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Release v1.4.0
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@github-actions github-actions released this 11 Jun 04:25
· 1926 commits to master since this release
v1.4.0
0f7b06a
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gergondet Pierre Gergondet
GPG key ID: 220D644C64666806
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Learn about vigilant mode.

Changes

  • [FSM] Deprecates the use of robotIndex in favor of robot name robot
  • bodyWrench and surfaceWrench can now be computed with joints between the sensor and body/surface
  • Message state can be used to display messages in the GUI as well as the CLI
  • Benchmarks can now be compiled and run with the build_and_install.sh script
  • Use RBDyn::Parsers instead of mc_rbdyn_urdf
  • Functions that use mc_rbdyn_urdf were kept for backwards compatibility, they will be removed in a later release
  • Improve error reporting when some tasks parameters are not set correctly
  • mc_rtc::log::info, mc_rtc::log::success, mc_rtc::log::warning and mc_rtc::log::error replace the respective LOG_* macros, they use the spdlog library for asynchronous logging and modern formatting support
  • LOG_* macros are now deprecated, they will be removed in a later release

Added

  • New benchmark for task allocation performance
  • Support for std::unordered_set in mc_rtc::Configuration
  • Added performance measurements to the FSM

Fixes

  • Fix and upgrade benchmarks compilation
  • Correctly teardown the last FSM state
  • Computed contact forces are logged with a unique identifier
  • Improve Python 3 compatibility for mc_log_ui
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