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iDynTree 0.11.2 (2019-12-12)

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@traversaro traversaro released this 13 Dec 08:55
· 1155 commits to master since this release
v0.11.2
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iDynTree 0.11.2 Release Notes

Unless noted otherwise, the changes in this patch release were introduced in Pull Request #482 .

Bug Fixes

  • 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.
  • Fixed getBiasAcc method in KinDynComputations to take into account the effect of non-zero and non-parallel
    linear and angular base velocity, described in #370 .
  • Fixed compilation on 32-bit Windows ( #506 )
  • Fixed a URDF parser regression introduced in iDynTree 0.11 for which collision geometries were also loaded as visual geometries, and viceversa (#497, #559).
  • Fixed a URDF parser regression introduced in iDynTree 0.11 for which geometry elements without origin tag were not correctly parsed (#496, #564).

New features

  • 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.
  • 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.
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