Update the main page of the doxygen documentation

docs/pages/main-page.dox

@@ -15,31 +15,31 @@ 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/dic-iit/bipedal-locomotion-framework/tree/v0.5.0/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/dic-iit/bipedal-locomotion-framework/tree/master/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/v0.5.0/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/v0.5.0/src/ContactModels) | Models to describe the contact between robot and enviroment | - |
-| [Contacts](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.5.0/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/v0.5.0/src/Conversions) | Common conversion utilities used in the framework | - |
-| [ManifConversions](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.5.0/src/Conversions) | `manif` library related conversion utilities used in the framework | [`manif`](https://github.com/artivis/manif) |
-| [Estimators](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.5.0/src/Estimators) | Library containing observers | - |
-| [FloatingBaseEstimator](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.5.0/src/Estimators) | Library containing floating base estimators | [`manif`](https://github.com/artivis/manif) |
-| [GenericContainer](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.5.0/src/GenericContainer) | Data structure similar to ``span`` but resizable. | - |
-| [IK](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.5.0/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/v0.5.0/src/Math) | Library containing mathematical algorithms | [`manif`](https://github.com/artivis/manif) |
-| [ParametersHandler](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.5.0/src/ParametersHandler) | Library for retrieving parameters from configuration files | [`YARP`](https://www.yarp.it/git-v0.5.0/) (only if you want the `YARP` implementation) [`tomlplusplus`](https://github.com/marzer/tomlplusplus/) (only if you want the `toml` implementation) |
-| [Planners](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.5.0/src/Planners) | Library containing planner useful for locomotion | [`manif`](https://github.com/artivis/manif) [`CasADi`](https://web.casadi.org/) [`qhull`](http://www.qhull.org/) |
-| [RobotInterface](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.5.0/src/RobotInterface) | Generic interface classes to adapt to various IO data formats | [`YARP`](https://www.yarp.it/git-v0.5.0/) (only if you want the `YARP` implementation) |
-| [System](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.5.0/src/System) | Description of discrete and continuous dynamical systems | - |
-| [TSID](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.5.0/src/TSID) | Task space inverse dynamics | [`manif`](https://github.com/artivis/manif) [`lie-group-controllers`](https://github.com/dic-iit/lie-group-controllers) |
-| [YarpUtilities](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.5.0/src/YarpUtilities) | Utilities library for retrieving data and from YARP structures | [`YARP`](https://www.yarp.it/git-v0.5.0/) |
-| [PerceptionInterface](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.5.0/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/v0.5.0/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/v0.5.0/src/Perception) | Library containing perception algorithms useful for locomotion | [`OpenCV`](https://github.com/opencv/opencv) |
-| [SimplifiedModelControllers](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.5.0/src/SimplifiedModelControllers) | Library containing the controllers based on simplified models | [`manif`](https://github.com/artivis/manif) |
+| [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) | `manif` library related conversion utilities used in the framework | [`manif`](https://github.com/artivis/manif) |
+| [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) |
+| [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) |
+| [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) |
+| [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/) |
+| [RobotInterface](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/RobotInterface) | Generic interface classes to adapt to various IO data formats | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) |
+| [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/dic-iit/lie-group-controllers) |
+| [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/) |
+| [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) |
+| [SimplifiedModelControllers](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/SimplifiedModelControllers) | Library containing the controllers based on simplified models | [`manif`](https://github.com/artivis/manif) |
 
 \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.
 
@@ -70,7 +70,7 @@ cmake --build . --config Release --target install
 
 \section some-utilities 🖥️ Some utilities
 
-The **bipedal-locomotion-framework** ships also some utilities that can help you in the everyday tests on a real robot. You can find them in the [`utilities` folder](https://github.com/dic-iit/bipedal-locomotion-framework/tree/v0.5.0/utilities). Each utility contains a well-documented `README` where you can find further details.
+The **bipedal-locomotion-framework** ships also some utilities that can help you in the everyday tests on a real robot. You can find them in the [`utilities` folder](https://github.com/dic-iit/bipedal-locomotion-framework/tree/master/utilities). Each utility contains a well-documented `README` where you can find further details.
 
 \section python 🐍 Python