Release notes

• Minor bugfix: Changed the ordering of the returned joints when collecting support and subtree joints. The support joints now come first in the returned array.

Release notes

• Added subtreeArray for joints and rigid-bodies.

Release notes

• Extended API for MultiBodySystemFactories and MultiBodySystemTools.
• Bugfix in the random tools when creating RevoluteJoint.

Release notes

Added the option to consider the inertia of the ignored rigid-bodies is the different algorithms. It is still way less expensive to consider the inertia of ignored rigid-bodies than considering their parent joints.

Release notes

• Bugfix in the inverse dynamics calculator for when the joint accelerations are not considered.
• Added MultiBodySystemTools.collectSubtreeSuccessors(JointBasics…)

Release notes

• Extended the API for the MultiBodySystemRandomTools
• Fixed MultibodySystemViewer to handle FixedJoints
• For the algorithms internal step, fixed the root check to not rely on the rigid-body to be the root of the system.

Release notes

Few tweaks to the joint and rigid-body classes.

Release notes

Few fixes for the yo-spatials.

Release notes

Added option to compute dynamic wrench with a complex SpatialInertia.

Release notes

Updated some dependencies.
Minor bugfix for SpatialForce.