Idyntree

Fixed

- Fix a locale-dependent floating point parsing in the URDF parser (https://github.com/robotology/idyntree/pull/475).
- Fix compatibility with SWIG 2 (https://github.com/robotology/idyntree/pull/476).
- Fix behavior of InverseKinematics if Add***Constraint method are called multiple times (https://github.com/robotology/idyntree/pull/479).

Added
- A new URDF parser was implemented. A side effect of the new parser is that the serialization of the links and joints of models
parsed from URDF may change. In your code, please use name string (in place of indices) to identify joints and links, or use the
`iDynTree::ModelLoader` class to load a Model with the specified joint serialization.
- Added library `idyntree-modelio-xml` to parse generic XML files. Support for XSD validation (when parsing from file). This library requires [Gnome libxml2](http://xmlsoft.org).
- Added `toEigen` methods for `Span` and added typedef for `Eigen` maps of vectors.
- Added some typedefs to `VectorDynsize` and `VectorFixSize` classes to enable the use of `make_span` with these objects.
- Added copy operator in `VectorDynSize` and `VectorFixSize` for `Span<double>`.
- Added method to obtain relative Jacobians sparsity pattern.
- Added method to obtain free floating Jacobians sparsity pattern.

Changed
- iDynTree now official supports the following compilers: Microsoft Visual Studio 2015/2017, GCC >= 5.3 and clang >= 3.8 .
- The C++14 standard language is now used in the project, including in the public headers.
- [libxml2](http://xmlsoft.org) is now a required dependency. Check the docs to see how to install it.
- CMake 3.5 is now required to build iDynTree.
- Improve SpatialInertia documentation ( https://github.com/robotology/idyntree/pull/435 ).
- Changed URDF parser to use `libxml2` instead of TinyXML.

Deprecated
- The `iDynTree/Sensors/SixAxisFTSensor.h` header has been deprecated in favor of the `iDynTree/Sensors/SixAxisForceTorqueSensor.h`.
- Constraints Jacobian now exploit sparsity pattern

Added

- Added the `iDynTree::Span` class (https://github.com/robotology/idyntree/pull/434), modeled after
the C++20's `std::span` ( http://en.cppreference.com/w/cpp/container/span ). This class can be used to write
methods and functions that access a contiguous sequence of objects in memory with a known length.
This is extremly useful to make sure that `iDynTree` classes are easy to use regardless of which
vector type the downstream code is using, for example if it is one of `std::vector<double>`,
`Eigen::VectorXd` or `yarp::sig::Vector`
- In the InverseKinematics library, the Frame Constraints can now be enabled and disabled dynamically ( https://github.com/robotology/idyntree/pull/389 ).
- Addition of iDynTree::SchmittTrigger, iDynTree::ContactStateMachine and iDynTree::BipedFootContactClassifier classes for performing contact state detection using Schmitt trigger based thresholding and biped foot contact classification based on an alternate contact switching pattern reasoning over contact makes used for getting primary foot in contact
(https://github.com/robotology/idyntree/pull/410 , https://github.com/robotology/idyntree/pull/411 ).
- Addition of iDynTree::GravityCompensationHelpers class for computing gravity compensation torques using accelerometer measurements (https://github.com/robotology/idyntree/pull/438)
- Initial improvement of the optimal control library ( https://github.com/robotology/idyntree/pull/442 ). See the inline documentation of the classes for more details, or open an issue
( https://github.com/robotology/idyntree/issues/new ) requesting documentation on some specific aspects of the optimal control library.


Changed
- Since 0.10 release, iDynTree uses C++14 in its headers, and requires GCC >= 5 and Visual Studio >= 2015
to compile.
- Similar to the YARP policy, any new version of iDynTree will have a consecutive minor version number.
Development version (the one contained in the `devel` branch before release will be denoted with a
patch version number greater than 100. The next minor release of iDynTree will be 0.11 .

Fixed

- In the classes devoted to the external force-torque estimation, since https://github.com/robotology/idyntree/pull/343 it is possible to have external forces that are completly estimated from external sensors such as skin sensors. If in a given submodels there are no unknown due to this, the pseudoinverse should be skipped ( https://github.com/robotology/idyntree/pull/443 ) .
- Fix compatibility with YARP 3.

Fixed
- The `toEigen(const SpatialMotionVector & vec)` and `toEigen(const SpatialForceVector & vec)` inline helpers functions in the `iDynTree/Core/EigenHelpers.h` have been modified to return a **`const`** copy of their content.
While this is technically an API change, it was critical because most of the other `toEigen` methods return an `Eigen::Map` object, and users
expect to be able to use `Eigen` modifiers methods such as `toEigen(...).setZero()`. Enforcing a compilation error in this case will help to prevent subtle bugs.
As this is an `inline` function, this modification does not affect `iDynTree`'s `ABI` ( https://github.com/robotology/idyntree/pull/378 ) .
- The CMake configuration files of the release `0.8.0` were generated with the wrong version `0.7.2`.

Added

- This is the first version of iDynTree for which a changelog was introduced.
- The iDynTree::Model class now supports prismatic joints, using the iDynTree::PrismaticJoint class. Support for prismatic joints was added also to the URDF parser ( https://github.com/robotology/idyntree/pull/269 ).
- Classes and function to convert between chains rappresented by the Denavit Hartnberg convention and iDynTree::Model object have been implemented ( https://github.com/robotology/idyntree/pull/350 ).

Changed

- The methods and constructors of the iDynTree::RevoluteJoint and iDynTreee::PrismaticJoint classes handling joints have been cleaned up ( https://github.com/robotology/idyntree/pull/339 ).
- The logic to enable/disable dependencies has changed. In particular, now all the dependencies (excluding the legacy dependency on KDL) that are found on the system are enabled. Users can still select manually the dependency that they want to compile using the `IDYNTREE_USES_<dep>` variables ( https://github.com/robotology/idyntree/pull/323 ).
- IPOPT has been added as an optional dependency for the Inverse Kinematics component.
- The Octave bindings have been migrated to use the exact same mex code used for the Matlab bindings ( https://github.com/robotology/idyntree/pull/305 ).