🚀 Release 0.10.0

Author: GiulioRomualdi

CHANGELOG.md

@@ -1,7 +1,7 @@
 # Changelog
 All notable changes to this project are documented in this file.
 
-## [unreleased]
+## [0.10.0] - 2022-09-23
 ### Added
 - Add the possibility to set the exogenous feedback for the `IK::SE3Task` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/567)
 - Implement `RobotInterface::constructMultipleAnalogSensorsClient()` and `RobotInterface::constructMultipleAnalogsensorsRemapper()` methods (https://github.com/ami-iit/bipedal-locomotion-framework/pull/568)
@@ -290,7 +290,7 @@ All notable changes to this project are documented in this file.
 - Added `mas-imu-test` application to check the output of MAS IMUs (https://github.com/ami-iit/bipedal-locomotion-framework/pull/62)
 - Implement motor currents reading in `YarpSensorBridge`. (https://github.com/ami-iit/bipedal-locomotion-framework/pull/187)
 
-[unreleased]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.9.0...master
+[0.10.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.9.0...v0.10.0
 [0.9.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.8.0...v0.9.0
 [0.8.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.7.0...v0.8.0
 [0.7.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.6.0...v0.7.0

CMakeLists.txt

@@ -6,7 +6,7 @@ cmake_minimum_required(VERSION 3.16.0)
 
 ## MAIN project
 project(BipedalLocomotionFramework
-  VERSION 0.9.100)
+  VERSION 0.10.0)
 
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 

docs/config.toml

@@ -3,21 +3,26 @@ main_page = "docs/pages/main-page.dox"
 additional_pages = ["docs/pages/python-additional-info.md"]
 src_folder = "src"
 
-['v0.9.0']
+['v0.10.0']
 main_page = "docs/pages/main-page.dox"
 additional_pages = ["docs/pages/python-additional-info.md"]
 src_folder = "src"
 
-['v0.8.0']
+['v0.9.0']
 main_page = "docs/pages/main-page.dox"
 additional_pages = ["docs/pages/python-additional-info.md"]
 src_folder = "src"
 
-['v0.7.0']
+['v0.8.0']
 main_page = "docs/pages/main-page.dox"
 additional_pages = ["docs/pages/python-additional-info.md"]
 src_folder = "src"
 
+# ['v0.7.0']
+# main_page = "docs/pages/main-page.dox"
+# additional_pages = ["docs/pages/python-additional-info.md"]
+# src_folder = "src"
+
 # ['v0.6.0']
 # main_page = "docs/pages/main-page.dox"
 # additional_pages = ["docs/pages/python-additional-info.md"]

docs/pages/main-page.dox

@@ -15,31 +15,31 @@ The minimum required dependencies are `Eigen3`, `iDynTree` and `spdlog`. If you
 
 \section exported-components 📙 Exported components
 
-The **bipedal-locomotion-framework** project consists of several components. The components are stored in the [`src`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src) folder and their compilation depends on the installed dependencies.
+The **bipedal-locomotion-framework** project consists of several components. The components are stored in the [`src`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.10.0/src) folder and their compilation depends on the installed dependencies.
 
 |                  Component                   |                         Description                          |                   Additional Dependencies                    |
 | :------------------------------------------: | :----------------------------------------------------------: | :----------------------------------------------------------: |
 |                    Framework                 |    Interface library that gathers all the exported components, includable with the file `BipedalLocomotion/Framework.h`     |  -   |
-|          [AutoDiff](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/AutoDiff)          |                Bridge between CppAD and Eigen                |   [`CppAD`](https://coin-or.github.io/CppAD/doc/cppad.htm)   |
-|     [ContactModels](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/ContactModels)     | Models to describe the contact between robot and enviroment  |                              -                               |
-|          [Contacts](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Contacts)          |              Syntactic description of a contact              |  [`manif`](https://github.com/artivis/manif) [`nlohmann json`](https://github.com/nlohmann/json/) |
-|    [CommonConversions](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Conversions)    |      Common conversion utilities used in the framework       |                              -                               |
-|    [ManifConversions](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Conversions)     | `manif` library related conversion utilities used in the framework |         [`manif`](https://github.com/artivis/manif)          |
-|        [Estimators](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Estimators)        |                 Library containing observers                 |                              -                               |
-|  [FloatingBaseEstimator](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Estimators)   |         Library containing floating base estimators          |         [`manif`](https://github.com/artivis/manif)          |
-|  [GenericContainer](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/GenericContainer)  |      Data structure similar to ``span`` but resizable.       |                              -                               |
-|               [IK](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/IK)                 |                      Inverse kinematics                      | [`manif`](https://github.com/artivis/manif) [`osqp-eigen`](https://github.com/robotology/osqp-eigen) |
-|              [Math](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Math)              |          Library containing mathematical algorithms          |      [`manif`](https://github.com/artivis/manif)             |
-| [ParametersHandler](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/ParametersHandler) |  Library for retrieving parameters from configuration files  | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) [`tomlplusplus`](https://github.com/marzer/tomlplusplus/) (only if you want the `toml` implementation) |
-|          [Planners](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Planners)          |       Library containing planner useful for locomotion       | [`manif`](https://github.com/artivis/manif) [`CasADi`](https://web.casadi.org/) [`qhull`](http://www.qhull.org/) |
-|    [RobotInterface](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/RobotInterface)    | Generic interface classes to adapt to various IO data formats | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) |
-|            [System](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/System)            |   Description of discrete and continuous dynamical systems   |                              -                               |
-|              [TSID](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/TSID)              |                 Task space inverse dynamics                  | [`manif`](https://github.com/artivis/manif) [`lie-group-controllers`](https://github.com/ami-iit/lie-group-controllers) |
-|     [YarpUtilities](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/YarpUtilities)     | Utilities library for retrieving data and from YARP structures |          [`YARP`](https://www.yarp.it/git-master/)           |
-| [PerceptionInterface](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/RobotInterface)  | Generic interface classes to adapt to perception data formats like images and point clouds | [`OpenCV`](https://github.com/opencv/opencv) [`PCL`](https://github.com/PointCloudLibrary/pcl) |
-|    [PerceptionCapture](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Perception)     |   Library containing driver classes for perception devices   | [`OpenCV`](https://github.com/opencv/opencv) [`PCL`](https://github.com/PointCloudLibrary/pcl) [`realsense2`](https://github.com/IntelRealSense/librealsense) |
-|    [PerceptionFeatures](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Perception)     |   Library containing perception algorithms useful for locomotion   | [`OpenCV`](https://github.com/opencv/opencv) |
-|    [SimplifiedModelControllers](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/SimplifiedModelControllers)     |   Library containing the controllers based on simplified models   | [`manif`](https://github.com/artivis/manif) |
+|          [AutoDiff](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.10.0/src/AutoDiff)          |                Bridge between CppAD and Eigen                |   [`CppAD`](https://coin-or.github.io/CppAD/doc/cppad.htm)   |
+|     [ContactModels](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.10.0/src/ContactModels)     | Models to describe the contact between robot and enviroment  |                              -                               |
+|          [Contacts](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.10.0/src/Contacts)          |              Syntactic description of a contact              |  [`manif`](https://github.com/artivis/manif) [`nlohmann json`](https://github.com/nlohmann/json/) |
+|    [CommonConversions](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.10.0/src/Conversions)    |      Common conversion utilities used in the framework       |                              -                               |
+|    [ManifConversions](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.10.0/src/Conversions)     | `manif` library related conversion utilities used in the framework |         [`manif`](https://github.com/artivis/manif)          |
+|        [Estimators](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.10.0/src/Estimators)        |                 Library containing observers                 |                              -                               |
+|  [FloatingBaseEstimator](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.10.0/src/Estimators)   |         Library containing floating base estimators          |         [`manif`](https://github.com/artivis/manif)          |
+|  [GenericContainer](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.10.0/src/GenericContainer)  |      Data structure similar to ``span`` but resizable.       |                              -                               |
+|               [IK](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.10.0/src/IK)                 |                      Inverse kinematics                      | [`manif`](https://github.com/artivis/manif) [`osqp-eigen`](https://github.com/robotology/osqp-eigen) |
+|              [Math](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.10.0/src/Math)              |          Library containing mathematical algorithms          |      [`manif`](https://github.com/artivis/manif)             |
+| [ParametersHandler](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.10.0/src/ParametersHandler) |  Library for retrieving parameters from configuration files  | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) [`tomlplusplus`](https://github.com/marzer/tomlplusplus/) (only if you want the `toml` implementation) |
+|          [Planners](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.10.0/src/Planners)          |       Library containing planner useful for locomotion       | [`manif`](https://github.com/artivis/manif) [`CasADi`](https://web.casadi.org/) [`qhull`](http://www.qhull.org/) |
+|    [RobotInterface](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.10.0/src/RobotInterface)    | Generic interface classes to adapt to various IO data formats | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) |
+|            [System](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.10.0/src/System)            |   Description of discrete and continuous dynamical systems   |                              -                               |
+|              [TSID](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.10.0/src/TSID)              |                 Task space inverse dynamics                  | [`manif`](https://github.com/artivis/manif) [`lie-group-controllers`](https://github.com/ami-iit/lie-group-controllers) |
+|     [YarpUtilities](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.10.0/src/YarpUtilities)     | Utilities library for retrieving data and from YARP structures |          [`YARP`](https://www.yarp.it/git-master/)           |
+| [PerceptionInterface](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.10.0/src/RobotInterface)  | Generic interface classes to adapt to perception data formats like images and point clouds | [`OpenCV`](https://github.com/opencv/opencv) [`PCL`](https://github.com/PointCloudLibrary/pcl) |
+|    [PerceptionCapture](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.10.0/src/Perception)     |   Library containing driver classes for perception devices   | [`OpenCV`](https://github.com/opencv/opencv) [`PCL`](https://github.com/PointCloudLibrary/pcl) [`realsense2`](https://github.com/IntelRealSense/librealsense) |
+|    [PerceptionFeatures](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.10.0/src/Perception)     |   Library containing perception algorithms useful for locomotion   | [`OpenCV`](https://github.com/opencv/opencv) |
+|    [SimplifiedModelControllers](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.10.0/src/SimplifiedModelControllers)     |   Library containing the controllers based on simplified models   | [`manif`](https://github.com/artivis/manif) |
 
 \warning ⚠️  Including `BipedalLocomotion/Framework.h` may result in higher compilation time because of the inclusion of headers which may not be used in your project. It is always suggested to follow the [IWYU](https://github.com/include-what-you-use/include-what-you-use/blob/cc0fad4be0db26e40713b6076263f204a311b573/docs/WhyIWYU.md) paradigm. This applies also for the CMake targets. It is suggested to link only the targets used in your project.
 
@@ -70,7 +70,7 @@ cmake --build . --config Release --target install
 
 \section some-utilities 🖥️  Some utilities
 
-The **bipedal-locomotion-framework** ships also some utilities that can help you in the everyday tests on a real robot. You can find them in the [`utilities` folder](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/utilities). Each utility contains a well-documented `README` where you can find further details.
+The **bipedal-locomotion-framework** ships also some utilities that can help you in the everyday tests on a real robot. You can find them in the [`utilities` folder](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.10.0/utilities). Each utility contains a well-documented `README` where you can find further details.
 
 \section python 🐍 Python