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iDynTree 10.0.0 (2023-10-16)
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@traversaro traversaro released this 16 Oct 15:29
· 98 commits to master since this release
v10.0.0
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Learn about vigilant mode.

[10.0.0] - 2023-10-16

Added

  • Added the possibility of exporting additional XML elements that are added as child of the <robot> element in URDF ModelExporter (#1088).
  • Added support for reading and wrting joint friction and damping values from URDF files (#1094).

Changed

  • Since iDynTree 10, all the changes of iDynTree will go directly to the master branch, the devel branch will be deleted. Users that want to work with a stable version of iDynTree should use a tagged version of iDynTree .
  • The license of the library is changed to BSD-3-Clause (#1089).
  • The iDynTree::ModelExporterOptions class was changed to be defined as a struct (#1088).
  • The header structure has been shortened, from <iDynTree/@component@/@headername@.h> to <iDynTree/@headername@.h> (#1104).
  • iDynTree::idyntree-sensors library has been merged in iDynTree::idyntree-model (#1104).
  • The iDynTree::Model class gained a m_sensors attribute and sensors() method to access to it to store sensors information as part of the iDynTree::Model itself (#1106).

Deprecated

  • Linking iDynTree::idyntree-sensors is deprecated, you can just link iDynTree::idyntree-model instead, or just search and replace iDynTree::idyntree-sensors with an empty string if you are already linking iDynTree::idyntree-model (#1104).
  • Including <iDynTree/Core/@headername@.h>, <iDynTree/Model/@headername@.h>, <iDynTree/Sensors/@headername@.h>, <iDynTree/ModelIO/@headername@.h>, <iDynTree/Estimation/@headername@.h>, <iDynTree/yarp/@headername@.h> is deprecated, just include <iDynTree/@headername@.h> . To perform this migration, just search and replace <iDynTree/Core/ with <iDynTree/, <iDynTree/Model/ with <iDynTree/, <iDynTree/Sensors/ with <iDynTree/, <iDynTree/ModelIO/ with <iDynTree/, <iDynTree/Estimation/ with <iDynTree/, <iDynTree/yarp/ with <iDynTree/ (#1104).
  • Several methods that take in input both a iDynTree::Model and a iDynTree::SensorsList have been deprecated, users are suggested to call the variant that takes in input only the iDynTree::Model, if necessary by populating correctly the sensors of the iDynTree::Model via the iDynTree::Model::sensors method (#1106).
  • Several classes that ended in Raw are deprecated, and in their place their non-Raw counterpart should be used. In particular, the pair "deprecated"/"replacement" is : iDynTree::PositionRaw/iDynTree::Position, iDynTree::RotationRaw/iDynTree::Rotation, iDynTree::RotationalInertiaRaw/iDynTree::RotationalInertia and iDynTree::SpatialInertiaRaw/iDynTree::SpatialInertia (#1114).
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