Idyntree

Added
- Add the visualization of labels in the visualizer (https://github.com/robotology/idyntree/pull/879)

Removed
- Remove headers `iDynTree/Core/AngularForceVector3.h`, `iDynTree/Core/AngularMotionVector3.h`, `include/iDynTree/Core/ForceVector3.h`, `iDynTree/Core/LinearForceVector3.h`, `include/iDynTree/Core/LinearMotionVector3.h`, `include/iDynTree/Core/MotionVector3.h`. They were deprecated in iDynTree 2.0 (https://github.com/robotology/idyntree/pull/708, https://github.com/robotology/idyntree/pull/885).
- The method `ModelVisualization::getWorldModelTransform()` was removed, it was deprecated in iDynTree 3.0.1 .

Fixed
- Fixed the possibility of installing the bindings of iDynTree (`bindings` directory) on their own, against an already compiled system iDynTree (https://github.com/robotology/idyntree/pull/896).

Added
- Add the `is/asPrismaticJoint` methods in the bindings (https://github.com/robotology/idyntree/issues/881, https://github.com/robotology/idyntree/pull/882)
- Add the possibility of building the binding of iDynTree (`bindings` directory) on their own, against an already compiled system iDynTree (https://github.com/robotology/idyntree/pull/892/, https://github.com/robotology/robotology-superbuild/pull/817).

Deprecated
- The tools that depend on YARP (`urdf2dh`, `yarprobotstatepublisher`, `idyntree-sole-gui`, `iDynTreePlotter`) have been moved in [`idyntree-yarp-tools`](https://github.com/robotology/idyntree-yarp-tools) and their use in iDynTree has been deprecated. The option `IDYNTREE_COMPILES_YARP_TOOLS` has been introduced to disable their compilation. This option is set by default to `ON` on iDynTree 3, will exist but default to `OFF` in iDynTree 4, and will be removed in iDynTree 5.

Fixed
- The example file `examples/python/KinDynComputationsTutorial.py` has been fixed to work with Python 3 and iDynTree >= 2.0 (https://github.com/robotology/idyntree/pull/873).
- Fix of a bug introduced by https://github.com/robotology/idyntree/pull/845 and present in iDynTree 3.1.0 and 3.2.0 in the visualization of boxes (https://github.com/robotology/idyntree/pull/874)

Changed
- The `SwigRef.m`, `SwigMem.m` and `SwigGet.m` MATLAB files are now named `iDynTreeSwigRef.m`, `iDynTreeSwigMem.m` and `iDynTreeSwigGet.m`. This ensure prevent the possibility that other libraries (such as CasADi) install files with the same name in the MATLAB path with incompatible content (https://github.com/robotology/idyntree/issues/865, https://github.com/robotology/idyntree/pull/868).

Added
- Add the possibility to use `MatrixView` and `Span` as input/output objects for `InverseKinematics` class (https://github.com/robotology/idyntree/pull/822).
- Add the possibility to get frame trasform from the visualizer, and to use frame/link name in place of indices (https://github.com/robotology/idyntree/pull/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 (https://github.com/robotology/idyntree/pull/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 (https://github.com/robotology/idyntree/pull/857).

Changed
- The wheels uploaded to PyPI are now `manylinux_2_24` compliant (https://github.com/robotology/idyntree/pull/844)

Fixed
- Dynamics: In RNEA Dynamic Loop, return zero for wrench corresponding to non-existing parent joint of base link (https://github.com/robotology/idyntree/pull/857).
- Fixed compilation when using Eigen 3.4 (https://github.com/robotology/idyntree/pull/861).