bipedal-locomotion-framework 0.21.0

What's Changed

• Add missing ContinuousDynamicalSystem row to Exported components in the README by @fils99 in #919
• Some improvements on the YarpRobotLoggerDevice and removed ROS1 device by @S-Dafarra in #910
• Add zmp generator and populate all outputs of the unycycle trajectory generator by @LoreMoretti in #916
• Variable feasible region task by @rob-mau in #922
• Fix bug in tsid balancing torque control by @isorrentino in #926
• Add member function to return current time of fixed foot detector by @LoreMoretti in #928
• Enable the setting of the measured feet transform for the Unicycle Trajectory Generator by @LoreMoretti in #927
• Add the possibility to easily disable/enable the rt logging in YarpRobotLoggerDevice by @GiulioRomualdi in #932
• Do not call find_package() if FRAMEWORK_USE_ is defined by @traversaro in #930
• Enable Programmatic Creation of VariableRegularizationTask by @LoreMoretti in #934
• Fixed some prints of the logger device by @S-Dafarra in #935
• Fix iDynTree warnings by @traversaro in #936
• Add option FRAMEWORK_COMPILE_MotorCurrentTrackingApplication in cmake file by @fils99 in #937
• Do not run cmake-package-check on Windows under bash by @traversaro in #941
• Add isSetPointSetAtLeastOnce flag to IK and TSID task classes for set-point validation by @GiulioRomualdi in #939
• Attempt to fix the documentation by @GiulioRomualdi in #947
• Bump spdlog version in CI conda-forge by @GiulioRomualdi in #945
• Add motor temperature sensor support to SensorBridge and YarpSensorBridge and logger by @GiulioRomualdi in #946
• Add joint type handling to YarpSensorBridge in case of prismatic and revolute joints by @GiulioRomualdi in #949
• Improve JointTorqueControl device by @isorrentino in #948
• Fix resize vector in JointTorqueControlDevice by @isorrentino in #951
• Implement FloatingBaseSystemAccelerationKinematics in ContinuousDynamicalSystem component by @GiulioRomualdi in #950
• Add IJointFault yarp dev in PassThroughControlBoard to handle HardwareFault by @isorrentino in #954
• Update version of tiny-process-lib and cvnp to fix usage with CMake 4 and numpy 2 by @traversaro in #955
• Support compilation with casadi >= 3.7.0 by @traversaro in #956
• Fix Ubuntu 20.04 CI job by @traversaro in #957
• Refactor RobotDynamicsEstimator: Remove FrictionTorqueStateDynamics, Fix Tests by @isorrentino in #953
• Use resource finder to load friction models in JointTorqueControlDevice by @isorrentino in #961
• Only link pcl_common to PerceptionInterface instead of the full PCL_LIBRARIES by @traversaro in #962
• Modify JointTorqueControlDevice to use motor temperature as additional input for PINN (friction estimation) by @fils99 in #960
• Change logic of RobotDynamicsEstimator and code refactoring by @isorrentino in #959
• Add possibility to control linear actuator by @isorrentino in #964
• Fix logic for friction torque saturation by @fils99 in #965
• Fix wrong URL and hash for ergoCubSN001 model in RobotDynamicsEstimator tests by @traversaro in #968
• Remove use of deprecated FrameGrabberInterfaces.h YARP header by @traversaro in #970
• Do not use FRAMEWORK_COMPILE_Math before it is defined by @traversaro in #973
• Define FRAMEWORK_COMPILE_ManifConversions before FRAMEWORK_COMPILE_RobotDynamicsEstimator by @traversaro in #975
• Move apt-based CI to Ubuntu 24.04 and use colcon and vcstool by @traversaro in #972
• Update gh-pages.yml job to use ubuntu-24.04 image instead of ubuntu-20.04 by @traversaro in #976
• conda-ci: On Windows migrate to use VS2022 by @traversaro in #974

New Contributors

• @rob-mau made their first contribution in #922

Full Changelog: v0.20.0...v0.21.0