pinocchio 3.5.0

What's Changed

Added

• Added C++ visualization API, pinocchio::pinocchio_visualizers target (#2574)
• Added forward declaration for class SE3Tpl, and typedef pinocchio::context::SE3 (#2574)
• Add macros PINOCCHIO_COMMON_TYPEDEF and PINOCCHIO_OPTIONS_DEFAULT (#2574)
• Add mimic joint support to the following algorithms: (#2441)
  • Forward kinematics
  • Jacobians and frames
  • Centroid algorithms (ccrba)
  • RNEA
  • CRBA
  • Reachable workspace
• Add mimic argument in pinocchio::urdf::buildModel to parse URDF mimic field (default to false) (#2441)
• Add pinocchio::transformJointIntoMimic to turn a joint into a mimic joint and buildMimicModel to transform multiple joints into mimic joints (#2441)
• Add JointModelBase methods: (#2441)
  • nvExtended to get the DoF of the extended model
  • idx_vExtended to get the joint index in the extended vector of velocity
  • jointExtendedModel{Cols,Rows,Block} to get joint columns/rows/block in extended model matrix
  • JointMapped{Config,Velocity}Selector to get mimicked joint configuration/velocity from the mimicking joint
• Add precomputed members in DataTpl to accelerate algorithms on mimic: (#2441)
  • idx_vExtended_to_idx_v_fromRow
  • mimic_subtree_joint
  • mimic_parents_fromRow
  • non_mimic_parents_fromRow
• Add precomputed members in ModelTpl to accelerate algorithms on mimic: (#2441)
  • nvExtended
  • nvExtendeds
  • idx_vExtendeds
  • mimicking_joints
  • mimicked_joints
  • mimic_joint_supports

Changed

• Rewrite JointModelMimic and rename it JointModelMimicTpl, since JointModelMimic wasn't working, we don't consider it a breaking change (#2441)
• Stop using context::Scalar for GeometryObject(#2441)
• Use Google benchmark in benchmarks (#2607)

Fixed

• Fix ModelTpl::check() link (#2624)
• Add missing Python examples (#2528)
• Fix nominal accuracy check for Quaternion based on the scalar type (#2608)

Full Changelog: v3.4.0...v3.5.0