Idyntree

Fixed
- Further fix for configuration compilation with Assimp >= 5.0.0 (https://github.com/robotology/idyntree/pull/666).

Fixed
- Fixed configuration and compilation with Assimp >= 5.0.0 (https://github.com/robotology/idyntree/pull/661).
- Fixed runtime errors of the MATLAB bindings on Windows and compatibility with MATLAB 2020a (https://github.com/robotology/idyntree/pull/664).

Fixed
- Remove spurious inclusion of Eigen headers in ExtendedKalmanFilter.h public header, that could create problems when using that header in a downstream project that does not use Eigen (https://github.com/robotology/idyntree/pull/639).
- Added find_dependency(OsqpEigen) and find_dependency(LibXml2) when iDynTree is compiled as a static library, fixing the use of iDynTree on Windows (https://github.com/robotology/idyntree/pull/642).

Changed
- To reduce the possible unexpected problems, the automatic set of the `IDYNTREE_USES_<pkg>` CMake variable when the `<pkg>` CMake package is available in the system has been removed for Irrlicht and WORHP, as it was already disabled for ASSIMP and ALGLIB (https://github.com/robotology/idyntree/pull/642). To use this dependencies it is now compulsory to set manually the `IDYNTREE_USES_<pkg>` variable to `ON`.

Fixed
- Change CMake version compatibility from [SameMajorVersion to AnyNewerVersion](https://cmake.org/cmake/help/v3.12/module/CMakePackageConfigHelpers.html#generating-a-package-version-file), as API breakage between major version will be limited, and to avoid breaking the compatibility of any downstream project that request a minimum version of iDynTree as in `find_package(iDynTree 0.11 REQUIRED)` (https://github.com/robotology/idyntree/pull/629).

Added
- Added method to compute the inverse dynamics inertial parameters regressor in KinDynComputations ( https://github.com/robotology/idyntree/pull/480 ).
KinDynComputations finally reached feature parity with respect to DynamicsComputations, that will finally be removed in one of the future iDynTree feature releases.
- Added method to return the convex hull of the constraint on the projection of the center of mass (https://github.com/robotology/idyntree/pull/478).
- Added objects to deal with linear optimal control problems in the optimalcontrol library.
- Added ``OSQP`` interface via ``osqp-eigen`` in the optimalcontrol library.
- Fixed bugs in ``MultipleShooting`` solver in the optimalcontrol library.
- Added few lines of documentation in the optimalcontrol library.
- Added interface for ``ALGLIB`` and ``WORHP`` in the optimalcontrol library.
- Multiple shooting solvers can use hessians of costs and constraints in the optimalcontrol library.
- Taking into account also the sparsity pattern of constraints and dynamical system (both in jacobians and hessians) in the optimalcontrol library.
- Added visualization of vectors in the visualization library.
- Added a SolidShape helper library. This library is part of iDynTree, and is meant
to contain all the algorithms that use in some form the visual and collision geometries of the model,
and so they depend on the Assimp library to load meshes.
- Added an helper function that provides rough estimates of the inertial parameters (mass, first moments of mass,
3d inertia matrix elements) of a robot given the total mass of the robot, and its collisions shapes. While the estimates
provided are quite rough, they can be quite useful at least to provide an expected order of magnitude of the parameters,
to normalize errors or as initial points of a nonlinear optimization procedure.
- Added attitude estimator interface to estimate the orientation of an IMU, given the IMU measurements (https://github.com/robotology/idyntree/pull/516).
- Added `DiscreteExtendedKalmanFilterHelper` base class (https://github.com/robotology/idyntree/pull/516).
- Added `AttitudeMahonyFilter` implementation of an explicit formulation of passive complementary filter over quaternion groups (https://github.com/robotology/idyntree/pull/516).
- Added `AttitudeQuaternionEKF` implementation (https://github.com/robotology/idyntree/pull/516).
- Added `getWorldFrameTransform` implementation in `SimpleLeggedOdometry` class
- Added a new version of `changeFixedFrame` in `SimpleLeggedOdometry`class. This can be used to set a desired homogeneous transformation for the fixed frame
- Added `bindings` for `AttitudeMahonyFilter`, `AttitudeQuaternionEKF`, `DiscreteExtendedKalmanFilterHelper` (https://github.com/robotology/idyntree/pull/522)
- Added basic tests for the Attitude Estimator classes (https://github.com/robotology/idyntree/pull/522)
- Added `DiscreteKalmanFilterHelper` class for an implementation of a discrete, linear time-invariant Kalman Filter (https://github.com/robotology/idyntree/pull/559)
- Added dynamic reset functionality to `DiscreteExtendedKalmanFilterHelper` class (https://github.com/robotology/idyntree/pull/553)
- Added high-level Matlab/Octave wrappers of the iDyntree bindings (https://github.com/robotology/idyntree/pull/530)
- Added bindings for the class `Span` with the name `DynamicSpan` (https://github.com/robotology/idyntree/pull/522)
- Implement `RPYRightTrivializedDerivativeRateOfChange()` and `RPYRightTrivializedDerivativeInverseRateOfChange()` into `Rotation` class
- Implement left Jacobian and left Jacobian inverse of SO(3) in Rotation class (https://github.com/robotology/idyntree/pull/562)
- Add nameIsValid attribute to iDynTree::SolidShape class.
- Add operator[] method to `iDynTree::VectorDynSize` (https://github.com/robotology/idyntree/pull/596)
- Add operator[] method to `iDynTree::VectorFixSize` (https://github.com/robotology/idyntree/pull/596)
- Implement `getTotalMass()` method for Model class(
- Enable the installation of the `ModelTestUtils.h` file (https://github.com/robotology/idyntree/pull/607)
- Added `iDynTree::ModelExporter` class to export `iDynTree::Model` instances to URDF files (https://github.com/robotology/idyntree/pull/554).
- Added support in the URDF parser to correctly parse the optional name parameter of visual and collision elements.
- Added `iDynTree::ModelCalibrationHelper` to simplify loading a model from file, update its inertial parameters and exporting again to file (https://github.com/robotology/idyntree/pull/576).
- In `yarprobotstatepublisher`, add `tf-prefix` and `jointstates-topic` options for the tf prefixes and ROS topic.
* In `yarprobotstatepublisher`, add `reduced-model` optional parameter to stream only the link transformations to transform server. By default, tranformations from all the frames are streamed to the transform server.

Changed
- The changelog has been migrated to the format described in https://keepachangelog.com/en/1.0.0/ .
- If the IDYNTREE_USES_YARP option is enabled, the minimum required version of YARP is 3.3 .
- The CMake config files are now installed in ${CMAKE_INSTALL_PREFIX}/lib/cmake/iDynTree also in Windows.
- Updated `iDynTree::ModelLoader` class to load by default models with normalized joint ordering (https://github.com/robotology/idyntree/issues/491).
- In `yarprobotstatepublisher` the model joint positions values are initialized to zero and the joint positions values are updadted in run time if the values are available in ROS topic given through `jointstates-topic` parameter.
- In `yarprobotstatepublisher`, joint size check between model joints and joints in ROS topic given through `jointstates-topic` parameter have been removed.

Deprecated
- All the classes and methods that end in Semantics are deprecated, and will be removed in iDynTree 2.0, see https://github.com/robotology/idyntree/pull/622 for more info.
- The CMake option IDYNTREE_USES_KDL and all the classes available when enabling it are deprecated, and will be removed in iDynTree 2.0 .
- In `yarprobotstatepublisher`, the `robot` option is deprecated, and replaced by `name-prefix`.

Fixed
- Fixed missing `DOF_ACCELLERATION` data in dynamic variable cache ordering
(https://github.com/robotology/idyntree/pull/587)
- Fixed compatibility of `Span` with SWIG bindings compilation (https://github.com/robotology/idyntree/pull/522)
- Fixed implementation of `Transform::log()` method (https://github.com/robotology/idyntree/pull/562)
- Fixed implementation of `SpatialMotionVector::exp()` method (https://github.com/robotology/idyntree/pull/562)

Added

- The getFrameAcc method that returns the acceleration of a frame was added to the KinDynComputations class.
As this method takes in input every time the robot acceleration, it is computationally expensive and
is not suitable to be used for multiple frames in a tight loop. If you need a computationally convenient
method to access frame accelerations, please open an issue ( https://github.com/robotology/idyntree/pull/482 ).
- It is now possible to specify a non-zero bias base acceleration as input of the ForwardBiasAccKinematics function.
This is convenient if the bias acceleration that is being computed is the bias acceleration obtained with the
MIXED velocity representation ( https://github.com/robotology/idyntree/pull/482 ).


Fixed

- Fixed cache invalidation bug in the getFrameBiasAcc method of KinDynComputations. The internal
cache used by getBiasAcc was never updated even if the method setRobotState was called, so the
getFrameBiasAcc method always returned the bias acceleration corresponding to the first call to setRobotState ( https://github.com/robotology/idyntree/pull/482 ).
- Fixed getBiasAcc method in KinDynComputations to take into account the effect of non-zero and non-parallel
linear and angular base velocity, described in https://github.com/robotology/idyntree/issues/370 .
- Fixed compilation on 32-bit Windows ( https://github.com/robotology/idyntree/pull/506 )
- Fixed a URDF parser regression introduced in iDynTree 0.11 for which collision geometries were also loaded as visual geometries, and viceversa (https://github.com/robotology/idyntree/issues/497, https://github.com/robotology/idyntree/pull/559).
- Fixed a URDF parser regression introduced in iDynTree 0.11 for which geometry elements without origin tag were not correctly parsed (https://github.com/robotology/idyntree/issues/496, https://github.com/robotology/idyntree/pull/564).