CHANGELOG.md

Change Log

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog and this project does not adheres to Semantic Versioning.

New release:

0.2 - 2017-01-25

Added

• New version of the mexWholeBodyModel (mex-WBM) subroutine for Matlab. Thanks to @Ganimed, a complete refactory of the toolbox has been done, to speedup and stabilize the call of the kinematic/dynamic functions.

New Utility-Functions:

• A lot of utility-functions were added and moved to the utilities-directory in order to be independent from other third party libriaries, i.e. transformation functions. For further details have a look into the +utilities directory.

Renamed Functions

• Wrapper-Function Names:
  • wbm_djdq --> wbm_dJdq
  • wbm_getState:
    • Changed order of the output arguments from [qj, xTb, qjDot, vb] to [vqT_b, q_j, v_b, dq_j], where qj = q_j, xTb = vqT_b, qjDot = dq_j and vb = v_b.
  • wbm_getWorldFrameFromFixedLink --> wbm_getWorldFrameFromFixLnk
    • Changed output order: [world_R_base, world_p_base] --> [wf_p_b, wf_R_b]
• Utility-Function Names:
  • quaternionDerivative --> WBM.utilities.dquat
    • Changed order of the input argument from (omega,q) to (quat,omega).
    • New optional input arguments: gain (optional), chktol (optional).
  • frame2posrot --> WBM.utilities.frame2posRotm
  • fromSkew2Vector --> WBM.utilities.skewm2vec
  • parametrization --> WBM.utilities.rotm2eulAngVelTF
    • New input arguments: rotm, sequence ('ZYX' or 'ZYZ', default 'ZYX').
  • quaternion2dcm --> WBM.utilities.quat2rotm
  • skew --> WBM.utilities.skewm
  • whatname --> WBM.utilities.getJointAnnotationICub
  • wbm_generalisedBiasForces --> wbm_generalizedBiasForces
  • wbm_initialise --> wbm_initialise

Renamed Key-Names:

• generalised-forces --> generalized-forces
• model-initialise --> model-initialize
• model-initialise-urdf --> model-initialize-urdf

New Key-Names:

• coriolis-forces
• get-base-state
• gravity-forces
• inverse-dynamics
• transformation-matrix

Deleted Functions (outdated):

• fromMesh2sortedVector
• resizeData
• sortedVector2mesh
• visualizeForwardDynamics

Future planned renamings:

• Change the variable q_j to s_j, where s denotes the "shape" of the robot based on its current joint positions j.
• The same will be done for the variables dq_j and ddq_j, such that dq_j --> ds_j and ddq_j --> dds_j.

Controllers and WBM-Class

• The controllers in the controllers directory are adapted to the new wrapper and utility-functions.
• The first beta release (at the moment undocumented) of the object-oriented version of the Whole Body Model for YARP-based robots is now available for testing purposes.

New visualizer

• New toolbox for visualizing the robot simulation based on the iDyntree library. For further information, see README.

Using the new functions:

• To avoid conflicts with other libraries, the new utility-functions and also the Matlab-classes are put into own namespaces.
• For applying these new functions the namespace must be specified at first at top of the Matlab procedure or function with import WBM.utilities.<function_name>, or import WBM.utilities.*; to load all utility functions, or with a direct call of the function with the full namespace path WBM.utilities.<function_name>.

Previous (alpha) version:

0.1.1

Added

• All the functions take in input the complete state, including the base pose with respect to the world, see Issue 27.
• Please note that a bug occured before Pull Request that inverted the rotation passed (when passing the full state) to the wbm_forwardKinematics,wbm_massMatrix, wbm_jacobian, wbm_centrodialMomentum, wbm_djdq.

Removed

• Removed wbm_setWorldLink, its behavior can be emulated with the wbm_getWorldFrameFromFixedLink and the new interfaces that take the complete state as input. See Issue 43 and Pull Request 52.

0.1 - 2014-11-15

Added

• First version of mex-wholebodymodel, compatible with wholebodyinterface v0.1.