Merge devel in master and release 1.0.0 #627
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Add inertial parameters regressor method to KinDynComputations
…uation of norm. When translating a L2Norm cost into a quadratic cost, the constant part given by the square of the reference value can be omitted. On the other end, for applications when it is important to have the correct value of the 2-norm, this constant part can be computed and added to the cost.
Renamed getObject to get and moved to private the attributes of QuadraticCost.
In this way we can have a common ancestro between a generic quadratic cost, a L2Norm cost and a linear cost without the need of hiding QuadraticCost specialization methods.
The evaluation of QuadraticLike cost has changed. If a pointer is not present, it is considered as a zero.
Modified the ConstraintGroupTest. Modified some random comments. Avoiding to initialize the QuadraticLikeCost bias. It will be automatically ignored.
…he OC problem. Tests have been modified too. Deprecated method with a typo.
… interface changed to exploit this.
Some other already solved.
This make possible to use QP solvers, since the constant part of the constraints would be lost otherwise. Solved a bug when adding an identity on top of the constraints jacobian in the OSQP interface.
Remove duplicated isFakeLinks and removeFakeLinks from the URDF parser
Remove all uses of IDYNTREE_TREE_INCLUDE_DIRS global variable
It is useful to define an alias of the iDynTree libraries with the scope of the exported library itself (i.e. iDynTree::<lib>) because (1) you can link against it with the exact same syntax of an imported library, that is useful when iDynTree is used in a bigger project via add_subdirectory and (2) because names having a double-colon (::) are always treated as the name of either an alias or imported target. Any attempt to use such a name for a different target type will result in an error.
Fix handling of ALGLIB dependency minimum required version
…ntree-core and idyntree-highlevel
Furthermore, reiterate that IDYNTREE_USES_KDL is deprecated and is going to be removed.
Deprecate semantics support in core data structures
Remove appveyor and Travis CI files
Add definition of namespaced targets even for the build tree
In particular: * Remove use of YARP_INCLUDE_DIRS * Substitute the use of YARP_LIBRARIES with the explicit libraries to link * Add variable names in yarp_idl_to_dir
Require YARP 3.3 and remove use of deprecated YARP functionalities
If iDynTree is included as part of a bigger project via add_subdirectory, it is possible that some of its dependencies are included via add_subdirectory as well. For this reason, this PR adds the logic to avoid searching via find_package for a CMake package, if the relevant target are already defined.
To compile the idyntree-plotter utility
It is not clear why this is necessary, see: * robotology/yarp#1092 * robotology/yarp#2142 However, the new style (without the prepended "thrift") seems to be working fine on both YARP 3.3 and master, so given that iDynTree 1.0 now requires YARP 3.3 as the minimum version, I think it is ok to just fix the issue by removing the "thrift" directory.
Add libqt5charts5-dev package in GitHub Action and fix YARP Thrift include problem.
Support the use of dependencies made available via add_subdirectory
Bump version to 1.0.0
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As all the changes landed in the
develbranch with a review, we can merge thedevelbranch inmasterwithout any further review.