Skip to content

Commit 9142af0

Browse files
GiulioRomualdiGiulioRomualdi
committed
🚀 Release 0.21.0
1 parent 9b0853f commit 9142af0

File tree

4 files changed

+40
-35
lines changed

4 files changed

+40
-35
lines changed

‎CHANGELOG.md‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
# Changelog
22
All notable changes to this project are documented in this file.
33

4-
## [unreleased]
4+
## [0.21.0] - 2025-05-27
55
### Added
66
- Add `ZMPgenerator` to `UnicycleTrajectoryGenerator` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/916)
77
- Add `VariableFeasibleRegionTaskVariableFeasibleRegionTask` in the TSID controller (https://github.com/ami-iit/bipedal-locomotion-framework/pull/922)
@@ -643,8 +643,8 @@ All notable changes to this project are documented in this file.
643643
- Added `mas-imu-test` application to check the output of MAS IMUs (https://github.com/ami-iit/bipedal-locomotion-framework/pull/62)
644644
- Implement motor currents reading in `YarpSensorBridge`. (https://github.com/ami-iit/bipedal-locomotion-framework/pull/187)
645645

646-
[unreleased]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.20.0...master
647-
[0.19.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.19.0...v0.20.0
646+
[0.21.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.20.0...v0.21.0
647+
[0.20.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.19.0...v0.20.0
648648
[0.19.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.18.0...v0.19.0
649649
[0.18.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.17.0...v0.18.0
650650
[0.17.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.16.1...v0.17.0

‎CMakeLists.txt‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,7 @@ cmake_minimum_required(VERSION 3.18.0)
66

77
## MAIN project
88
project(BipedalLocomotionFramework
9-
VERSION 0.20.100)
9+
VERSION 0.21.0)
1010

1111
list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
1212

‎docs/config.toml‎

Lines changed: 9 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -3,6 +3,11 @@ main_page = "docs/pages/main-page.dox"
33
additional_pages = ["docs/pages/python-additional-info.md", "docs/pages/so3-minjerk.md"]
44
src_folder = "src"
55

6+
['v0.21.0']
7+
main_page = "docs/pages/main-page.dox"
8+
additional_pages = ["docs/pages/python-additional-info.md", "docs/pages/so3-minjerk.md"]
9+
src_folder = "src"
10+
611
# ['v0.20.0']
712
# main_page = "docs/pages/main-page.dox"
813
# additional_pages = ["docs/pages/python-additional-info.md", "docs/pages/so3-minjerk.md"]
@@ -18,10 +23,10 @@ main_page = "docs/pages/main-page.dox"
1823
additional_pages = ["docs/pages/python-additional-info.md", "docs/pages/so3-minjerk.md"]
1924
src_folder = "src"
2025

21-
['v0.17.0']
22-
main_page = "docs/pages/main-page.dox"
23-
additional_pages = ["docs/pages/python-additional-info.md", "docs/pages/so3-minjerk.md"]
24-
src_folder = "src"
26+
# ['v0.17.0']
27+
# main_page = "docs/pages/main-page.dox"
28+
# additional_pages = ["docs/pages/python-additional-info.md", "docs/pages/so3-minjerk.md"]
29+
# src_folder = "src"
2530

2631
# ['v0.16.1']
2732
# main_page = "docs/pages/main-page.dox"

‎docs/pages/main-page.dox‎

Lines changed: 27 additions & 27 deletions
Original file line numberDiff line numberDiff line change
@@ -23,33 +23,33 @@ The **bipedal-locomotion-framework** project consists of several components. The
2323
| Component | Description | Additional Dependencies |
2424
| :--------------------------------------------: | :----------------------------------------------------------: | :----------------------------------------------------------: |
2525
| `Framework` | Interface library that gathers all the exported components, includable with the file `BipedalLocomotion/Framework.h` | - |
26-
| [`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) |
27-
| [`ContactModels`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/ContactModels) | Models to describe the contact between robot and enviroment | - |
28-
| [`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/) |
29-
| [`CommonConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Conversions) | Common conversion utilities used in the framework | - |
30-
| [`ManifConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Conversions) | Library related conversion utilities used in the framework | [`manif`](https://github.com/artivis/manif) |
31-
| [`matioCppConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Conversions) | Library related conversion utilities used in the framework | [`matio-cpp`](https://github.com/ami-iit/matio-cpp) |
32-
| [`CasadiConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Conversions) | Library related conversion utilities used in the framework | [`CasADi`](https://github.com/casadi/casadi) |
33-
| [`ContinuousDynamicalSystem`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/ContinuousDynamicalSystem) | Library containing algorithms for continuous dynamical systems | [`manif`](https://github.com/artivis/manif) |
34-
| [`Estimators`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Estimators) | Library containing observers | - |
35-
| [`FloatingBaseEstimator`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Estimators) | Library containing floating base estimators | [`manif`](https://github.com/artivis/manif) |
36-
| [`RobotDynamicsEstimator`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Estimators) | Library containing floating base estimators | [`manif`](https://github.com/artivis/manif) |
37-
| [`GenericContainer`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/GenericContainer) | Data structure similar to ``span`` but resizable. | - |
38-
| [`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) |
39-
| [`Math`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Math) | Library containing mathematical algorithms | [`manif`](https://github.com/artivis/manif) |
40-
| [`ML`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/ML) | Library containing deep learning algorithms | [`onnxruntime`](https://onnxruntime.ai/) |
41-
| [`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) |
42-
| [`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) |
43-
| [`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) |
44-
| [`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) |
45-
| [`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/) |
46-
| [`ReducedModelControllers`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/ReducedModelsController) | Controller based on reduced models, e.g., `CentroidalMPC` | [`CasADi`](https://github.com/casadi/casadi)|
47-
| [`RobotInterface`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/RobotInterface) | Library for communicating with the robot | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) |
48-
| [`SimplifiedModelControllers`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/SimplifiedModelControllers) | Controllers based on simplified models, i.e, LIPM. | - |
49-
| [`System`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/System) | Description of discrete and continuous dynamical systems | - |
50-
| [`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) |
51-
| [`TextLogging`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/TextLogging) | Helper library to display messages into the console | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) [`ros-humble`](https://docs.ros.org/en/humble/) (if you want the `ros2` implementation) |
52-
| [`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/) |
26+
| [`AutoDiff`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/src/AutoDiff) | Bridge between CppAD and Eigen | [`CppAD`](https://coin-or.github.io/CppAD/doc/cppad.htm) |
27+
| [`ContactModels`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/src/ContactModels) | Models to describe the contact between robot and enviroment | - |
28+
| [`Contacts`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/src/Contacts) | Syntactic description of a contact | [`manif`](https://github.com/artivis/manif) [`nlohmann json`](https://github.com/nlohmann/json/) |
29+
| [`CommonConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/src/Conversions) | Common conversion utilities used in the framework | - |
30+
| [`ManifConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/src/Conversions) | Library related conversion utilities used in the framework | [`manif`](https://github.com/artivis/manif) |
31+
| [`matioCppConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/src/Conversions) | Library related conversion utilities used in the framework | [`matio-cpp`](https://github.com/ami-iit/matio-cpp) |
32+
| [`CasadiConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/src/Conversions) | Library related conversion utilities used in the framework | [`CasADi`](https://github.com/casadi/casadi) |
33+
| [`ContinuousDynamicalSystem`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/src/ContinuousDynamicalSystem) | Library containing algorithms for continuous dynamical systems | [`manif`](https://github.com/artivis/manif) |
34+
| [`Estimators`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/src/Estimators) | Library containing observers | - |
35+
| [`FloatingBaseEstimator`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/src/Estimators) | Library containing floating base estimators | [`manif`](https://github.com/artivis/manif) |
36+
| [`RobotDynamicsEstimator`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/src/Estimators) | Library containing floating base estimators | [`manif`](https://github.com/artivis/manif) |
37+
| [`GenericContainer`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/src/GenericContainer) | Data structure similar to ``span`` but resizable. | - |
38+
| [`IK`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/src/IK) | Inverse kinematics | [`manif`](https://github.com/artivis/manif) [`osqp-eigen`](https://github.com/robotology/osqp-eigen) |
39+
| [`Math`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/src/Math) | Library containing mathematical algorithms | [`manif`](https://github.com/artivis/manif) |
40+
| [`ML`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/src/ML) | Library containing deep learning algorithms | [`onnxruntime`](https://onnxruntime.ai/) |
41+
| [`ParametersHandler`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/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) |
42+
| [`PerceptionInterface`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/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) |
43+
| [`PerceptionCapture`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/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) |
44+
| [`PerceptionFeatures`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/src/Perception) | Library containing perception algorithms useful for locomotion | [`OpenCV`](https://github.com/opencv/opencv) |
45+
| [`Planners`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/src/Planners) | Library containing planner useful for locomotion | [`manif`](https://github.com/artivis/manif) [`CasADi`](https://web.casadi.org/) [`qhull`](http://www.qhull.org/) |
46+
| [`ReducedModelControllers`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/src/ReducedModelsController) | Controller based on reduced models, e.g., `CentroidalMPC` | [`CasADi`](https://github.com/casadi/casadi)|
47+
| [`RobotInterface`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/src/RobotInterface) | Library for communicating with the robot | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) |
48+
| [`SimplifiedModelControllers`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/src/SimplifiedModelControllers) | Controllers based on simplified models, i.e, LIPM. | - |
49+
| [`System`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/src/System) | Description of discrete and continuous dynamical systems | - |
50+
| [`TSID`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/src/TSID) | Task space inverse dynamics | [`manif`](https://github.com/artivis/manif) [`lie-group-controllers`](https://github.com/ami-iit/lie-group-controllers) |
51+
| [`TextLogging`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/src/TextLogging) | Helper library to display messages into the console | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) [`ros-humble`](https://docs.ros.org/en/humble/) (if you want the `ros2` implementation) |
52+
| [`YarpUtilities`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.21.0/src/YarpUtilities) | Utilities library for retrieving data and from YARP structures | [`YARP`](https://www.yarp.it/git-master/) |
5353

5454

5555
\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.

0 commit comments

Comments
 (0)