Update CHANGELOG

CHANGELOG.md

@@ -28,6 +28,7 @@ All notable changes to this project are documented in this file.
 - Add SubModelKinDynWrapper class to handle the `KinDynComputation` object of a sub-model (https://github.com/ami-iit/bipedal-locomotion-framework/pull/605)
 - Implement the `JointLimitsTask` for the IK (https://github.com/ami-iit/bipedal-locomotion-framework/pull/603)
 - Add the possibility to programmatically build an IK problem from a configuration file (https://github.com/ami-iit/bipedal-locomotion-framework/pull/614, https://github.com/ami-iit/bipedal-locomotion-framework/pull/619)
+- Implement state dynamic models needed to define an UKF process model (https://github.com/ami-iit/bipedal-locomotion-framework/pull/615)
 
 ### Changed
 - Ask for `toml++ v3.0.1` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/581)
@@ -350,8 +351,7 @@ All notable changes to this project are documented in this file.
 - Added `mas-imu-test` application to check the output of MAS IMUs (https://github.com/ami-iit/bipedal-locomotion-framework/pull/62)
 - Implement motor currents reading in `YarpSensorBridge`. (https://github.com/ami-iit/bipedal-locomotion-framework/pull/187)
 
-[unreleased]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.12.0...master
-[0.12.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.11.1...v0.12.0
+[unreleased]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.11.1...master
 [0.11.1]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.11.0...v0.11.1
 [0.11.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.10.0...v0.11.0
 [0.10.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.9.0...v0.10.0

src/Estimators/include/BipedalLocomotion/RobotDynamicsEstimator/SubModelDynamics.h

@@ -31,8 +31,8 @@ struct SubModelDynamics
 {
     std::shared_ptr<SubModelKinDynWrapper> kinDynWrapper; /**< object containing the kinematics and dynamics properties of a sub-model. */
     SubModel subModel; /**< Sub-model object storing information about the model (joints, sensors, applied wrenches) */
-    std::map<std::string, Math::Wrenchd> FTMap; /**< The map containes names of the ft sensors and values of the wrench */
-    std::map<std::string, Math::Wrenchd> extContactMap; /**< The map containes names of the ft sensors and values of the wrench */
+    std::map<std::string, Math::Wrenchd> FTMap; /**< The map contains names of the ft sensors and values of the wrench */
+    std::map<std::string, Math::Wrenchd> extContactMap; /**< The map contains names of the ft sensors and values of the wrench */
     manif::SE3d::Tangent baseVelocity; /**< Velocity of the base of the sub-model. */
     Eigen::VectorXd motorTorque; /**< Motor torque vector of sub-model. */
     Eigen::VectorXd frictionTorque; /**< Friction torque vector of sub-model. */