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.

Unreleased

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.

[0.2] - 2017-01-25

Added

• New version of mex-wholebodymodel. A complete refactory of the toolbox has been done.

Renamed

• The following WBM-wrappers have been renamed:
• The output of the following functions changed order:

Moved

• The controllers have been refactored and moved on a different branch, called WBM-controllers;