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iDynTree 3.1.0 (2021-04-23)

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@traversaro traversaro released this 23 Apr 16:22
· 540 commits to master since this release
v3.1.0
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Learn about vigilant mode.

[3.1.0] - 2020-04-23

Added

  • Add the possibility to use MatrixView and Span as input/output objects for InverseKinematics class (#822).
  • Add the possibility to get frame trasform from the visualizer, and to use frame/link name in place of indices (#849).
  • Add IDYNTREE_DETECT_ACTIVE_PYTHON_SITEPACKAGES CMake option (default value: OFF) to detect and install in the active site-package directory the Python bindings (#852).
  • Add inverseDynamicsWithInternalJointForceTorques method to KinDynComputations, this method permits to compute the inverse dynamics, but providing as an output the internal joint 6D force/torque for each joint (#857).

Changed

  • The wheels uploaded to PyPI are now manylinux_2_24 compliant (#844)

Fixed

  • Dynamics: In RNEA Dynamic Loop, return zero for wrench corresponding to non-existing parent joint of base link (#857).
  • Fixed compilation when using Eigen 3.4 (#861).
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