From ec8a8cf6ac048e3b906a47d71ce9458895bc454b Mon Sep 17 00:00:00 2001 From: Giulio Romualdi Date: Mon, 16 Dec 2024 14:41:06 +0100 Subject: [PATCH] =?UTF-8?q?=F0=9F=9A=80=20Release=200.20.0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CHANGELOG.md | 2 +- CMakeLists.txt | 2 +- docs/config.toml | 13 +++++++--- docs/pages/main-page.dox | 54 ++++++++++++++++++++-------------------- 4 files changed, 38 insertions(+), 33 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 3aa7214b34..943f03f7d3 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,7 +1,7 @@ # Changelog All notable changes to this project are documented in this file. -## [unreleased] +## [0.20.0] - 2024-12-16 ### Added - Add `USE_SYSTEM_tiny-process-library` CMake option to use `tiny-process-library` found in system (https://github.com/ami-iit/bipedal-locomotion-framework/pull/891) - Add the test for the `YarpRobotLoggerDevice` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/862) diff --git a/CMakeLists.txt b/CMakeLists.txt index 994e907218..770fb95ba1 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -6,7 +6,7 @@ cmake_minimum_required(VERSION 3.16.0) ## MAIN project project(BipedalLocomotionFramework - VERSION 0.19.100) + VERSION 0.20.0) list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake) diff --git a/docs/config.toml b/docs/config.toml index 70607c0bde..4de2786698 100644 --- a/docs/config.toml +++ b/docs/config.toml @@ -3,26 +3,31 @@ main_page = "docs/pages/main-page.dox" additional_pages = ["docs/pages/python-additional-info.md", "docs/pages/so3-minjerk.md"] src_folder = "src" -['v0.19.0'] +['v0.20.0'] main_page = "docs/pages/main-page.dox" additional_pages = ["docs/pages/python-additional-info.md", "docs/pages/so3-minjerk.md"] src_folder = "src" -['v0.18.0'] +['v0.19.0'] main_page = "docs/pages/main-page.dox" additional_pages = ["docs/pages/python-additional-info.md", "docs/pages/so3-minjerk.md"] src_folder = "src" -['v0.17.0'] +['v0.18.0'] main_page = "docs/pages/main-page.dox" additional_pages = ["docs/pages/python-additional-info.md", "docs/pages/so3-minjerk.md"] src_folder = "src" -['v0.16.1'] +['v0.17.0'] main_page = "docs/pages/main-page.dox" additional_pages = ["docs/pages/python-additional-info.md", "docs/pages/so3-minjerk.md"] src_folder = "src" +# ['v0.16.1'] +# main_page = "docs/pages/main-page.dox" +# additional_pages = ["docs/pages/python-additional-info.md", "docs/pages/so3-minjerk.md"] +# src_folder = "src" + # ['v0.15.0'] # main_page = "docs/pages/main-page.dox" # additional_pages = ["docs/pages/python-additional-info.md", "docs/pages/so3-minjerk.md"] diff --git a/docs/pages/main-page.dox b/docs/pages/main-page.dox index d70c7da0e2..5d0140df12 100644 --- a/docs/pages/main-page.dox +++ b/docs/pages/main-page.dox @@ -18,37 +18,37 @@ The minimum required dependencies are `Eigen3`, `iDynTree` and `spdlog`. If you \section exported-components 📙 Exported components -The **bipedal-locomotion-framework** project consists of several components. The components are stored in the [`src`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src) folder and their compilation depends on the installed dependencies. +The **bipedal-locomotion-framework** project consists of several components. The components are stored in the [`src`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src) folder and their compilation depends on the installed dependencies. | Component | Description | Additional Dependencies | | :--------------------------------------------: | :----------------------------------------------------------: | :----------------------------------------------------------: | | `Framework` | Interface library that gathers all the exported components, includable with the file `BipedalLocomotion/Framework.h` | - | -| [`AutoDiff`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/AutoDiff) | Bridge between CppAD and Eigen | [`CppAD`](https://coin-or.github.io/CppAD/doc/cppad.htm) | -| [`ContactModels`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/ContactModels) | Models to describe the contact between robot and enviroment | - | -| [`Contacts`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Contacts) | Syntactic description of a contact | [`manif`](https://github.com/artivis/manif) [`nlohmann json`](https://github.com/nlohmann/json/) | -| [`CommonConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Conversions) | Common conversion utilities used in the framework | - | -| [`ManifConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Conversions) | Library related conversion utilities used in the framework | [`manif`](https://github.com/artivis/manif) | -| [`matioCppConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Conversions) | Library related conversion utilities used in the framework | [`matio-cpp`](https://github.com/ami-iit/matio-cpp) | -| [`CasadiConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Conversions) | Library related conversion utilities used in the framework | [`CasADi`](https://github.com/casadi/casadi) | -| [`Estimators`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Estimators) | Library containing observers | - | -| [`FloatingBaseEstimator`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Estimators) | Library containing floating base estimators | [`manif`](https://github.com/artivis/manif) | -| [`RobotDynamicsEstimator`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Estimators) | Library containing floating base estimators | [`manif`](https://github.com/artivis/manif) | -| [`GenericContainer`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/GenericContainer) | Data structure similar to ``span`` but resizable. | - | -| [`IK`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/IK) | Inverse kinematics | [`manif`](https://github.com/artivis/manif) [`osqp-eigen`](https://github.com/robotology/osqp-eigen) | -| [`Math`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Math) | Library containing mathematical algorithms | [`manif`](https://github.com/artivis/manif) | -| [`ML`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/ML) | Library containing deep learning algorithms | [`onnxruntime`](https://onnxruntime.ai/) | -| [`ParametersHandler`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/ParametersHandler) | Library for retrieving parameters from configuration files | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) [`tomlplusplus`](https://github.com/marzer/tomlplusplus/) (only if you want the `toml` implementation) | -| [`PerceptionInterface`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/RobotInterface) | Generic interface classes to adapt to perception data formats like images and point clouds | [`OpenCV`](https://github.com/opencv/opencv) [`PCL`](https://github.com/PointCloudLibrary/pcl) | -| [`PerceptionCapture`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Perception) | Library containing driver classes for perception devices | [`OpenCV`](https://github.com/opencv/opencv) [`PCL`](https://github.com/PointCloudLibrary/pcl) [`realsense2`](https://github.com/IntelRealSense/librealsense) | -| [`PerceptionFeatures`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Perception) | Library containing perception algorithms useful for locomotion | [`OpenCV`](https://github.com/opencv/opencv) | -| [`Planners`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Planners) | Library containing planner useful for locomotion | [`manif`](https://github.com/artivis/manif) [`CasADi`](https://web.casadi.org/) [`qhull`](http://www.qhull.org/) | -| [`ReducedModelControllers`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/ReducedModelsController) | Controller based on reduced models, e.g., `CentroidalMPC` | [`CasADi`](https://github.com/casadi/casadi)| -| [`RobotInterface`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/RobotInterface) | Library for communicating with the robot | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) | -| [`SimplifiedModelControllers`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/SimplifiedModelControllers) | Controllers based on simplified models, i.e, LIPM. | - | -| [`System`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/System) | Description of discrete and continuous dynamical systems | - | -| [`TSID`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/TSID) | Task space inverse dynamics | [`manif`](https://github.com/artivis/manif) [`lie-group-controllers`](https://github.com/ami-iit/lie-group-controllers) | -| [`TextLogging`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/TextLogging) | Helper library to display messages into the console | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) [`ros-humble`](https://docs.ros.org/en/humble/) (if you want the `ros2` implementation) | -| [`YarpUtilities`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/YarpUtilities) | Utilities library for retrieving data and from YARP structures | [`YARP`](https://www.yarp.it/git-master/) | +| [`AutoDiff`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/AutoDiff) | Bridge between CppAD and Eigen | [`CppAD`](https://coin-or.github.io/CppAD/doc/cppad.htm) | +| [`ContactModels`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/ContactModels) | Models to describe the contact between robot and enviroment | - | +| [`Contacts`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/Contacts) | Syntactic description of a contact | [`manif`](https://github.com/artivis/manif) [`nlohmann json`](https://github.com/nlohmann/json/) | +| [`CommonConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/Conversions) | Common conversion utilities used in the framework | - | +| [`ManifConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/Conversions) | Library related conversion utilities used in the framework | [`manif`](https://github.com/artivis/manif) | +| [`matioCppConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/Conversions) | Library related conversion utilities used in the framework | [`matio-cpp`](https://github.com/ami-iit/matio-cpp) | +| [`CasadiConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/Conversions) | Library related conversion utilities used in the framework | [`CasADi`](https://github.com/casadi/casadi) | +| [`Estimators`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/Estimators) | Library containing observers | - | +| [`FloatingBaseEstimator`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/Estimators) | Library containing floating base estimators | [`manif`](https://github.com/artivis/manif) | +| [`RobotDynamicsEstimator`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/Estimators) | Library containing floating base estimators | [`manif`](https://github.com/artivis/manif) | +| [`GenericContainer`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/GenericContainer) | Data structure similar to ``span`` but resizable. | - | +| [`IK`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/IK) | Inverse kinematics | [`manif`](https://github.com/artivis/manif) [`osqp-eigen`](https://github.com/robotology/osqp-eigen) | +| [`Math`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/Math) | Library containing mathematical algorithms | [`manif`](https://github.com/artivis/manif) | +| [`ML`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/ML) | Library containing deep learning algorithms | [`onnxruntime`](https://onnxruntime.ai/) | +| [`ParametersHandler`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/ParametersHandler) | Library for retrieving parameters from configuration files | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) [`tomlplusplus`](https://github.com/marzer/tomlplusplus/) (only if you want the `toml` implementation) | +| [`PerceptionInterface`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/RobotInterface) | Generic interface classes to adapt to perception data formats like images and point clouds | [`OpenCV`](https://github.com/opencv/opencv) [`PCL`](https://github.com/PointCloudLibrary/pcl) | +| [`PerceptionCapture`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/Perception) | Library containing driver classes for perception devices | [`OpenCV`](https://github.com/opencv/opencv) [`PCL`](https://github.com/PointCloudLibrary/pcl) [`realsense2`](https://github.com/IntelRealSense/librealsense) | +| [`PerceptionFeatures`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/Perception) | Library containing perception algorithms useful for locomotion | [`OpenCV`](https://github.com/opencv/opencv) | +| [`Planners`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/Planners) | Library containing planner useful for locomotion | [`manif`](https://github.com/artivis/manif) [`CasADi`](https://web.casadi.org/) [`qhull`](http://www.qhull.org/) | +| [`ReducedModelControllers`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/ReducedModelsController) | Controller based on reduced models, e.g., `CentroidalMPC` | [`CasADi`](https://github.com/casadi/casadi)| +| [`RobotInterface`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/RobotInterface) | Library for communicating with the robot | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) | +| [`SimplifiedModelControllers`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/SimplifiedModelControllers) | Controllers based on simplified models, i.e, LIPM. | - | +| [`System`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/System) | Description of discrete and continuous dynamical systems | - | +| [`TSID`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/TSID) | Task space inverse dynamics | [`manif`](https://github.com/artivis/manif) [`lie-group-controllers`](https://github.com/ami-iit/lie-group-controllers) | +| [`TextLogging`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/TextLogging) | Helper library to display messages into the console | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) [`ros-humble`](https://docs.ros.org/en/humble/) (if you want the `ros2` implementation) | +| [`YarpUtilities`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.20.0/src/YarpUtilities) | Utilities library for retrieving data and from YARP structures | [`YARP`](https://www.yarp.it/git-master/) | \warning ⚠️ Including `BipedalLocomotion/Framework.h` may result in higher compilation time because of the inclusion of headers which may not be used in your project. It is always suggested to follow the [IWYU](https://github.com/include-what-you-use/include-what-you-use/blob/cc0fad4be0db26e40713b6076263f204a311b573/docs/WhyIWYU.md) paradigm. This applies also for the CMake targets. It is suggested to link only the targets used in your project.