17-0.19.0

What's Changed

• Updated yovariables, commons, build, and euclid
• Improved the github workflow
• Pulled in a number of tools from open robotics, including:
  ** MassMatrixCalculator, and its implementations, DifferentialIDMassMatrixCalculator
  ** FloatingBaseRigidBodyDynamicsCalculator, which computes the rigid body dynamics for just the floating base.
  ** GravityCoriolisExternalWrenchMatrixCalculator, which computes the resulting torques from gravity, Coriolis, and centrifugal forces.
  ** MomentumCalculator, which can be used to compute the generated momentum of a subtree of the robot.
  ** RigidBodyTwistCalculator, which creates a generalized way of computing the twist of each rigid body in a tree.
• Pull in the filtered spatial vectors from open robotics, which are used in the new yovariables-filters project
  ** AlphaFilteredYoMutableFrameVector
  ** AlphaFilteredYoSpatialVector
  ** RateLimitedYoMutableSpatialVector
  ** RateLimitedYoSpatialVector

Full Changelog: 17-0.17.0...17-0.19.0

17-0.17.0

Changes:

• New GitHub workflows: enable CI on GitHub
• Fixed typo for setting gravitational acceleration in InverseDynamicsCalculator and ForwardDynamicsCalculator
• Exposed access to the full joint wrench before projection on to the joint axis in ForwardDynamicsCalculator
• Made the constraint ratio and offset mutable for revolute twins joints.

Updated dependencies:

• ihmc-cd removed

Release notes

Changes:

• Improved random generator for spatial inertia.
• Added factories to create tilde matrix.

Updated dependencies:

• euclid 0.10.0 -> 0.11.0

Release notes

Changes:

• Renamed SpatialInertiaParameterBasisOptions to SpatialInertiaBasisOption
• New YoRigidBody constructor for creating a root body.

Updated dependencies:

• euclid 0.20.0 -> 0.21.0

Release notes

Changes:

• New joint type: RevoluteTwinsJoint is a 1-DoF composed of 2 internal revolute joints that are constrained.
• New YoSpatialInertia class that is the counterpart of SpatialInertia with parameters backed by YoVariables
• New YoRigidBody class that is the counterpart of RigidBody with parameters backed by YoVariables

Updated dependencies:

• ihmc-ci 7.7 -> 8.3
• ihmc-cd 1.24 -> 1.26
• ihmc-yovariables 0.9.18 -> 0.10.0

Release notes

Changes:

• Expose rigid-body spatial inertia used in the InverseDynamicsCalculator recursive steps.
• Expanded a little the spatial inertia objects API.
• Address a reference frame name collision when creating multiple four bar joints.

Updated dependencies:

• ihmc-build 0.29.0 -> 0.29.2

Release notes

Updated dependencies:

• ihmc-cd 1.23 -> 1.24
• ihmc-build 0.28.8 -> 0.29.0
• euclid 0.19.1 -> 0.20.0
• ihmc-yovariables 0.9.17 -> 0.9.18

Release notes

Updated dependencies:

• ihmc-yovariables 0.9.16 -> 0.9.17

Release Notes

• Change the joint and rigid-body iterators default behavior from breadth-first search to depth-first search.

Updated dependencies:

• ihmc-build from 0.28.7 to 0.28.8
• ihmc-ci from 7.6 to 7.7

Release Notes

In this release:

• Bugfix: SpatialInertia.applyInverseTransform(Transform) was not transforming the inertia properly when the given transform would be of type different than RigidBodyTransform.
• Changed argument type from RigidBodyTransform to RigidBodyTransformReadOnly for SpatialInertiaBasics methods applyTransform(...) and applyInverseTransform(...).

Updated dependencies:

• euclid 0.19.0 -> 0.19.1
• ihmc-build 0.28.2 -> 0.28.7