From c2c7d6e481c4487ca2ce9547dfdc1094682dd000 Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Mon, 10 Jan 2022 23:30:00 +0100 Subject: [PATCH] =?UTF-8?q?=F0=9F=9A=80=20Release=200.6.0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CHANGELOG.md | 20 ++++++++++++------- CMakeLists.txt | 2 +- docs/config.toml | 5 +++++ docs/pages/main-page.dox | 42 ++++++++++++++++++++-------------------- 4 files changed, 40 insertions(+), 29 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 0ba3a9259a..ef2ed2a6ae 100644 --- 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 index d8e72553c2..c26411b384 100644 --- 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 index e034094338..e443ee0088 100644 --- 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 index 20f8f916a6..5ec735811f 100644 --- 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