v3.2

Release of version 3.2.

Release v4.0

• Update dependency versions.
• Update to changes in hpp-pinocchio
• Fix compilation warning
• Clean test-jacobians
• Fix test
• Export whether qpOASES is used in .pc file.
• Add a cache variable to avoid running unit tests.
• Make dependency to qpOASES optional.
• Add GenericTransformation::print
• Make GenericTransformation::joint[12] const method
• Update to changes in hpp-pinocchio and pinocchio
• Add possibility to check the jacobians.
• Fix finite difference (do not saturate when integrating)
• Fix compilation with numerical output activated
• Fix test-jacobians.cc
• Rewrite finite difference algorithm
• Make finite difference algorithm public function of DifferentiableFunction
• Add diagnostic for a test that fails
• Clean GenericTransformation
• [WIP] Update GenericTransformation
• Remove dep from tools.hh to macros.hh
• [WIP] Check computeLog and computeJlog with impl in GenericTransformation
• Fix computeLog and computeJlog
• Use JointConstPtr_t instead of JointPtr_t when relevant
• Add missing header
• Fix old hpp/_constraints/orientation.hh
• Add option to CMakeLists and update doc
• Fix compilation due to changes in pinocchio
• Fix DiffentiableFunction
• Add a constructor to class DistanceBetweenBodies
• Clean code
• Add StaticStability and QPStaticStability
• Fix compilation warning
• Fix DistanceBetweenBodies
• Fix DistanceBetweenBodies and update to API changes of Device
• Fix compilation warning
• Update to change in hpp-pinocchio
• Add ConfigurationConstraint, ConvexShape and ConvexShapeContact
• Add comment in p/m comparison of com related functions
• Add DistanceBetweenPointsInBodies
• Add SymbolicFunction and update COM related p/m comparison
• Add p/m comparison for DistanceBetweenBodies
• Clean pmdiff/tvalue.cc
• Add DistanceBetweenBodies
• Uncommented p/m comparison tests
• Add ComBetweenFeet
• Fix symbolic calculus
• Clean pinocchio/model comparison test
• Add RelativeCom
• Add pinocchio version of GenericTransformation
• Move function using hpp-model to _constraints folder (hh and cc files)