17-0.11.5

In this release:

• Addition of YoFixedFrameMomentum class that is the counterpart of Momentum backed by YoVariables.
• Addressed warnings introduced by last euclid upgrade.

Release notes

In this release, the CentroidalMomentumRateCalculator now allows calculating the bias force generated by only part of the system.

Release notes

Note: This release is compiled for Java 17.

Updated dependencies:

• euclid 0.18.1 -> 0.19.0
• ihmc-yovariables 0.9.15 -> 0.9.16

Release notes

Updated dependencies:

• euclid 0.17.2 -> 0.18.1
• ihmc-yovariables 0.9.13 -> 0.9.15

Release notes

Updated dependency:

• ihmc-yovariables 0.9.12 -> 0.9.13

Release notes

• New calculator: MultiBodyGravityGradientCaluclator which can be used to compute the vector of joint efforts due to gravity and external wrenches as well as computing its gradient.
• Added tests.

Release notes

• The ForwardDynamicsCalculator has been extended to handle both joint types: torque source and motion source. In the case a joint is setup as motion source, the joint acceleration is used as input of the algorithm and the joint effort calculated.
• Added convenience method: MultiBodySystemReadOnly.getNumberOfDoFs() that computes the total number of DoFs for the joints to consider.
• Added interface YoOneDoFJointBasics.
• Added tests.

Bugfixes:

• SpatialImpulseReadOnly.geometricallyEquals wasn't comparing against the argument.
• MecanoTestTools.assertDMatrixEquals would throw an exception when the matrices don't have the same size.

Dependencies:

• euclid: 0.17.0 -> 0.17.2
• ihmc-yovariables: 0.9.11 -> 0.9.12

Release notes

Minor release:

• Changed the variable names the state variables of YoSixDoFJoint, YoPlanarJoint, YoSphericalJoint to use the convention q/qd/qdd/tau for configuration/velocity/acceleration/effort.

Updated dependencies:

• ihmc-ci: 7.4 -> 7.6
• ihmc-cd: 1.21 -> 1.23
• log-tools: 0.6.1 -> 0.6.3

Release notes

This release focuses on introducing a new type of 1-DoF joint: CrossFourBarJoint.

Release notes

Minor release:

• Made the FowardDynamicsCalculator usable in the presence of loop closure. The calculator still does not handle loop closures.
• Added a null check in MultiBodySystemTools.findRigidBody(...)

Updated dependencies:

• ihmc-cd: 1.20 -> 1.21