= 5 (#692, #677).

iDynTree 1.0.6 (2020-05-06)

iDynTree 1.0.6 Release Notes

Fixed

• Fixed compilation with ipopt installed via vcpkg (#689).
• Fixed compilation with Visual Studio 2019 16.6 (#672).

iDynTree 1.0.5 (2020-04-03)

iDynTree 1.0.5 Release Notes

Fixed

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

iDynTree 1.0.4 (2020-04-02)

iDynTree 1.0.4 Release Notes

Fixed

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

iDynTree 1.0.3 (2020-04-01)

iDynTree 1.0.3 Release Notes

Fixed

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

iDynTree 1.0.2 (2020-02-21)

iDynTree 1.0.2 Release Notes

Fixed

• Remove spurious inclusion of Eigen headers in ExtendedKalmanFilter.h public header, that could create probles when using that header in a downstream project that does not use Eigen (#639).
• Added find_dependency(OsqpEigen) and find_dependency(LibXml2) when iDynTree is compiled as a static library, fixing the use of iDynTree on Windows (#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 (#642). To use this dependencies it is now compulsory to set manually the IDYNTREE_USES_<pkg> variable to ON.

iDynTree 1.0.1 (2020-01-14)

iDynTree 1.0.1 Release Notes

This is a patch release of iDynTree 1.0, that fixes a regression that caused all the project that used the CMake command find_package(iDynTree <version>) to fail.

Detailed ChangeLog

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) (#629).