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Changelog

This file documents notable changes to this project done before February 2024. For changes after that date, plase refers to the release notes of each release at https://github.com/robotology/wb-toolbox/releases .

[5.6.1] - 2024-02-06

Fixed

  • Fix memory allocation bug in ForwardKinematics and RelativeTransform blocks (#243).

[5.6.0] - 2022-10-21

Changed

  • Add adaptive_rho, polish and maximum iteration options for OSQP block (#234 (comment)).
  • Remove deprecated functions from OSQP block (#234 (comment)).

[5.5.0] - 2022-02-01

Added

  • New RelativeJacobian block that implements KinDynComputations::getRelativeJacobian(.) of iDynTree (#225).

[5.4.1] - 2021-05-28

Changed

  • The WBToolboxLibrary.slx file is now encoded in R2016b slx format, so at least MATLAB R2016b is required to use it.

Fixed

  • Fixed bug that caused Simulink models that used OSQP block to hang indefinitely in "Initializing" or "Compiling" phase (#220).
  • Disable verbose output option in OSQP block (#220).
  • Fixed problem introduced in 5.4.0 that prevented the WholeBodyToolbox library to appear correctly in the Simulink library browser on some MATLAB versions and on some Operating Systems (spotted on MATLAB R2020b with Ubuntu 20.04) (#219, #220).

[5.4.0] - 2021-05-24

Added

  • Add new OSQP block (#209).

Fixed

  • Re-implement the Holder block to make it compatible with code generation and 'treat as atomic unit' (#211).

[5.3] - 2019-02-02

Changed

  • Remove deprecated and not used iDynTree headers (#191)
  • Created CMM Simulink Block (#194)
  • Update citations (#195)
  • Migrate from Travis CI to Github workflows (#196)

[5.2] - 2020-06-16

Changed

  • Improved compilation time of WBToolbox blocks by optimizing Blockinitialization() (#190)

[5.1] - 2020-04-05

Fixed

  • Fixed calls to yarp::os::Network (#171)

Removed

  • Remove xenial ci (#185)
  • Remove deprecated YCM calls (#184)

[5] - 2019-02-02

The v5 release of Whole-Body Toolbox brings a big change in the architecture: the core of the toolbox became a standalone repository hosted at robotology/blockfactory. This repository will only provide a BlockFactory plugin.

More in detail, starting with this release WBT will contain only the following components:

  • WBToolboxBase provides the base classes that simplify the interfacing with iDynTree and YARP libraries.
  • WBToolbox is the real BlockFactory plugin, and it contains all the implementations of the blockfactory::core::Block interface.

To migrate a Simulink model from WB-Toolbox v4 to v5, check the upgrade guide.

Changed

  • The Core, Mex and Coder components have been removed
  • New dependency: robotology/blockfactory
  • If Matlab is found, the Simulink Library that wraps the block classes is installed

[4.1] - 2019-02-02

Fixed

  • Fixed failing behavior of qpOASES block (#158).

[4] - 2018-08-21

This is the first release for which a changelog was introduced.

Important Changes

  • Yarp >= 3.0.0 is now a required dependency.
  • The toolbox style is now defined by a .clang-format file. PRs must be compliant to this style in order to be merged.
  • The master branch is protected. Only repo admins can directly push to master (even if this is discouraged).
  • CMake 3.5 is now required.
  • The toolbox is now split in three components: WBToolboxLibrary, WBToolboxMex, WBToolboxCoder.
  • Doxygen documentation greatly improved.
  • The Yarp - DoFs Converter block has been removed in favour of custom user logic.

Added

  • First version that support Simulink Coder for generating C++ code from a model.
  • Most of the classes now use the pimpl idiom.
  • Headers have been cleaned with IWYU.
  • New SetMotorParameters block. It substitutes the SetLowLevelPID allowing to set also motor constant and back emf constant.
  • New RelativeTransformation block for computing generic homogeneous transform between two frames of the model.
  • New GetMotorMeasurements block for retrieving position, velocity, acceleration, PWM, and current from the motors.
  • New SetMotorReferences block for actuating current and PWM references.
  • New QP block implemented with the new QpOases class.

WBToolboxLibrary

  • BlockInformation interface has been polished. Now it uses enums and const arguments.
  • BlockInformation interface has new methods for handling parameters.
  • BlockInformation does not contain anymore any reference to external dependencies (e.g. Yarp and iDynTree).
  • BlockInformation returns const input signals.
  • Implemented new logic for parsing parameters. Added ConvertStdVector helper and Parameter Parameters classes.
  • Log switched to a stringstream implementation, and the verbosity automatically changes between Debug and Release.
  • All the templates have been moved in the cpp file, and the allowed instantiations are now explicitly specialized or declared in the header.
  • Improved the logic to compute the number of block's parameters.
  • Changed many enums names and their scope for improving readability. Switched to enum class.
  • Improved checks on Signal validity before their usage in all blocks.
  • The singleton has been renamed to WholeBodySingleton.
  • Deprecated the retain / release logic for the RemoteControlBoardRemapper. It was substituted by a new logic that exploits smart pointers.
  • Removed ModelPartitioner class and all utility methods used by it.
  • The SetReferences block in Velocity control mode now supports setting the reference acceleration used by the internal trajectory generator.

WBToolboxMex

  • The S-Function was renames from toolbox.cpp to WBToolbox.cpp.
  • Now also the BlockInformation object is stored in the PWork instead of being created every time.
  • Checks on pointers gathered from the PWork have been improved.
  • Constraints on blocks sizes have been released. Now if a Block does not set input / output port sizes, they are inherited from the signal propagation of the entire model.

WBToolboxCoder

  • First version of CoderBlockInformation class.
  • First version of WBToolbox.tlc file for inlining the S-Function.
  • First version of the C++ wrapper for executing the class autogenerated by Simulink Coder.

Fixed

WBToolboxLibrary

  • Fixed the Position control mode of the SetReferences block. It now streams new references only when they change.
  • Aligned the unit of measurement of the Reference Speed used in the Position control mode of the SetReferences block.
  • Restore the default Reference Speed when SetReferences terminates.
  • Fixed bug which allowed modifying Signal's buffer content from an const object.

WBToolboxMex

WBToolboxCoder

Changed

CMake

  • Matlab is not anymore a required dependency. If Matlab is not found, the S-Function, SimulinkBlockInformation, and MxAnyType are not compiled. However, the WBToolboxLibrary and the WBToolboxCoder targets build succesfully.

Other

  • Added Travis CI tests for Linux and macOS on gcc and clang. They now build matlab-independent targets.
  • Added Appveyor tests for Visual studio 2015 and 2017 for matlab-independent targets.
  • MxAnyType is now a shared library.
  • Added the clock_rpc.thrift file. ClockServer sources can now be easily generated again during project configuration by enabling ALLOW_IDL_GENERATION.
  • All files now include the license header.

[3] - 2018-02-22

See robotology/community#279 .