Julia implementation of various rigid body dynamics and kinematics algorithms
Closed issues:
externalwrenches
(#615)Merged pull requests:
Closed issues:
point_jacobian!
in Julia 1.5.1: (#590)Merged pull requests:
setdirty!
in examples 1 and 3 (#599) (@ferrolho)Closed issues:
Merged pull requests:
using Base: promote_eltype
to contact.jl module (#578) (@ferrolho)Adapt to dependency changes.
Fix for missing contact points after remove_fixed_tree_joints!
call
parse_urdf
API update (#552). Although this is technically a breaking change, I doubt anyone was relying on the old behavior already, hence the minor version update.This is a major version update not because it contains a lot of changes, but because (by semantic versioning rules) it contains breaking API changes. Unfortunately it wasn't possible to provide deprecation warnings in all cases this time. Please refer to the linked pull requests for more information.
StateCache
, DynamicsResultCache
, SegmentedVectorCache
(#549, breaking)Project.toml
setup.findbody
and findjoint
methods that take BodyID
/JointID
arguments (#543)configuration_index_to_joint_id
/ velocity_index_to_joint_id
(#523)transpose
overloads and mul!
/ *
methods involving matrix types from the Spatial
module (#524, #526)MechanismState
s threadsafe by not using canonicalize_graph!(mechanism)
in the constructor anymore (#525)mass_matrix!
, constraint_jacobian!
, momentum_matrix!
(#532, #537)--fastmath
flagSpatialInertia
construction (#521)SinCosRevolute
joint type (#512)parse_urdf
API improvements (#513, fixes #504 and adds more features)normalize_configuration!
(#514)