bipedal-locomotion-framework 0.13.0

What's Changed

• Update the IK tutorial to use QPInverseKinematics::build by @GiulioRomualdi in #621
• Return an error if an invalid KinDynComputations object is passed to QPInverseKinematics::build() by @GiulioRomualdi in #622
• Update InverseKinematics example README by @GiulioRomualdi in #623
• Handle the case without force/torque sensors by @isorrentino in #625
• Implement the DiscreteGeometryContact in Contacts component by @GiulioRomualdi in #626
• Restructure ContactDetector machinery by @GiulioRomualdi in #624
• Refactor how the time is handled in the entire framework by @GiulioRomualdi in #630
• Modify SubModelCreator test and SubModelKinDynWrapper test by @isorrentino in #631
• Looking for c++17 for python bindings by @GiulioRomualdi in #635
• fix documentation for QPTSID.h by @CarlottaSartore in #634
• Add the possibility to update the contact list in the swing foot trajectory planner by @GiulioRomualdi in #637
• Fix error message for contact wrench variable by @CarlottaSartore in #639
• Fix compilation when using CMake 3.26.1 and pybind11 2.4.3 (for example on Ubuntu 20.04 GitHub Actions image) by @traversaro in #643
• Implement NamedTuple and the CentroidalDynamics classes by @GiulioRomualdi in #642
• Update the inverse_kinematics example to be compliant the new version of ContinousDynamicalSystem by @GiulioRomualdi in #648
• Speed up the GitHub CI compilation by using all the cores of the GitHub runner by @GiulioRomualdi in #647
• Update the code to be compatible with LieGroupControllers v0.2.0 by @GiulioRomualdi in #653
• Allow use of vectors for task gains by @RiccardoGrieco in #654
• Catch2 is now downloaded with fetchcontent if BUILD_TESTING is set to on by @GiulioRomualdi in #655
• Add the possibility to set vectorial gains in CoM IK and TSID tasks by @GiulioRomualdi in #656

New Contributors

• @CarlottaSartore made their first contribution in #634

Full Changelog: v0.12.0...v0.13.0