iDynTree 0.8.0 and 0.8.1 Released

[traversaro]

This is the first version of iDynTree for which a changelog was introduced.

Important Changes

• The iDynTree::Model class now supports prismatic joints, using the iDynTree::PrismaticJoint class. Support for prismatic joints was added also to the URDF parser ( Prismatic joint idyntree#269 ).

• The methods and constructors of the iDynTree::RevoluteJoint and iDynTreee::PrismaticJoint classes handling joints have been cleaned up ( Fix getAxis implementation in Revolute and Prismatic Joint and documentation cleanup idyntree#339 ).

• Classes and function to convert between chains rappresented by the Denavit Hartnberg convention and iDynTree::Model object have been implemented ( Implementation of DH <--> Model conversions without KDL idyntree#350 ).

Dependencies

• The logic to enable/disable dependencies has changed. In particular, now all the dependencies (excluding the legacy dependency on KDL)
  that are found on the system are enabled. Users can still select manually the dependency that they want to compile using
  the IDYNTREE_USES_<dep> variables ( Refactor how dependencies are handled idyntree#323 ).
• IPOPT has been added as an optional dependency for the Inverse Kinematics component.

Bindings

• The Octave bindings have been migrated to use the exact same mex code used for the Matlab bindings ( Add Octave Mex support idyntree#305 ).

[traversaro]

Small addenda: for a couple of nasty bugs, we also released iDynTree v0.8.1 today, see https://github.com/robotology/idyntree/releases/tag/v0.8.1 .

iDynTree 0.8.1 (2017-09-29)

Bug Fixes

• The toEigen(const SpatialMotionVector & vec) and toEigen(const SpatialForceVector & vec) inline helpers functions in the iDynTree/Core/EigenHelpers.h have been modified to return a const copy of their content.
  While this is technically an API change, it was critical because most of the other toEigen methods return an Eigen::Map object, and users
  expect to be able to use Eigen modifiers methods such as toEigen(...).setZero(). Enforcing a compilation error in this case will help to prevent subtle bugs.
  As this is an inline function, this modification does not affect iDynTree's ABI ( Add check on nans in estimateExternalWrenches function idyntree#378 ) .

• The CMake configuration files of the release 0.8.0 were generated with the wrong version 0.7.2.