🚀 Release 0.6.0

ami-iit · Jan 10, 2022 · c2c7d6e · c2c7d6e
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -3,6 +3,11 @@ All notable changes to this project are documented in this file.
 
 ## [Unreleased]
 ### Added
+### Changed
+### Fix
+
+## [0.6.0] - 2022-12-10
+### Added
 - Add the reading of the orientation of the head IMU in `YarpRobotLoggerDevice` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/471)
 - Add the possibility to change the weight in TSID/IK (https://github.com/ami-iit/bipedal-locomotion-framework/pull/475)
 - Implement a `FirstOrderSmoother` class in `ContinuousDynamicalSystem` component (https://github.com/ami-iit/bipedal-locomotion-framework/pull/476)
@@ -219,10 +224,11 @@ 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/dic-iit/bipedal-locomotion-framework/pull/62)
 - Implement motor currents reading in `YarpSensorBridge`. (https://github.com/dic-iit/bipedal-locomotion-framework/pull/187)
 
-[Unreleased]: https://github.com/dic-iit/bipedal-locomotion-framework/compare/v0.5.0...master
-[0.5.0]: https://github.com/dic-iit/bipedal-locomotion-framework/compare/v0.4.0...v0.5.0
-[0.4.0]: https://github.com/dic-iit/bipedal-locomotion-framework/compare/v0.3.0...v0.4.0
-[0.3.0]: https://github.com/dic-iit/bipedal-locomotion-framework/compare/v0.2.0...v0.3.0
-[0.2.0]: https://github.com/dic-iit/bipedal-locomotion-framework/compare/v0.1.1...v0.2.0
-[0.1.1]: https://github.com/dic-iit/bipedal-locomotion-framework/compare/v0.1.0...v0.1.1
-[0.1.0]: https://github.com/dic-iit/bipedal-locomotion-framework/releases/tag/v0.1.0
+[Unreleased]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.6.0...master
+[0.6.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.5.0...v0.6.0
+[0.5.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.4.0...v0.5.0
+[0.4.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.3.0...v0.4.0
+[0.3.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.2.0...v0.3.0
+[0.2.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.1.1...v0.2.0
+[0.1.1]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.1.0...v0.1.1
+[0.1.0]: https://github.com/ami-iit/bipedal-locomotion-framework/releases/tag/v0.1.0
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -6,7 +6,7 @@ cmake_minimum_required(VERSION 3.16.0)
 
 ## MAIN project
 project(BipedalLocomotionFramework
-  VERSION 0.5.100)
+  VERSION 0.6.0)
 
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 

diff --git a/docs/config.toml b/docs/config.toml
@@ -3,6 +3,11 @@ 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"]
+src_folder = "src"
+
 ['v0.5.0']
 main_page = "docs/pages/main-page.dox"
 additional_pages = ["docs/pages/python-additional-info.md"]

diff --git a/docs/pages/main-page.dox b/docs/pages/main-page.dox
@@ -20,26 +20,26 @@ The **bipedal-locomotion-framework** project consists of several components. The
 |                  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/dic-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/v0.6.0/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/v0.6.0/src/ContactModels)     | Models to describe the contact between robot and enviroment  |                              -                               |
+|          [Contacts](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.6.0/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/v0.6.0/src/Conversions)    |      Common conversion utilities used in the framework       |                              -                               |
+|    [ManifConversions](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.6.0/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/v0.6.0/src/Estimators)        |                 Library containing observers                 |                              -                               |
+|  [FloatingBaseEstimator](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.6.0/src/Estimators)   |         Library containing floating base estimators          |         [`manif`](https://github.com/artivis/manif)          |
+|  [GenericContainer](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.6.0/src/GenericContainer)  |      Data structure similar to ``span`` but resizable.       |                              -                               |
+|               [IK](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.6.0/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/v0.6.0/src/Math)              |          Library containing mathematical algorithms          |      [`manif`](https://github.com/artivis/manif)             |
+| [ParametersHandler](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.6.0/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/v0.6.0/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/v0.6.0/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/v0.6.0/src/System)            |   Description of discrete and continuous dynamical systems   |                              -                               |
+|              [TSID](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.6.0/src/TSID)              |                 Task space inverse dynamics                  | [`manif`](https://github.com/artivis/manif) [`lie-group-controllers`](https://github.com/dic-iit/lie-group-controllers) |
+|     [YarpUtilities](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.6.0/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/v0.6.0/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/v0.6.0/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/v0.6.0/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/v0.6.0/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/dic-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/dic-iit/bipedal-locomotion-framework/tree/v0.6.0/utilities). Each utility contains a well-documented `README` where you can find further details.
 
 \section python 🐍 Python