2025-09-17  Joris Vaillant  <joris.vaillant@inria.fr>

	release: Update CITATION.cff version to 3.8.0

	release: Update pixi.toml version to 3.8.0

	release: Update CHANGELOG.md for 3.8.0

	release: Update package.xml version to 3.8.0

	Merge pull request #2743 from dogged1021/fix/cannot-found-casadi
	Fix/cannot found casadi

	cmake: Use target alias instead of cmake variable

	changelog: Add entry

	cmake: Fix comment

2025-09-17  Joris Vaillant  <joris.vaillant@gmail.com>

	Apply suggestions from code review

2025-09-17  zhang.chen  <zhang.chen@agile-robots.com>

	fix/build with different versions of CasADi targets

2025-09-17  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2765 from jorisv/topic/ci-pull-push
	Don't trigger CI on push and pull_request event #756

	ci: Don't trigger CI on push and pull_request event #756
	This will avoid building 2 time the same commit.
	Also, try to homogenize workflows.

	Merge pull request #2763 from MegMll/topic/urdf_mimic_unaligned
	Fix axis of unaligned mimic joint

2025-09-16  Megane Millan  <millan.megane@gmail.com>

	[unittest/urdf] Simplify unittest

	[unittest/urdf] Add unaligned mimic test

	Update changelog

	[urdf] Set unaligned axis when it's a mimic joint

2025-09-16  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2714 from nim65s/only-py
	CMake:  add BUILD_STANDALONE_PYTHON_INTERFACE option

	ci: Fix pixi workflow

	ci: Avoid filling all disk space in debug

2025-09-16  Guilhem Saurel  <guilhem.saurel@laas.fr>

	CMake: always install python headers

2025-09-16  Joris Vaillant  <joris.vaillant@inria.fr>

	cmake: add_test_cflags do nothing in standalone python mode

	python: Fix python test dependency

	python: Fix stubgen dependency

	ci: Test split build with pixi

2025-09-16  Guilhem Saurel  <guilhem.saurel@laas.fr>

	CMake : add lib aliases with namespace

	add changelog entry

	Nix: BUILD_STANDALONE_PYTHON_INTERFACE

	CMake: BUILD_STANDALONE_PYTHON_INTERFACE

2025-09-15  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2762 from stack-of-tasks/dependabot/github_actions/devel/ros-industrial/industrial_ci-eb3ea328ff056aa2435d5b3493e7e2929c310f8e
	build(deps): bump ros-industrial/industrial_ci from e3d16c224caf4832cf68e74093eb70f3a979b4cc to eb3ea328ff056aa2435d5b3493e7e2929c310f8e

2025-09-15  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump ros-industrial/industrial_ci
	Bumps [ros-industrial/industrial_ci](https://github.com/ros-industrial/industrial_ci) from e3d16c224caf4832cf68e74093eb70f3a979b4cc to eb3ea328ff056aa2435d5b3493e7e2929c310f8e.
	- [Commits](https://github.com/ros-industrial/industrial_ci/compare/e3d16c224caf4832cf68e74093eb70f3a979b4cc...eb3ea328ff056aa2435d5b3493e7e2929c310f8e)

	---
	updated-dependencies:
	- dependency-name: ros-industrial/industrial_ci
	  dependency-version: eb3ea328ff056aa2435d5b3493e7e2929c310f8e
	  dependency-type: direct:production
	...

2025-09-08  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2758 from stack-of-tasks/dependabot/github_actions/devel/actions/github-script-8
	build(deps): bump actions/github-script from 7 to 8

2025-09-08  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump actions/github-script from 7 to 8
	Bumps [actions/github-script](https://github.com/actions/github-script) from 7 to 8.
	- [Release notes](https://github.com/actions/github-script/releases)
	- [Commits](https://github.com/actions/github-script/compare/v7...v8)

	---
	updated-dependencies:
	- dependency-name: actions/github-script
	  dependency-version: '8'
	  dependency-type: direct:production
	  update-type: version-update:semver-major
	...

2025-09-08  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2756 from MegMll/topic/urdf_mimic_continuous
	Add continuous joint as mimic in urdf parser

2025-09-08  Megane Millan  <millan.megane@gmail.com>

	[unittest] use real joint names

2025-09-05  Megane Millan  <millan.megane@gmail.com>

	[unittest] use literal and add a throw test

	update changelog

	[unittest] Add mimic parsing test case

	[urdf parser] Add continuous joint case for mimic joint in parser urdf

	[jointMimic] Change assert in throw

2025-09-05  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2754 from jorisv/topic/mjcf-site-fixed-body
	Add site attached to a fixed body in MJCF parser

2025-09-04  Joris Vaillant  <joris.vaillant@inria.fr>

	changelog: Add entry

	mjcf: Add site attached to a fixed body

2025-09-01  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2750 from stack-of-tasks/topic/update-pixi
	Update pixi lockfile

2025-09-01  Joris Vaillant  <joris.vaillant@inria.fr>

	pixi: Revert llvm-openmp update on Windows
	See: https://github.com/conda-forge/admin-requests/pull/1635

2025-09-01  jorisv  <778707+jorisv@users.noreply.github.com>

	pixi: Update pixi lockfile

2025-08-26  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2749 from jcarpent/topic/2746
	Fix copy of armature field in buildReducedModel

2025-08-22  Justin Carpentier  <justin.carpentier@inria.fr>

	changelog: update

	test/model: extend testing of model.{armature,rotorInertia,rototGearRatio} to be copied

	algo/model: copy missing field in buildReducedModel

	Merge pull request #2748 from JafarAbdi/fix_viser_visualizer
	Fix Viser visualizer loading DAE files as trimesh.Scene

2025-08-22  JafarAbdi  <jafar.uruc@gmail.com>

	Update changelog

	Fix Viser visualizer loading DAE files as trimesh.Scene

2025-08-20  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2744 from stack-of-tasks/dependabot/github_actions/devel/prefix-dev/setup-pixi-0.9.0
	build(deps): bump prefix-dev/setup-pixi from 0.8.14 to 0.9.0

2025-08-20  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump prefix-dev/setup-pixi from 0.8.14 to 0.9.0
	Bumps [prefix-dev/setup-pixi](https://github.com/prefix-dev/setup-pixi) from 0.8.14 to 0.9.0.
	- [Release notes](https://github.com/prefix-dev/setup-pixi/releases)
	- [Commits](https://github.com/prefix-dev/setup-pixi/compare/v0.8.14...v0.9.0)

	---
	updated-dependencies:
	- dependency-name: prefix-dev/setup-pixi
	  dependency-version: 0.9.0
	  dependency-type: direct:production
	  update-type: version-update:semver-minor
	...

2025-08-20  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2745 from stack-of-tasks/dependabot/github_actions/devel/actions/checkout-5
	build(deps): bump actions/checkout from 4 to 5

2025-08-18  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump actions/checkout from 4 to 5
	Bumps [actions/checkout](https://github.com/actions/checkout) from 4 to 5.
	- [Release notes](https://github.com/actions/checkout/releases)
	- [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md)
	- [Commits](https://github.com/actions/checkout/compare/v4...v5)

	---
	updated-dependencies:
	- dependency-name: actions/checkout
	  dependency-version: '5'
	  dependency-type: direct:production
	  update-type: version-update:semver-major
	...

2025-08-06  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2741 from jorisv/topic/fix-viser-import
	Fix ViserVisualizer import without hppfcl

	cmake: Run viser-viewer when running tests

	python: Don't import ViserVisualizer without hppfcl

2025-08-06  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2739 from stack-of-tasks/update_flake_lock_action
	flake.lock: Update

2025-08-05  github-actions[bot]  <github-actions[bot]@users.noreply.github.com>

	flake.lock: Update
	Flake lock file updates:

	• Updated input 'flake-parts':
	    'github:hercules-ci/flake-parts/49f0870db23e8c1ca0b5259734a02cd9e1e371a1?narHash=sha256-F82%2BgS044J1APL0n4hH50GYdPRv/5JWm34oCJYmVKdE%3D' (2025-06-01)
	  → 'github:hercules-ci/flake-parts/67df8c627c2c39c41dbec76a1f201929929ab0bd?narHash=sha256-XKqDMN1/Qj1DKivQvscI4vmHfDfvYR2pfuFOJiCeewM%3D' (2025-08-01)
	• Updated input 'flake-parts/nixpkgs-lib':
	    'github:nix-community/nixpkgs.lib/656a64127e9d791a334452c6b6606d17539476e2?narHash=sha256-rQaysilft1aVMwF14xIdGS3sj1yHlI6oKQNBRTF40cc%3D' (2025-06-01)
	  → 'github:nix-community/nixpkgs.lib/0f36c44e01a6129be94e3ade315a5883f0228a6e?narHash=sha256-zvaMGVn14/Zz8hnp4VWT9xVnhc8vuL3TStRqwk22biA%3D' (2025-07-27)
	• Updated input 'nixpkgs':
	    'github:NixOS/nixpkgs/cdda65d044eee977ce07d4959b90c6783f4b8752?narHash=sha256-vRTevYqk42iyS4MPQsprRMkGBZyqlGuz4vuhFvR8KPk%3D' (2025-06-01)
	  → 'github:NixOS/nixpkgs/5b09dc45f24cf32316283e62aec81ffee3c3e376?narHash=sha256-Q/I2xJn/j1wpkGhWkQnm20nShYnG7TI99foDBpXm1SY%3D' (2025-08-03)

2025-08-04  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2664 from MegMll/topic/model_graph
	Introducing model graph

2025-08-04  Joris Vaillant  <joris.vaillant@inria.fr>
	    Joris Vaillant  <joris.vaillant@inria.fr>
	    Megane Millan  <megane.millan@inria.fr>

	graph: Add changelog entries

	graph: Add examples

2025-08-04  Joris Vaillant  <joris.vaillant@inria.fr>

	graph: Add ModelConfigurationConverter structure and algorithms

2025-08-04  Megane Millan  <megane.millan@inria.fr>

	graph: Add GeometryModel support to ModelGraph

	graph: Add ModelGraph structure and algorithms
	Graph - re-order joints

2025-08-01  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2736 from stack-of-tasks/topic/update-pixi
	Update pixi lockfile

2025-08-01  jorisv  <778707+jorisv@users.noreply.github.com>

	pixi: Update pixi lockfile

2025-07-28  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2735 from stack-of-tasks/dependabot/github_actions/devel/prefix-dev/setup-pixi-0.8.14
	build(deps): bump prefix-dev/setup-pixi from 0.8.12 to 0.8.14

2025-07-28  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump prefix-dev/setup-pixi from 0.8.12 to 0.8.14
	Bumps [prefix-dev/setup-pixi](https://github.com/prefix-dev/setup-pixi) from 0.8.12 to 0.8.14.
	- [Release notes](https://github.com/prefix-dev/setup-pixi/releases)
	- [Commits](https://github.com/prefix-dev/setup-pixi/compare/v0.8.12...v0.8.14)

	---
	updated-dependencies:
	- dependency-name: prefix-dev/setup-pixi
	  dependency-version: 0.8.14
	  dependency-type: direct:production
	  update-type: version-update:semver-patch
	...

2025-07-24  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2728 from nim65s/erd
	CMake: allow use of system example-robot-data

2025-07-24  Guilhem Saurel  <guilhem.saurel@laas.fr>
	    Joris Vaillant  <778707+jorisv@users.noreply.github.com>

	CMake: improve EXAMPLE_ROBOT_DATA_MODEL_DIR ux
	Works with `-DEXAMPLE_ROBOT_DATA_MODEL_DIR=~/here` and
	`-DEXAMPLE_ROBOT_DATA_MODEL_DIR=../here` (big warning in the second
	case, but that is fine)

2025-07-24  Joris Vaillant  <joris.vaillant@inria.fr>

	benchmark: Fix boost/filesystem inculde

	unittest: Don't mix local PINOCCHIO_MODEL_DIR and EXAMPLE_ROBOT_DATA_MODEL_DIR

2025-07-24  Guilhem Saurel  <guilhem.saurel@laas.fr>

	CMake: log system example-robot-data path

	examples: update example-robot-data use

	benchmarks: update example-robot-data use

	CMake: add missing links to Boost::filesystem

	CMake: allow user-specified EXAMPLE_ROBOT_DATA_MODEL_DIR

	CMake: fix PINOCCHIO_MODEL_DIR

	ruff: ignore RUF048
	```
	examples/meshcat-viewer-octree.py:13:10: RUF048 `__version__` may contain non-integral-like elements
	   |
	11 | from pinocchio.visualize import MeshcatVisualizer
	12 |
	13 | if tuple(map(int, fcl.__version__.split("."))) >= (3, 0, 0):
	   |          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ RUF048
	14 |     with_octomap = fcl.WITH_OCTOMAP
	15 | else:
	   |
	```

	fix RUF046

	ruff check --fix .

	add changelog entry

	tests / examples: update example-robot-data use

	Nix: add example-robot-data as dependency

	CMake: allow use of system example-robot-data

2025-07-24  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2734 from jorisv/topic/issue-template
	Improve issue template and add PR template

2025-07-23  Joris Vaillant  <joris.vaillant@inria.fr>

	lint: run linter

	pr: Update changelog path again

	pr: Update changelog path

	pr: Add 'no changelog' lable instruction

2025-07-23  Joris Vaillant  <joris.vaillant@gmail.com>
	    Wilson Jallet  <wilson.jallet@polytechnique.org>

	Apply suggestions from code review

2025-07-23  Joris Vaillant  <joris.vaillant@inria.fr>

	changelog: Precise update rule

	lint: run linter

	pr: Add PR template

	issue: Improve feature_request form

	issue: Improve bug_report form

2025-07-21  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2732 from stack-of-tasks/dependabot/github_actions/devel/prefix-dev/setup-pixi-0.8.12
	build(deps): bump prefix-dev/setup-pixi from 0.8.11 to 0.8.12

2025-07-21  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump prefix-dev/setup-pixi from 0.8.11 to 0.8.12
	Bumps [prefix-dev/setup-pixi](https://github.com/prefix-dev/setup-pixi) from 0.8.11 to 0.8.12.
	- [Release notes](https://github.com/prefix-dev/setup-pixi/releases)
	- [Commits](https://github.com/prefix-dev/setup-pixi/compare/v0.8.11...v0.8.12)

	---
	updated-dependencies:
	- dependency-name: prefix-dev/setup-pixi
	  dependency-version: 0.8.12
	  dependency-type: direct:production
	  update-type: version-update:semver-patch
	...

2025-07-19  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2731 from yvtungchou/fix/pybind-signature-bug
	Fix missing argument in exposeDelassus() pybind definition

2025-07-18  yutongzh  <yutongzh@umich.edu>

	add to changelog

	fix pybind bug in expose-delassus

2025-07-17  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2730 from BartlomiejK2/devel
	Fixed explicit conversions to Scalar type in `log.hxx`

2025-07-17  Bartek  <bartlomiejk@vp.pl>

	Fixed explicit conversions to Scalar type
	Added fix to CHANGELOG

	pre-commit: run on include/pinocchio/spatial/log.hxx

2025-07-17  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2718 from sea-bass/viser-visualizer-beta
	Beta version of Viser visualizer

2025-07-17  Sebastian Castro  <sebas.a.castro@gmail.com>

	Fix default captureImage height and width

2025-07-16  Joris Vaillant  <joris.vaillant@inria.fr>

	Run code format

	Add hppfcl.Convex support

	Add an example to run viser

2025-07-16  Sebastian Castro  <sebas.a.castro@gmail.com>

	Beta version of Viser visualizer

2025-07-15  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2716 from MegMll/fix/crba_mimic
	Fix mimic patch for CRBA

2025-07-15  Megane Millan  <millan.megane@gmail.com>

	CRBA - Fix mimic path and add unittest case for mimic

2025-07-15  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2727 from stack-of-tasks/dependabot/github_actions/devel/prefix-dev/setup-pixi-0.8.11
	build(deps): bump prefix-dev/setup-pixi from 0.8.10 to 0.8.11

2025-07-14  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump prefix-dev/setup-pixi from 0.8.10 to 0.8.11
	Bumps [prefix-dev/setup-pixi](https://github.com/prefix-dev/setup-pixi) from 0.8.10 to 0.8.11.
	- [Release notes](https://github.com/prefix-dev/setup-pixi/releases)
	- [Commits](https://github.com/prefix-dev/setup-pixi/compare/v0.8.10...v0.8.11)

	---
	updated-dependencies:
	- dependency-name: prefix-dev/setup-pixi
	  dependency-version: 0.8.11
	  dependency-type: direct:production
	  update-type: version-update:semver-patch
	...

2025-07-09  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2724 from nim65s/cmake
	sync submodule

2025-07-09  Guilhem Saurel  <guilhem.saurel@laas.fr>

	sync submodule

2025-07-03  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2721 from sea-bass/patch-1
	Update ROS section and CI badges in README

2025-07-03  Sebastian Castro  <4603398+sea-bass@users.noreply.github.com>

	Update README CI badges

	Update ROS README section

2025-07-02  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2720 from stack-of-tasks/topic/update-pixi
	Update pixi lockfile

	ci: Don't activate CODEGEN when building on Linux ARM64 platform

2025-07-01  jorisv  <778707+jorisv@users.noreply.github.com>

	pixi: Update pixi lockfile

2025-06-30  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2715 from JafarAbdi/fix_has_configuration_limit_mimic
	Fix hasConfigurationLimit() for mimic joints to return empty vector

2025-06-30  JafarAbdi  <jafar.uruc@gmail.com>

	Fix hasConfigurationLimitInTangent for mimic joints

	Update changelog

	Fix hasConfigurationLimit for mimic joints

	Add a unittest that trigger the bug

2025-06-30  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2719 from sea-bass/patch-1
	Add ROS 2 Kilted to CI jobs

2025-06-30  Sebastian Castro  <4603398+sea-bass@users.noreply.github.com>
	    Joris Vaillant  <joris.vaillant@gmail.com>

	Update CHANGELOG.md

2025-06-30  Sebastian Castro  <4603398+sea-bass@users.noreply.github.com>

	Update CHANGELOG.md

	Add ROS 2 Kilted to CI jobs

2025-06-30  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2713 from jorisv/topic/arm-ci
	Add arm running in pixi workflow

2025-06-30  Joris Vaillant  <joris.vaillant@inria.fr>

	unittest: Use isApprox instead of equality

	pixi: Add linux-aarch64

	ci: Add arm running in pixi workflow

2025-06-27  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2717 from valgur/patch-1
	CMakeLists.txt: remove a duplicate option()

2025-06-27  Martin Valgur  <martin.valgur@gmail.com>

	CMakeLists.txt: remove a duplicate option()

2025-06-23  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2706 from jcarpent/topic/cmake
	Sync submodule cmake

2025-06-23  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

2025-06-19  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2707 from MegMll/m_origin/topic/fix_mimic
	Fix : make nvSubtree consistent with mimic joint in all configuration

2025-06-18  Megane Millan  <millan.megane@gmail.com>

	apply pre-commit

	Data - Check for edge case when mimic joints subtree is only composed of mimic joints

	Data - Simplify nvSubtree construction

	Check-data - simplify check for nvSubtree

	Changelog - update

	Unittest - add missing mimic case

	Data - update nvSubtree computation for the case of mimic joints as last child

2025-06-18  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2705 from jcarpent/topic/issue-2703
	Fix issue #2703

2025-06-16  Justin Carpentier  <justin.carpentier@inria.fr>

	changelog: update

	python/data: expose additional fields

	test/derivatives: add test for case joint_id == 0

	algo/derivatives: fix case for joint_id == 0

	Merge pull request #2704 from stack-of-tasks/dependabot/github_actions/devel/prefix-dev/setup-pixi-0.8.10
	build(deps): bump prefix-dev/setup-pixi from 0.8.8 to 0.8.10

2025-06-16  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump prefix-dev/setup-pixi from 0.8.8 to 0.8.10
	Bumps [prefix-dev/setup-pixi](https://github.com/prefix-dev/setup-pixi) from 0.8.8 to 0.8.10.
	- [Release notes](https://github.com/prefix-dev/setup-pixi/releases)
	- [Commits](https://github.com/prefix-dev/setup-pixi/compare/v0.8.8...v0.8.10)

	---
	updated-dependencies:
	- dependency-name: prefix-dev/setup-pixi
	  dependency-version: 0.8.10
	  dependency-type: direct:production
	  update-type: version-update:semver-patch
	...

2025-06-09  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2699 from stack-of-tasks/dependabot/github_actions/devel/ros-industrial/industrial_ci-e3d16c224caf4832cf68e74093eb70f3a979b4cc
	build(deps): bump ros-industrial/industrial_ci from 7083afac1ddf852a2923757a7ef588adaba841a9 to e3d16c224caf4832cf68e74093eb70f3a979b4cc

2025-06-09  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump ros-industrial/industrial_ci
	Bumps [ros-industrial/industrial_ci](https://github.com/ros-industrial/industrial_ci) from 7083afac1ddf852a2923757a7ef588adaba841a9 to e3d16c224caf4832cf68e74093eb70f3a979b4cc.
	- [Commits](https://github.com/ros-industrial/industrial_ci/compare/7083afac1ddf852a2923757a7ef588adaba841a9...e3d16c224caf4832cf68e74093eb70f3a979b4cc)

	---
	updated-dependencies:
	- dependency-name: ros-industrial/industrial_ci
	  dependency-version: e3d16c224caf4832cf68e74093eb70f3a979b4cc
	  dependency-type: direct:production
	...

2025-06-05  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2697 from nim65s/hrp2
	ci update flake: use hrp2 token

2025-06-05  Guilhem Saurel  <guilhem.saurel@laas.fr>

	fixup! ci nix: alls-green

2025-06-05  Guilhem Saurel  <guilhem.saurel@laas.fr>

	nix: fix ci
	with `nix flake update nixpkgs --override-input nixpkgs github:NixOS/nixpkgs/cdda65d044eee977ce07d4959b90c6783f4b8752`,
	as this is a commit built by hydra before the merge of libfaketime bump which broke texlive on darwin.

	A proper fix is incoming in https://github.com/NixOS/nixpkgs/pull/414065,
	so the next update-flake-lock automated action will put everything back to normal.

2025-06-05  Guilhem Saurel  <guilhem.saurel@laas.fr>

	ci nix: alls-green

	ci update flake: use hrp2 token

2025-06-05  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2686 from nim65s/warning
	CMake: add COAL_DISABLE_HPP_FCL_WARNINGS

2025-06-05  Guilhem Saurel  <guilhem.saurel@laas.fr>

	nix: back to standard

	nix: use coal devel branch
	follows https://github.com/coal-library/coal/pull/713

	ci: fix nix
	ref. https://github.com/coal-library/coal/pull/705

	nix: use coal devel flake

	nix: use coal devel
	to check https://github.com/coal-library/coal/pull/709 (merged)

2025-06-05  Joris Vaillant  <joris.vaillant@inria.fr>

	cmake: Remove all hpp-fcl related warnings

	cmake: Always deactive hpp-fcl deprecation warning

	changelog: Add sections

2025-06-05  Guilhem Saurel  <guilhem.saurel@laas.fr>

	add changelog entry

	CMake: add COAL_DISABLE_HPP_FCL_WARNINGS
	Because it is not linked to hpp-fcl::hpp-fcl

2025-06-05  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2695 from stack-of-tasks/update_flake_lock_action
	flake.lock: Update

2025-06-05  github-actions[bot]  <github-actions[bot]@users.noreply.github.com>

	flake.lock: Update
	Flake lock file updates:

	• Updated input 'flake-parts':
	    'github:hercules-ci/flake-parts/c621e8422220273271f52058f618c94e405bb0f5?narHash=sha256-hIshGgKZCgWh6AYJpJmRgFdR3WUbkY04o82X05xqQiY%3D' (2025-04-01)
	  → 'github:hercules-ci/flake-parts/49f0870db23e8c1ca0b5259734a02cd9e1e371a1?narHash=sha256-F82%2BgS044J1APL0n4hH50GYdPRv/5JWm34oCJYmVKdE%3D' (2025-06-01)
	• Updated input 'flake-parts/nixpkgs-lib':
	    'github:nix-community/nixpkgs.lib/e4822aea2a6d1cdd36653c134cacfd64c97ff4fa?narHash=sha256-b1EdN3cULCqtorQ4QeWgLMrd5ZGOjLSLemfa00heasc%3D' (2025-03-30)
	  → 'github:nix-community/nixpkgs.lib/656a64127e9d791a334452c6b6606d17539476e2?narHash=sha256-rQaysilft1aVMwF14xIdGS3sj1yHlI6oKQNBRTF40cc%3D' (2025-06-01)
	• Updated input 'nixpkgs':
	    'github:NixOS/nixpkgs/979daf34c8cacebcd917d540070b52a3c2b9b16e?narHash=sha256-uKCfuDs7ZM3QpCE/jnfubTg459CnKnJG/LwqEVEdEiw%3D' (2025-05-04)
	  → 'github:NixOS/nixpkgs/c2a03962b8e24e669fb37b7df10e7c79531ff1a4?narHash=sha256-lcZQ8RhsmhsK8u7LIFsJhsLh/pzR9yZ8yqpTzyGdj%2BQ%3D' (2025-06-03)

2025-06-04  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2693 from stack-of-tasks/dependabot/github_actions/devel/ros-industrial/industrial_ci-7083afac1ddf852a2923757a7ef588adaba841a9
	build(deps): bump ros-industrial/industrial_ci from 16472786c1ffc53596007da4318db98d1f677933 to 7083afac1ddf852a2923757a7ef588adaba841a9

2025-06-04  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump ros-industrial/industrial_ci
	Bumps [ros-industrial/industrial_ci](https://github.com/ros-industrial/industrial_ci) from 16472786c1ffc53596007da4318db98d1f677933 to 7083afac1ddf852a2923757a7ef588adaba841a9.
	- [Commits](https://github.com/ros-industrial/industrial_ci/compare/16472786c1ffc53596007da4318db98d1f677933...7083afac1ddf852a2923757a7ef588adaba841a9)

	---
	updated-dependencies:
	- dependency-name: ros-industrial/industrial_ci
	  dependency-version: 7083afac1ddf852a2923757a7ef588adaba841a9
	  dependency-type: direct:production
	...

2025-06-02  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2692 from stack-of-tasks/topic/update-pixi
	Update pixi lockfile

2025-06-01  jorisv  <778707+jorisv@users.noreply.github.com>

	pixi: Update pixi lockfile

2025-05-26  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2684 from jcarpent/topic/issue-2683
	Add further check of input arguments for kinematics Jacobians

2025-05-24  Justin Carpentier  <justin.carpentier@inria.fr>

	algo: fix additional message in PINOCCHIO_CHECK_ARGUMENT_SIZE for q

	core: fix message in PINOCCHIO_CHECK_ARGUMENT_SIZE
	Following remarks by @sea-bass

	algo/kinematics: fix check size

	changelog: update

	doc: fix

	algo: add check of rows dimensions of kinematics Jacobians

2025-05-21  Joris Vaillant  <joris.vaillant@inria.fr>

	release: Update CITATION.cff version to 3.7.0

	release: Update pixi.toml version to 3.7.0

	release: Update CHANGELOG.md for 3.7.0

	release: Update package.xml version to 3.7.0

	changelog: Add missing entry

2025-05-21  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2680 from jcarpent/topic/ci
	Remove support of 20.04 in linux CI

2025-05-21  Joris Vaillant  <joris.vaillant@inria.fr>

	python: Remove Ubuntu 20.04 compatibility code

	ci: Use ccache statistics verbose output

2025-05-20  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: set CMake minimal expected version to 3.22

	cmake: sync submodule

	ci/linux: remove support of 20.04

2025-05-05  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2672 from stack-of-tasks/update_flake_lock_action
	flake.lock: Update

2025-05-05  github-actions[bot]  <github-actions[bot]@users.noreply.github.com>

	flake.lock: Update
	Flake lock file updates:

	• Updated input 'nixpkgs':
	    'github:NixOS/nixpkgs/2c8d3f48d33929642c1c12cd243df4cc7d2ce434?narHash=sha256-F7n4%2BKOIfWrwoQjXrL2wD9RhFYLs2/GGe/MQY1sSdlE%3D' (2025-04-02)
	  → 'github:NixOS/nixpkgs/979daf34c8cacebcd917d540070b52a3c2b9b16e?narHash=sha256-uKCfuDs7ZM3QpCE/jnfubTg459CnKnJG/LwqEVEdEiw%3D' (2025-05-04)

2025-05-01  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2671 from stack-of-tasks/topic/update-pixi
	Update pixi lockfile

2025-05-01  jorisv  <778707+jorisv@users.noreply.github.com>

	pixi: Update pixi lockfile

2025-04-30  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2668 from fabinsch/panda3d-capture-img
	Implement `captureImage` for Panda3D visualizer

2025-04-30  Fabian Schramm  <55981657+fabinsch@users.noreply.github.com>

	update changelog

	panda3d talos example: add recording option

	panda3d: allow to use in offscreen mode
	- does not change default behaviour of openning the window

	panda3d: capture imgs using `get_screenshot`

2025-04-29  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2666 from jorisv/topic/change-default-branch
	Change default branch

	changelog: Add entry

	ci: Ignore all markdown file change

	readme: Use devel as default branch

2025-04-28  Joris Vaillant  <joris.vaillant@inria.fr>

	release: Update CITATION.cff version to 3.6.0

	release: Update pixi.toml version to 3.6.0

	release: Update CHANGELOG.md for 3.6.0

	release: Update package.xml version to 3.6.0

2025-04-28  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: remove useless item

	Merge pull request #2665 from stack-of-tasks/dependabot/github_actions/devel/ros-industrial/industrial_ci-16472786c1ffc53596007da4318db98d1f677933
	build(deps): bump ros-industrial/industrial_ci from cfe5c929f7dbb0374c01bc26821ec8eb72f6d4e8 to 16472786c1ffc53596007da4318db98d1f677933

2025-04-28  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump ros-industrial/industrial_ci
	Bumps [ros-industrial/industrial_ci](https://github.com/ros-industrial/industrial_ci) from cfe5c929f7dbb0374c01bc26821ec8eb72f6d4e8 to 16472786c1ffc53596007da4318db98d1f677933.
	- [Commits](https://github.com/ros-industrial/industrial_ci/compare/cfe5c929f7dbb0374c01bc26821ec8eb72f6d4e8...16472786c1ffc53596007da4318db98d1f677933)

	---
	updated-dependencies:
	- dependency-name: ros-industrial/industrial_ci
	  dependency-version: 16472786c1ffc53596007da4318db98d1f677933
	  dependency-type: direct:production
	...

2025-04-23  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2659 from jorisv/topic/fix-algo-custom-scalar
	Fix custom scalar support

2025-04-23  Joris Vaillant  <joris.vaillant@inria.fr>

	python: build contactCholeskyDecomposition for casadi binding

	contact-cholesky: Remove explicit template declaration from .txx

2025-04-22  Joris Vaillant  <joris.vaillant@inria.fr>

	changelog: Add entries

	python: Generate constraintDynamics bindings for casadi

	contact-jacobian: Add casadi, cppad and cppadcg support

	contact-cholesky: Add casadi, cppad and cppadcg support

	contact-dynamics: Add casadi, cppad and cppadcg support

	constrained-dynamics-derivatives: Add casadi, cppad and cppadcg support

	cholesky: Add casadi, cppad and cppadcg support

	cppad: Add constaintDynamics support

	casadi: Add constaintDynamics support

2025-04-21  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2657 from stack-of-tasks/dependabot/github_actions/devel/ros-industrial/industrial_ci-cfe5c929f7dbb0374c01bc26821ec8eb72f6d4e8
	build(deps): bump ros-industrial/industrial_ci from 3e67ec54d63496e076267392148a26229740befc to cfe5c929f7dbb0374c01bc26821ec8eb72f6d4e8

2025-04-21  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump ros-industrial/industrial_ci
	Bumps [ros-industrial/industrial_ci](https://github.com/ros-industrial/industrial_ci) from 3e67ec54d63496e076267392148a26229740befc to cfe5c929f7dbb0374c01bc26821ec8eb72f6d4e8.
	- [Commits](https://github.com/ros-industrial/industrial_ci/compare/3e67ec54d63496e076267392148a26229740befc...cfe5c929f7dbb0374c01bc26821ec8eb72f6d4e8)

	---
	updated-dependencies:
	- dependency-name: ros-industrial/industrial_ci
	  dependency-version: cfe5c929f7dbb0374c01bc26821ec8eb72f6d4e8
	  dependency-type: direct:production
	...

2025-04-21  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2658 from stack-of-tasks/dependabot/github_actions/devel/prefix-dev/setup-pixi-0.8.8
	build(deps): bump prefix-dev/setup-pixi from 0.8.5 to 0.8.8

2025-04-21  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump prefix-dev/setup-pixi from 0.8.5 to 0.8.8
	Bumps [prefix-dev/setup-pixi](https://github.com/prefix-dev/setup-pixi) from 0.8.5 to 0.8.8.
	- [Release notes](https://github.com/prefix-dev/setup-pixi/releases)
	- [Commits](https://github.com/prefix-dev/setup-pixi/compare/v0.8.5...v0.8.8)

	---
	updated-dependencies:
	- dependency-name: prefix-dev/setup-pixi
	  dependency-version: 0.8.8
	  dependency-type: direct:production
	  update-type: version-update:semver-patch
	...

2025-04-16  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2648 from ManifoldFR/topic/visualizers/add-unit-test
	unittest/python : add visualizer bindings visitor test, add CMake util to create C++ Python modules for tests

2025-04-16  ManifoldFR  <wilson.jallet@polytechnique.org>

	do not run problematic tests on windon't

	unittest/python : homogeneize test cpp module names

	bindings/python : std::is_base_of_v is C++17 only

	bindings/python : this was a 'terse static assert' apparently, and hence, bad
	+ fixes windows

	unittest/python : add test for visualizer bindings (visitor)

	unittest/python/CMakeLists.txt : add util function to create test C++ extension Python modules, and associated Python tests
	+ this commit was amended:
	  - fixed EXCLUDE_FROM_ALL being on the wrong if/else branch

2025-04-16  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2647 from ManifoldFR/topic/visualizers/python-visitor-fix
	[python] Fix for getters in VisualizerPythonVisitor

2025-04-15  ManifoldFR  <wilson.jallet@polytechnique.org>

	Update CHANGELOG

	[python] visualizer-visitor : use lambdas to expose getters for models, data
	+ fixes downstream issues

2025-04-14  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2646 from stack-of-tasks/dependabot/github_actions/devel/prefix-dev/setup-pixi-0.8.5
	build(deps): bump prefix-dev/setup-pixi from 0.8.4 to 0.8.5

	lint: Apply clang-format

2025-04-14  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump prefix-dev/setup-pixi from 0.8.4 to 0.8.5
	Bumps [prefix-dev/setup-pixi](https://github.com/prefix-dev/setup-pixi) from 0.8.4 to 0.8.5.
	- [Release notes](https://github.com/prefix-dev/setup-pixi/releases)
	- [Commits](https://github.com/prefix-dev/setup-pixi/compare/v0.8.4...v0.8.5)

	---
	updated-dependencies:
	- dependency-name: prefix-dev/setup-pixi
	  dependency-version: 0.8.5
	  dependency-type: direct:production
	  update-type: version-update:semver-patch
	...

2025-04-10  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: clean

2025-04-08  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2644 from florent-lamiraux/devel
	[Model] Improve error message

2025-04-08  Florent Lamiraux  <florent@laas.fr>

	[Model] Improve error message.

2025-04-07  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2640 from stack-of-tasks/dependabot/github_actions/devel/actions/create-github-app-token-2
	build(deps): bump actions/create-github-app-token from 1 to 2

2025-04-07  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump actions/create-github-app-token from 1 to 2
	Bumps [actions/create-github-app-token](https://github.com/actions/create-github-app-token) from 1 to 2.
	- [Release notes](https://github.com/actions/create-github-app-token/releases)
	- [Commits](https://github.com/actions/create-github-app-token/compare/v1...v2)

	---
	updated-dependencies:
	- dependency-name: actions/create-github-app-token
	  dependency-version: '2'
	  dependency-type: direct:production
	  update-type: version-update:semver-major
	...

2025-04-07  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2639 from stack-of-tasks/dependabot/github_actions/devel/prefix-dev/setup-pixi-0.8.4
	build(deps): bump prefix-dev/setup-pixi from 0.8.3 to 0.8.4

2025-04-07  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump prefix-dev/setup-pixi from 0.8.3 to 0.8.4
	Bumps [prefix-dev/setup-pixi](https://github.com/prefix-dev/setup-pixi) from 0.8.3 to 0.8.4.
	- [Release notes](https://github.com/prefix-dev/setup-pixi/releases)
	- [Commits](https://github.com/prefix-dev/setup-pixi/compare/v0.8.3...v0.8.4)

	---
	updated-dependencies:
	- dependency-name: prefix-dev/setup-pixi
	  dependency-version: 0.8.4
	  dependency-type: direct:production
	  update-type: version-update:semver-patch
	...

2025-04-05  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2638 from stack-of-tasks/update_flake_lock_action
	flake.lock: Update

2025-04-05  github-actions[bot]  <github-actions[bot]@users.noreply.github.com>

	flake.lock: Update
	Flake lock file updates:

	• Updated input 'flake-parts':
	    'github:hercules-ci/flake-parts/3876f6b87db82f33775b1ef5ea343986105db764?narHash=sha256-ZaMw0pdoUKigLpv9HiNDH2Pjnosg7NBYMJlHTIsHEUo%3D' (2025-03-01)
	  → 'github:hercules-ci/flake-parts/c621e8422220273271f52058f618c94e405bb0f5?narHash=sha256-hIshGgKZCgWh6AYJpJmRgFdR3WUbkY04o82X05xqQiY%3D' (2025-04-01)
	• Updated input 'flake-parts/nixpkgs-lib':
	    'https://github.com/NixOS/nixpkgs/archive/6d3702243441165a03f699f64416f635220f4f15.tar.gz?narHash=sha256-3wHafybyRfpUCLoE8M%2BuPVZinImg3xX%2BNm6gEfN3G8I%3D' (2025-03-01)
	  → 'github:nix-community/nixpkgs.lib/e4822aea2a6d1cdd36653c134cacfd64c97ff4fa?narHash=sha256-b1EdN3cULCqtorQ4QeWgLMrd5ZGOjLSLemfa00heasc%3D' (2025-03-30)
	• Updated input 'nixpkgs':
	    'github:NixOS/nixpkgs/ba487dbc9d04e0634c64e3b1f0d25839a0a68246?narHash=sha256-WZNlK/KX7Sni0RyqLSqLPbK8k08Kq7H7RijPJbq9KHM%3D' (2025-03-03)
	  → 'github:NixOS/nixpkgs/2c8d3f48d33929642c1c12cd243df4cc7d2ce434?narHash=sha256-F7n4%2BKOIfWrwoQjXrL2wD9RhFYLs2/GGe/MQY1sSdlE%3D' (2025-04-02)

2025-04-05  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2637 from jcarpent/topic/examples
	Add CRBA CasADi example

2025-04-04  Justin Carpentier  <justin.carpentier@inria.fr>

	examples/casadi: add crba example
	Related to https://github.com/stack-of-tasks/pinocchio/issues/2635

	core: remove another compilation warning

	casadi: remove compilation warning

	Merge pull request #2636 from jcarpent/topic/cmake
	Sync submodule CMake

	cmake: sync submodule

2025-04-02  Joris Vaillant  <joris.vaillant@inria.fr>

	release: Update CITATION.cff version to 3.5.0

	release: Update pixi.toml version to 3.5.0

	release: Update CHANGELOG.md for 3.5.0

	release: Update package.xml version to 3.5.0

	Merge pull request #2633 from jorisv/topic/update-readme
	Update readme

2025-04-02  Joris Vaillant  <joris.vaillant@gmail.com>
	    Wilson  <wilson.jallet@polytechnique.org>

	Update README.md

2025-04-02  Joris Vaillant  <joris.vaillant@gmail.com>
	    Justin Carpentier  <justin.carpentier@inria.fr>

	Update README.md

	Update README.md

	Update README.md

	Update README.md

	Update README.md

2025-04-02  Joris Vaillant  <joris.vaillant@gmail.com>
	    Wilson  <wilson.jallet@polytechnique.org>

	Update README.md

2025-04-02  Joris Vaillant  <joris.vaillant@gmail.com>
	    Guilhem Saurel  <guilhem.saurel@laas.fr>

	Update README.md

2025-04-02  Joris Vaillant  <joris.vaillant@inria.fr>

	readme: Add `Core team` section

	readme: Merge `Introducing Pinocchio 3` into `Pinocchio main features`

2025-04-01  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2631 from stack-of-tasks/topic/update-pixi
	Update pixi lockfile

2025-04-01  jorisv  <778707+jorisv@users.noreply.github.com>

	pixi: Update pixi lockfile

2025-03-31  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2630 from stack-of-tasks/topic/readme-cxx-ver
	Update README.md for new minimal C++ version

2025-03-31  Wilson  <wilson.jallet@polytechnique.org>

	Update README.md for new minimal C++ version

2025-03-27  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2627 from jorisv/topic/fix-ccache-key
	Fix PCH and ccache build

	cmake: Ask clang to not add pch-timestamp

	pixi: Since conda compiler name doesn't contains gcc, specify it's type to ccache

	ci: Avoid cache key collision

2025-03-27  Joris Vaillant  <joris.vaillant@inria.fr>
	    Megane Millan  <megane.millan@inria.fr>

	ci: Define ccache sloppiness and compilercheck to avoid cache misses.

2025-03-27  Joris Vaillant  <joris.vaillant@inria.fr>

	ci: Display ccache statistics
	ci: Run ccache with pixi run

	ci: Remove -v option on linux workflow

2025-03-27  Joris Vaillant  <joris.vaillant@inria.fr>

	ci: Fix ccache cache key for ROS workflow

	ci: Fix ccache cache key

2025-03-26  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2624 from abussy-aldebaran/topic/check-data-link
	Fix ModelTpl::check() link

2025-03-24  Antoine Bussy  <antoine.bussy@aldebaran.com>

	Fix link error

2025-03-21  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2626 from jorisv/topic/add-removed-define
	Set back PINOCCHIO_DEFAULT_QUATERNION_NORM_TOLERANCE_VALUE definition

2025-03-20  Joris Vaillant  <joris.vaillant@inria.fr>

	core: Set back PINOCCHIO_DEFAULT_QUATERNION_NORM_TOLERANCE_VALUE definition

2025-03-19  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2607 from jorisv/topic/google_bench
	Use google benchmark instead of our legacy benchmark system

2025-03-19  Joris Vaillant  <joris.vaillant@inria.fr>

	lint: Apply linter

	pixi: Add bokeh as benchmark feature dependencies

	bench: Add benchmark/plot.py to plot results

	bench: Add benchmark/README.md

	cmake: Prefix benchmark targets by pinocchio-

	bench: Port timings-impulse-dynamics-derivatives to google benchmark

	bench: Port timings-impulse-dynamics to google benchmark

	bench: Port timings-constained-dynamics-derivatives to google benchmark

	bench: Port timings-contact-dynamics to google benchmark

	bench: Port timings-delassus-operations to google benchmark

	bench: Port timings-jacobian to google benchmark

	bench: Port timings-geometry to google benchmark

	bench: Port timings-cppad-jit to google benchmark

	bench: Port timings-eigen to google benchmark

	bench: Port timings-derivatives to google benchmark

	bench: Use tau instead of a as aba argument

	bench: Update copyright

	bench: Port timings-cholesky to google benchmark

	bench: Port timings-parallel to google benchmark

	bench: Wrap function in PINOCCHIO_DONT_INLINE in timings-cg

	core: Define PINOCCHIO_DONT_INLINE

	bench: Port timings-cg to google benchmark

	bench: Factorize init code

	bench: Fix timings-cg

	changelog: Add entry

	bench: Parse extra arguments

	bench: Refactor timing.cpp to use google benchmark

	pixi: Add benchmark feature

	cmake: Fix build without benchmark

	cmake: Modernize benchmark CMakeLists.txt

2025-03-19  Wilson  <wilson.jallet@polytechnique.org>

	Merge pull request #2476 from jorisv/topic/pch
	Try to use pre compiled header to accelerate the build

2025-03-19  Joris Vaillant  <joris.vaillant@inria.fr>

	cmake: Update CMake minimum requirement

	lint: Apply linter

2025-03-19  Joris Vaillant  <joris.vaillant@gmail.com>
	    Wilson  <wilson.jallet@polytechnique.org>

	cmake: Improve CMake comments

2025-03-18  Joris Vaillant  <joris.vaillant@inria.fr>

	cmake: Add pre compiled headers to mpfr target

	cmake: Add pch.hpp to all bindings target pre compiled headers

2025-03-18  Megane Millan  <megane.millan@inria.fr>

	[cmake] Copyright and comment for future developpers

2025-03-18  Joris Vaillant  <joris.vaillant@inria.fr>

	cmake: Try to use pre compiled header to accelerate the build

2025-03-18  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2623 from nim65s/ros-ci2
	Update ROS CI

2025-03-17  Guilhem Saurel  <guilhem.saurel@laas.fr>

	ROS CI: sync

	CI: update ros distros

2025-03-17  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2621 from stack-of-tasks/dependabot/github_actions/devel/cachix/install-nix-action-31
	build(deps): bump cachix/install-nix-action from 30 to 31

	Merge branch 'devel' into dependabot/github_actions/devel/cachix/install-nix-action-31

	Merge pull request #2622 from stack-of-tasks/dependabot/github_actions/devel/cachix/cachix-action-16
	build(deps): bump cachix/cachix-action from 15 to 16

2025-03-17  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump cachix/cachix-action from 15 to 16
	Bumps [cachix/cachix-action](https://github.com/cachix/cachix-action) from 15 to 16.
	- [Release notes](https://github.com/cachix/cachix-action/releases)
	- [Commits](https://github.com/cachix/cachix-action/compare/v15...v16)

	---
	updated-dependencies:
	- dependency-name: cachix/cachix-action
	  dependency-type: direct:production
	  update-type: version-update:semver-major
	...

2025-03-17  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump cachix/install-nix-action from 30 to 31
	Bumps [cachix/install-nix-action](https://github.com/cachix/install-nix-action) from 30 to 31.
	- [Release notes](https://github.com/cachix/install-nix-action/releases)
	- [Commits](https://github.com/cachix/install-nix-action/compare/v30...v31)

	---
	updated-dependencies:
	- dependency-name: cachix/install-nix-action
	  dependency-type: direct:production
	  update-type: version-update:semver-major
	...

2025-03-16  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2608 from cmastalli/topic/fix-casting
	Enhacing casting support for multiple floating-point scalars, CasADi and CppAD types

2025-03-15  Justin Carpentier  <justin.carpentier@inria.fr>

	changelog: sync

	all: fix additional compilation warnings

	multibody/joints: fix constructor

	all: fix compilation warnings

	math/quaternion: replace DefaultNormTolerance by a call to math::sqrt directly

	math/quaternion: change default value logic

	codegen: fix DefaultNormTolerance

	pre-commit: run

2025-03-15  Carlos Mastalli  <carlos.mastalli@gmail.com>

	[core] Removed default tolerenace in quaternions

	[bugfix] Fixed scalar casting for CppAD::cg::CG types

	[core] Introduced different quaternion tolerances to handle different floating-point numbers

2025-03-10  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2528 from jcarpent/topic/cmake
	Add missing Python example for testing

	example: fix duration

	core: remove compilation warning

	cmake: do not run talos-simulation

	examples: fix closed loop example

	cmake: add ${PROJECT_NAME}-python as dependency of build_tests

	changelog: update

	cmake: only support Python 3

	cmake: add missing Python example

2025-03-05  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2591 from nim65s/devel
	CMake: fix for hpp-fcl/coal v3

2025-03-05  Guilhem Saurel  <guilhem.saurel@laas.fr>

	CMake: fix for hpp-fcl/coal v3
	Fix, at least on ROS buildfarm:
	```
	-- hpp-fcl FOUND. hpp-fcl at /opt/ros/rolling/lib/x86_64-linux-gnu/libhpp-fcl.so
	-- Found Boost: /usr/include (found version "1.83.0") found components: chrono serialization filesystem
	CMake Error at /opt/ros/rolling/lib/x86_64-linux-gnu/cmake/hpp-fcl/hpp-fclConfig.cmake:181 (message):
	  hpp-fcl: hpp-fcl >= 2.1.2 not found.
	Call Stack (most recent call first):
	  cmake/package-config.cmake:133 (find_package)
	  CMakeLists.txt:341 (add_project_dependency)
	```

2025-03-05  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2606 from stack-of-tasks/update_flake_lock_action
	flake.lock: Update

2025-03-05  github-actions[bot]  <github-actions[bot]@users.noreply.github.com>

	flake.lock: Update
	Flake lock file updates:

	• Updated input 'flake-parts':
	    'github:hercules-ci/flake-parts/f2f7418ce0ab4a5309a4596161d154cfc877af66?narHash=sha256-soePLBazJk0qQdDVhdbM98vYdssfs3WFedcq%2BraipRI%3D' (2025-01-01)
	  → 'github:hercules-ci/flake-parts/3876f6b87db82f33775b1ef5ea343986105db764?narHash=sha256-ZaMw0pdoUKigLpv9HiNDH2Pjnosg7NBYMJlHTIsHEUo%3D' (2025-03-01)
	• Updated input 'flake-parts/nixpkgs-lib':
	    'https://github.com/NixOS/nixpkgs/archive/e9b51731911566bbf7e4895475a87fe06961de0b.tar.gz?narHash=sha256-CewEm1o2eVAnoqb6Ml%2BQi9Gg/EfNAxbRx1lANGVyoLI%3D' (2025-01-01)
	  → 'https://github.com/NixOS/nixpkgs/archive/6d3702243441165a03f699f64416f635220f4f15.tar.gz?narHash=sha256-3wHafybyRfpUCLoE8M%2BuPVZinImg3xX%2BNm6gEfN3G8I%3D' (2025-03-01)
	• Updated input 'nixpkgs':
	    'github:NixOS/nixpkgs/88195a94f390381c6afcdaa933c2f6ff93959cb4?narHash=sha256-0q9NGQySwDQc7RhAV2ukfnu7Gxa5/ybJ2ANT8DQrQrs%3D' (2024-12-29)
	  → 'github:NixOS/nixpkgs/ba487dbc9d04e0634c64e3b1f0d25839a0a68246?narHash=sha256-WZNlK/KX7Sni0RyqLSqLPbK8k08Kq7H7RijPJbq9KHM%3D' (2025-03-03)

2025-03-02  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2599 from stack-of-tasks/topic/update-pixi
	Update pixi lockfile

2025-03-01  jorisv  <778707+jorisv@users.noreply.github.com>

	pixi: Update pixi lockfile

2025-02-28  Joris Vaillant  <joris.vaillant@inria.fr>

	changelog: Fix changelog

	Merge pull request #2441 from MegMll/topic/mimic
	Extend Support for Mimic Joint

2025-02-27  Megane Millan  <megane.millan@inria.fr>
	    Megane Millan  <megane.millan@inria.fr>
	    Etienne Arlaud  <etienne.arlaud@inria.fr>

	core: Add JointModelMimicTpl 2/2
	[urdf] Simplify mimic parsing

	[Check] Remove mimic exception

	[Joint] Mimic is not allowed before its parent (throw)

	[test/check] Add test for mimic data

	[test] Modify to be conform to the new throw in mimic joint

	[joint/translation] Go back to old api

	[Check] Remove MimicChecker from default list

	[Check] Remove mimic from default checker

	Remove dead code lines

	[serialize] Fix serialize for mimic

	[joint_mimic] Fix cast of joint

	[EtienneAr feedback] topic/mimic: pretty print for mimic joints

	[EtienneAr feedback] topic/mimic: Store nq/nv and remove mimicking joint visitor call

	[Joint] Re-introduce old api for setIndexes

	Fix doc

	Remove useless include

	apply pre-commit

	[EtienneAr feedback] topic/mimic: Minor visitor call remove

	[parser/urdf] Simplify mimic parsing

	[parser/urdf] Mimic default to false

	[bindings/urdf] Parser default argument to bindings to not break api

	Revert mimic argument

	Revert setIndexes to old api

	[SampleModel] Simplify bindings

	Revert setIndexes uses back to old api

	[EtienneAr feedback] topic/mimic: rename m_jmodel_ref > m_jmodel_mimicking (resp data)

	[EtienneAr feedback] topic/mimic: add size check for new data in checkdata

	[EtienneAr feedback] topic/mimic: Minor comment update for mimic setIndexes

	[EtienneAr feedback] topic/mimic: Fix mimic serialization

	[bindings/sampleModel] Add missing arguments

	[bindings/model] Expose transformJointIntoMimic

	[bindings/joint] Expose new aatributes idx_vExtended and nvExtended

	[bindings/sampleModel] Coherent with cpp implementation

	[joint/Mimic] Add velocitySelector and fix typo

	[bindings/model] Fix scalar of transformJointIntoMimic

	[algo/model] Fix reduced model for mimic

	[algo/model] Remove useless typedef that causes compilation warning

	[data] Use nvExtended instead of nv in nvSubtree

	[unittest] Reactivate mimic in reachable workspace

	[unittest] Build mimic model generic

	[unittest] Use generic buildMimic function and add test for double mimic in a model

	[Common-operation] Assert that it's not possible

	[joint/helical] Add affine transform to mimic

	[unittest] Fix acceleration

	[EtienneAr Feedback] joint-mimic: Remove mutable from joint data

	[serialization] Fix mimic data serialization

	[algo/centroidal] Add comments to explain mimic

	[algo/rnea] Add comment to explain mimic

	[unittest/mimic] Remove test for no transform (since it throws now)

	Apply pre-commit

	[Serialization/Data] Fix mimic data serialization

	[parser/urdf] Don't break api

	[bindings/model] Use proxy

	[model] Iintroduce mimic_joints and mimic_pairs value (missing serialize and bindigns for mimic_pairs)

	[algo/model] Add new model attributes to transformMimicJoint

	[data] Fix nvSubtree

	[parser/urdf] Add false to verbose argument and fix argument order issues

	[unittest] Factorize fonction

	[unittest] Test mimic manipulator

	[unittest] add mimic kinematics test

	[unittest] Remove dead code

	[data & check-data] change nvSubtree convention for mimic

	[unittest] Remove test for sample-model

	[serialization] Remove dead code

	[algo/center-of-mass] Add assert for jacobian subtree

	[unittest] Fix model generator

	[unittest] Fix G matrix

	[unittest] Remove cout

	wip for crba patch

	[algo/crba] Use new patch for crba with local mimic

	[EtienneAr feedback] topic/mimic: restore jacobian perfomrances (remove +=) and add mimicked_joint id vector in robot model

	[EtienneAr feedback] topic/mimic: Rename Joint[Velocity/Config]ExtendedModelSelector into JointMapped[Velocity/Config]Selector that is more explicit

	[EtienneAr feedback] topic/mimic: Add more jacobian tests for mimic joints

	[algo/crba] Add patch for crba world with mimic joints

	[data] Add check data test for mimic_subtree_joint

	[algo/crba] Add comments and use new data struct in local mimic patch

	[model] Remove useless structure

	[data] add comment for new vector (special mimic)

	[unittest/data] Add test for new vector

	[algo/check] Fix data check

	[algo/crba] [EtienneAr Feedback] Fix malloc error

	[EtienneAr feedback] topic/mimic: Rename MaxNVExtended into MaxNVMimicked and use it in crba patch

	[algo/check-data] Put check for mimic_subtree outside the joint loop

	[unittest] Add test when mimic is terminal

	[data] use -1 when mimic is terminal to be more explicit

	[algo/crba] remove useless lines

	[algo/crba] Fix compilation warning

	[algo/crba] use eigen::ref, and add comment to algorithm

	[algo/model] Fix transform into mimic in the case a mimic is already in the joint list and has a index higher than the new mimic

	[algo/crba] Remove changes for -1 (does not work because joint indexes are unsigned int)

	[joint] Remove compilation warning

	[data] Stop using -1 (not unsigned int safe)

	[unittest/crba] test for mimic terminal

	[algo/crba] Fix heap allocation

	[EtienneAr feedback] topic/mimic: WiP add (non_)mimic_parents_fromRow

	[EtienneAr feedback] topic/mimic: Fix Jacobian for mimic and make it more efficient

	[EtienneAr feedback] topic/mimic: Add basic checks in chack-data from mimic_parents_fromRow and non_mimic_parents_fromRow

	[algo/crba] Move joint visitor into joint visitor dedicated file

	[joint-visitor] Add comment

	[examples] Add an example on what a mimic can and cannot do

	[data] Remove compilation warning

	[algo/crba] Add comment

	[example] Apply pre-commit

	[Joint/joint-mimic] Change order to remove compilation warning

	[unittest] Remove useless lines

	[algo/jacobian] Update doc

	[algo/jacobian] Update doc

	[algo/jacobian] update doc

	crba: use applyConstraintOnForceVisitor to optimize S^T*F computation

	crba: Avoid to use enable_if/disbale_if in mimic specialization

	mimic: Rename primary/secondary into mimicked/mimicking

	mimic: Add Data::mimic_subtree_joint in comparison and serialization

	changelog: Update content

	[EtienneAr feedback] topic/mimic: Squash jacobian fix

	[EtienneAr feedback] topic/mimic: use idx_vs array instead of visitor and fix jacobian bug

	[example/mimic] Update file

	[data] Change idx_v_extended_fromRow into idx_vExtended_to_idx_v_fromRow

	[unittest/model] Add test for new model info

	[bindings] Add policy precall to throw in case of jointMimic in the model

	Remove compilation warning

	python: add Data::support_fromRow accessor

	core: Rework documentation

	core: Add Model::mimic_joint_support member

	core: Patch transformJointIntoMimic to support Model::mimic_joint_supports

	core: Patch transformJointIntoMimic to have Model::mimick{ing,ed}_joints always sorted

	unittest: Simplify test_transform_to_mimic

	python: Add Model::mimic_joint_supports getter

	serialization: Add Model::mimic_joint_supports serialiazation

	core: Use Model::mimic_joint_suports in jacobian and frames algorithms

	core: Fix strange bug when mixing int and size_t

	lint: Apply linter

	[bindings] Change checker name and use model_idx to avoid for loop over argument

	[unittest/bindings] Test for mimic_not_supported_function

	Remove compilation warning

	[bindings] Add policy to non supported functions

	core: Comment jacobian.hxx

	[algo/model] Move buildMimicModel from unittest folder to main library

	[cmake] Add python model-checker.hpp to sources

	[bindings/checker] Use context model

	[bindings] Add mimic checker

	[bindings] Add mimic checker

	Remove compilation warning

	[bindings] Add mimic checker

	core: Don't use context::Model in buildMimicModel

	unittest: Add buildMimicModel unit test

	python: bodyRegressor doesn't need mimic_not_supported_function guard

	[EtienneAr feedback] topic/mimic: refactor duplicate code in mimic tests

	python: Add mimic_not_supported_function guard on ContactCholeskyDecomposition

	[EtienneAr feedback] topic/mimic: extensive tests on joint-jacobian

	[EtienneAr feedback] topic/mimic: Simple tests on mimic data

	[EtienneAr feedback] topic/mimic: Fix joint jacobian on mimicking joint

	[EtienneAr feedback] topic/mimic: Use neutral instead of Zero on q for joint jacobian test

	[EtienneAr feedback] topic/mimic: Use neutral instead of Zero in tests

	[EtienneAr feedback] topic/mimic: extensive tests on joint-jacobian

	[EtienneAr feedback] topic/mimic: Fix joint jacobian on mimicking joint

	[EtienneAr feedback] topic/mimic: Add test for LOCAL_WORLD_ALIGNED getJacobian

	[bindings] Remove double include of boost/python.hpp

	[EtienneAr feedback] topic/mimic: Add new data/model members in changelog

	[EtienneAr feedback] topic/mimic: Reset changes on dIntegrate as it is not supported by mimic

	[algo/model] Stop using deprecated members

	[unittest] Add test for new Model members

	Update Changelog

	Update Changelog

	core: Remove crba warning

	core: Try to patch frames jacobian algorithms

	core: Use noalias

	core: Fix frame jacobian computation in LOCAL_WORLD_ALIGNED

	core: Remove some warnings and add constness

	changelog: reformat and add PR link

2025-02-27  Antoine Bussy  <antoine.bussy@aldebaran.com>

	[Unittest] Check consistency of cast models with a mimic joint.
	[Unittest] Check specific indices when casting mimic joints.

	These are the specific checks that fail in checkData().

	[Unittest] Add test of buildReducedModel with mimic joints.

2025-02-27  Megane Millan  <megane.millan@inria.fr>
	    Megane Millan  <megane.millan@inria.fr>
	    Etienne Arlaud  <etienne.arlaud@inria.fr>

	core: Add JointModelMimicTpl 1/2 [WIP]
	Add Urdf support for mimic joint (revolute and prismatic)

	Sample Model : Now support a mimic joint at the end if wanted

	[Joints] Added support for nj and idx_j

	[Joint] Mimic joint is now based on the variant and not templated

	[Model] Support for nj and idx_j

	[Data] Jacobian is now indexed on nj

	[LieGroup] Neutral Specialization for mimic joints

	[Serialization] Fix serialization

	[Unittest] Fix unittest

	[unittest] Fix for mimic

	[Python] Add bindings

	[Urdf] Add possibility to use mimic or not

	[Serialization] Fix Test and serialization

	[Mimic] Joint Tpl instead of JointBase

	[Broken test] copy visitor from variant to variant

	Add mimic to shortcuts

	wip

	Copy constructor instead of =

	[EtienneAr feedback] Add mimic constructor for different primay/secondary joint types

	[EtienneAr feedback] Move transferVariant to joint-basic-visitors and document it

	[EtienneAr feedback] PoC: fix appendModel

	[EtienneAr feedback] Fix sample model for mimic in manipulator

	[EtienneAr feedback] Joint Mimic jointConfigSelector_impl follows conventions en return a 0 length vector (and apply pre-commit formatting)

	[EtienneAr feedback] Fix appendToModel when mimic joint in model

	[EtienneAr feedback] Apply pre-commit

	[EtienneAr feedback] Turn on mimic joint in model, reachable-workspace, sample-models unittest

	[EtienneAr feedback] Split jointCols jointRows and jointBLock for full and reduced system

	[URDF] Modified the way mimic joint are added (still broken for romeo....)

	[urdf] Fix parsing of mimic joints

	[Example] Fix to include mimic

	[robot_wrapper] Fix to include mimic

	Merge branch

	[RNEA] Modify to take mimic into account

	[Mimic] Modify to be able to mimic from base to Tpl

	[SampleModel] Test to compare a mimic and non mimic model

	[Data] Check on mimic is disable for now

	Working test

	[EtienneAr feedback] Fix RNEA: initialize tau to zero before summing

	[EtienneAr feedback] Fix crba for mimic joints

	[EtienneAr feedback] Test crba before rnea for mimic joints

	[EtienneAr feedback] Port crba fix to algorithm with other convention

	[EtienneAr feedback] Port crba fix to rnea, compute-all-terms and constrained-dynamics

	[EtienneAr feedback] Revert useless change on Fcrb in crna.hxx

	[EtienneAr feedback] Make M matrix symetric in test

	[EtienneAr feedback] Properly use data.nle instead of rnea

	[EtienneAr feedback] Fix crba for mimic joints

	[EtienneAr feedback] Fix RNEA after chage for mimic joints

	[example] Change buildModelUrdf - added mimic bool

	[mimic-joint] Added support for FreeFlyer

	[unittest] Added bool mimic to build urdf

	[Joint] Split Joint ConfigSelector in two functions

	Apply pre-commit

	Split JointVelocitySelector in two functions

	Apply pre-commit

	[EtienneAr feedback] Add more test for joint mimic in non trivial cases

	[EtienneAr feedback] Fix scaling and offset in mimic joint calc

	[EtienneAr feedback] WiP: Fix ConfigVectorAffineTransform template specialization

	[EtienneAr feedback] Make visitor for config vector affine transform

	[EtienneAr feedback] Move configVectorAffineTransform code to joint-basic-visitor

	[EtienneAr feedback] Add more test cases for config vector affine transforms

	[EtienneAr feedback] Test affine transform for identity and non identity cases

	[EtienneAr feedback] Cleaner floating point comparison for NoAffineTransform assert

	[EtienneAr feedback] keep original q and v in JointDataMimic

	[EtienneAr feedback] [Mimic] Set indexes of ref joint to 0

	[EtienneAr feedback] Fix mimic test for slightly new convention of ref joint idx_q, idx_v set to 0

	[EtienneAr feedback] Fix serialization for mimic joint with setIndexes

	[bindings] Added mimic to context

	[parser] remove std::cout

	[bindings] BROKEN - Added specialization for mimic joint in bindings

	[python] Added jointModelMimicable to context

	[bindings] Fix mimic specialization for constructor

	[context] Added mimicable joint

	[bindings] Finished specialization for mimic

	{Joints@ Added mimicable trait

	[Visitor] Change TransferVariant visitor into checkMimic visitor

	[Joint] Remove mimicable joint collection

	[Joint] Use check mimic for jointMimic constructor

	[bindings] Make bindings conform to new jointMimic

	[EtienneAr feedback] Make random humanoid with mimic joint

	[EtienneAr feedback] Fix size in jointBlock

	[EtienneAr feedback] Fix mimic serialization for joint_q joint_v

	[EtienneAr feedback] Remove problematic testcase for mimic in python

	[EtienneAr feedback] Add slightly more test on sample models for mimic

	[EtienneAr feedback] Fix rebase conflict

	[EtienneAr feedback] Activate mimic for joint-jacobian test

	[EtienneAr feedback] Fix some size for mimic col/row selection

	[EtienneAr feedback] Fix joint jacobians computation for mimic

	[EtienneAr feedback] WiP fix crba malloc

	[EtienneAr feedback] Remove temporary variables before return for joint mimic

	[EtienneAr feedback] Add stack allocation feature for JointMotionSubspaceTpl class and remove dedicated class

	[CRBA] Update computation of Ag

	[EtienneAr feedback] Small serialization fix after changes in JoitMotionSubspaceTpl

	[EtienneAr feedback] Fix on Jcom for mimic

	[EtienneAr feedback] Fix corriolis computation for mimic leading

	[EtienneAr feedback] Enable mimic in rnea tests

	[EtienneAr feedback] Define MaxDim in ScaledJointMotionSubspace and fix mimic test with it

	[EtienneAr feedback] Add dedicated mimic test for crba

	[EtienneAr feedback] Template ScaledMotionSubspace on MaxDim

	[EtienneAr feedback] Add getRelativePlacement method for kinematics

	[EtienneAr feedback] add patch to crba for mimic joints

	[EtienneAr feedback] Update comment and remove hardcoded max size for crba patch

	[EtienneAr feedback] Make random humanoid with mimic joint

	[algorithm/model] Added a function to transform a joint into a mimic

	[unittest/model] Added test for transformIntoJointMimic

	Apply pre-commit

	Fix rebase

	[Algorithm/model] Remove useless if

	[EtienneAr feedback] Fix crba in local convention to prevent heap allocation

	[EtienneAr feedback] Add assert for crba in world convention with mimic joints

	[EtienneAr feedback] More exhaustive testing of crba for mimic

	[EtienneAr feedback] Remove useless override of joint{Config,Velocity}From{Nv,Dof}Selector_impl and patch base FromDof ones

	[EtienneAr feedback] Fix selectConfigFromDof for JointModelTpl in the case of a mimic by using a visitor

	[EtienneAr feedback] Fix ConfigSelectorFromDof visitor

	[EtienneAr feedback] Fix CRBA test for mimic, and remove mimic in world convention test

	[EtienneAr feedback] Fix G matric for mimic crba test

	[EtienneAr feedback] Patch warnings in mimic crba test

	[Algorithm/crba] Fix world convention for mimic joints

	fix not working for all cases (spaced and parallel)

	[algo/crba] Fix for crba world (works for spaced and parallel)

	Fix crba world (small issue with parallel joint at the root where the two subtree meet)

	Fix for world convention

	Make centroidal algorithm compatible with mimic and add tests

	Add mimic tests to rnea

	Add security

	[EtienneAr feedback] Fix getRelativePlacement and add unit test

	Add security

	[EtienneAr feedback] Fix ForceOperator for generic motion subspace and mimic and prevent any malloc

	[EtienneAr feedback] Patch previous fix on ForceOperator for motion subspace tpl

	Fix some errrors for com computation

	[Rnea] Patch Algorithms for mimic

	remove mimic joints from test

	[unittest/rnea] Add more test

	Fix tests and remove modification for Coriolis Matrix

	[rnea] Remove useless setZero

	[Urdf] Rebase on new pinocchio release

	Add assert to non supported algorithms

	[algo/crba] Fix local convention for crba

	[EtienneAr feedback] Comment local fix for crba and don't use getRelativePlacement to remove redundant computations

	[EtienneAr feedback] Add comments to world fix for crba and factorize code to prevent duplication

	Update examples

	[EtienneAr Feedback] Fix LOCAL enum ambiguity in getRelativePlacement

	[EtienneAr Feedback]Fix Scalar / int confusion for model index

	[EtienneAr Feedback] Fix explicit ConfigVectorAffineTransformVisitor template parameters

	[EtienneAr Feedback] Fix Scalar / int confusion for joint mimic index

	[bindings/urdf] Rebasing

	Make code compile with CppAd

	[algo/crba] remove double function

	[unittest/kinematics] Cast to avoid errors

	[multibody/geometry] Force scalar to be double

	[multibody/op] Only do comparison when scalar=double

	Remove compilation warnings

	Fix crba and some tests for casadi

	[EtienneAr Feedback] Fix Scalar forced to double for GeometryObjects

	[EtienneAr Feedback] Fix casadi test for joint mimic

	[serialization] Fix template errors

	Fix examples

	Fix Serialization

	Fix examples

	[test/rnea] Try fix for windows

	[EtienneAr Feedback] Swap import order

	[EtienneAr Feedback] Fix PINOCCHIO_EXPLICIT_INSTANTIATION DECLARATION to DEFINITION for transformJointIntoMimic

	[EtienneAr Feedback] Update changelog

	[EtienneAr Feedback] Add explicit to single argument constructors

	Applied pre-commit

	Fix init problem

	[algo/jacobian] Fix rebasing

	python: Fix linting

	[kinematics] Add documentation to getRelativePlacement

	[algo/model] Change error message to be more precise

	[algo/model] Access directly to variables

	[algo/model] Remove casting

	[algo/model] Simplify function

	[algo/jacobian] Remove useless line

	[algo/jacobian] Remove useless cast

	[algo/kinematics] Access directly variables

	[algo/kinematics] Remove inline

	[algo/crba] access variables directly

	[algo/crba] Remove inline

	Change naming convention

	Added assert for non supported algorithms and apply precommit

	[EtienneAr feedback] Fix -Wreorder for urdf parsing of mimic joints / and mimiced -> mimicked for naming consistency

	[EtienneAr feedback] Simplify getRelativePlacement by doing two backward passes

	[EtienneAr feedback] Remove unused scaling in JointDataMimic

	[algorithms] Use throw instead of assert

	[parser/urdf] Correct urdf parser

	Apply pre-commit

	Renaming nj and idx_j into nvExtended and idx_vExtended to be conform to the new convention

	[EtienneAr feedback] Revert all changes in unsupported algorithms

	[Check] Define MimicChecker to check if model has mimic joint

	[Check] Add model checker to all non supported algorithms for model with mimic joints

	[EtienneAr feedback] topic/mimic: nvSubtree_fromRow/parents_fromRow indexed by extended model, add condensed version of G matrix and fix jacobians

	Remove mimicable collection variant and associated function

	[unittest] Revert changes to not pollute pr

	Apply pre-commit

	[Check] Add Mimic Checker to checker list

	cppad: Deactivate algorithm geometry and model explicit template instantiation

	algorithm: Split check into two headers to avoid include dependency hell in contact-cholesky.hxx

	[Cmake] Update sources file

	cmake: Add check.hpp

2025-02-24  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2593 from stack-of-tasks/dependabot/github_actions/devel/prefix-dev/setup-pixi-0.8.3
	build(deps): bump prefix-dev/setup-pixi from 0.8.2 to 0.8.3

2025-02-24  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump prefix-dev/setup-pixi from 0.8.2 to 0.8.3
	Bumps [prefix-dev/setup-pixi](https://github.com/prefix-dev/setup-pixi) from 0.8.2 to 0.8.3.
	- [Release notes](https://github.com/prefix-dev/setup-pixi/releases)
	- [Commits](https://github.com/prefix-dev/setup-pixi/compare/v0.8.2...v0.8.3)

	---
	updated-dependencies:
	- dependency-name: prefix-dev/setup-pixi
	  dependency-type: direct:production
	  update-type: version-update:semver-patch
	...

2025-02-21  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2589 from nim65s/mail
	subscribe to ROS buildfarm mails

2025-02-20  Guilhem Saurel  <guilhem.saurel@laas.fr>

	subscribe to ROS buildfarm mails

2025-02-17  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2574 from ManifoldFR/topic/cpp-visualization-api
	Add C++ visualization API and some macros for scalar contexts

	changelog: update

	viewer: add missing typedef

	viewer: use PINOCCHIO_COMMON_TYPEDEF

	core/generic: use PINOCCHIO_OPTIONS_DEFAULT

	core: introduce PINOCCHIO_OPTIONS_DEFAULT

	cmake: fix linkage of pinocchio_visualizers
	Should link to hpp-fcl::hpp-fcl

	spatial: use typedef from context

	spatial: remove duplicate typedef from fwd

	core: add PINOCCHIO_COMMON_TYPEDEF macro

	core: fix struct

2025-02-17  ManifoldFR  <wilson.jallet@polytechnique.org>

	Update CHANGELOG (again)

2025-02-17  Justin Carpentier  <justin.carpentier@inria.fr>

	viewer: use context directly

	core/context: add missing typedef SE3

	cmake: sync submodule

2025-02-17  ManifoldFR  <wilson.jallet@polytechnique.org>

	Restore pinocchio_config() CMake step for pinocchio_visualizers

	[unittesŧ] add test body

	base-visualizer.cpp : it is a good idea to initialize your nullptrs...

	pinocchio/visualizers/base-visualizer.hpp : actually export BaseVisualizer symbols

	[unittest] add test visualizer.cpp

	Add "visualizers" target to the omnibus pinocchio::pinocchio target link interface

	pinocchio/bindings/python/visualizers : fix visitor

	pinocchio/visualizers/base-visualizer.hpp : add template overload for display() (account for no CTAD in Cpp14)

	Fix visualizers header install

2025-02-17  Wilson  <wilson.jallet@polytechnique.org>

	pinocchio/visualizers/base-visualizer.hpp : remove namespace alias

2025-02-17  ManifoldFR  <wilson.jallet@polytechnique.org>

	Update CHANGELOG

	[visualizers] Allow BaseVisualizer to *borrow* external data pointers.

	visualizers/BaseVisualizer : use reference_wrapper for m_model

	visualizers : collisionModel() getter returns reference, throws if nullptr

	Move BaseVisualizer to its own new "pinocchio_visualizers" target

	Move base-visualizer to new header dir pinocchio/visualizers

	[bindings/python] Rename VisualizerVisitor to VisualizerPythonVisitor
	sources.cmake : add "extra/visualizer-visitor.hpp" bindings header

	Add C++ visualization API: add class BaseVisualizer, and Python visitor

2025-02-17  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2584 from stack-of-tasks/dependabot/github_actions/devel/prefix-dev/setup-pixi-0.8.2
	build(deps): bump prefix-dev/setup-pixi from 0.8.1 to 0.8.2

2025-02-17  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump prefix-dev/setup-pixi from 0.8.1 to 0.8.2
	Bumps [prefix-dev/setup-pixi](https://github.com/prefix-dev/setup-pixi) from 0.8.1 to 0.8.2.
	- [Release notes](https://github.com/prefix-dev/setup-pixi/releases)
	- [Commits](https://github.com/prefix-dev/setup-pixi/compare/v0.8.1...v0.8.2)

	---
	updated-dependencies:
	- dependency-name: prefix-dev/setup-pixi
	  dependency-type: direct:production
	  update-type: version-update:semver-patch
	...

2025-02-13  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: fix

2025-02-12  Joris Vaillant  <joris.vaillant@inria.fr>

	release: Update CITATION.cff version to 3.4.0

	release: Update pixi.toml version to 3.4.0

	release: Update CHANGELOG.md for 3.4.0

	release: Update package.xml version to 3.4.0

2025-02-05  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2570 from nim65s/space
	parser: improve error message

2025-02-05  Guilhem Saurel  <guilhem.saurel@laas.fr>

	parser: improve error message

2025-02-01  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2569 from stack-of-tasks/topic/update-pixi
	Update pixi lockfile

2025-02-01  jorisv  <778707+jorisv@users.noreply.github.com>

	pixi: Update pixi lockfile

2025-01-30  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2566 from nim65s/register
	python: register Model

	Merge branch 'devel' into register

2025-01-29  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2564 from nim65s/cxx11
	clean useless uses of PINOCCHIO_WITH_CXX11_SUPPORT

2025-01-29  Guilhem Saurel  <guilhem.saurel@laas.fr>

	update changelog

	bindings: register Data, GeometryModel, GeometryData

	add changelog entry

	python: register Model

	add changelog entry

	clean useless uses of PINOCCHIO_WITH_CXX11_SUPPORT
	since C++11 is already enforced in CMakeLists.txt

2025-01-26  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: update bib

2025-01-24  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2558 from ManifoldFR/topic/cmake-sync-submodule-and-mathjax
	cmake : sync submodule + fix MathJax relpath, remove DOXYGEN_USE_TEMPLATE_CSS, remove MATHJAX_FORMAT spec

2025-01-24  ManifoldFR  <wilson.jallet@polytechnique.org>

	cmake : sync submodule + fix MathJax relpath, remove DOXYGEN_USE_TEMPLATE_CSS, remove MATHJAX_FORMAT spec

2025-01-24  Justin Carpentier  <justin.carpentier@inria.fr>

	license: increase copyright year

2025-01-13  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2554 from EtienneAr/topic/ament-ros2
	Remove small code duplication in CMakelists.txt for ROS2/Ament packaging

2025-01-13  earlaud  <etienne.arlaud@inria.fr>

	[topic/ros2] BUILDING_ROS2_PACKAGE option set to default True in latest jrl-cmakemodules release

2025-01-13  Joris Vaillant  <joris.vaillant@inria.fr>

	pixi: Fix pixi.toml breaking change

2025-01-13  EtienneAr  <48348317+EtienneAr@users.noreply.github.com>
	    Joris Vaillant  <joris.vaillant@gmail.com>

	[topic/ros2] ROS in capital letters

2025-01-13  earlaud  <etienne.arlaud@inria.fr>

	Remove duplicate code for AMENT with jrl-cmakemodule

2025-01-10  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2548 from MegMll/topic/fix_mjcf_site
	Mjcf Parser : Fix adding the sites frames

2025-01-10  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>

	[pre-commit.ci] auto fixes from pre-commit.com hooks
	for more information, see https://pre-commit.ci

2025-01-10  Mégane Millan  <37700908+MegMll@users.noreply.github.com>
	    Joris Vaillant  <joris.vaillant@gmail.com>

	[Mjcf] Do not store frame

	[Mjcf] Remove trailing white space

2025-01-10  Megane Millan  <megane.millan@inria.fr>

	[Changelog] Add Entry

	[mjcf] replace with throw pretty

	[mjcf] Use the frame of the parent body of the sites

	[mjcf] Add unittest for parentJoint of sites

2025-01-09  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2530 from jcarpent/topic/coal
	Fix var naming in Python

	Merge branch 'devel' into topic/coal

2025-01-09  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2549 from stack-of-tasks/pre-commit-ci-update-config
	[pre-commit.ci] pre-commit autoupdate

2025-01-08  Joris Vaillant  <joris.vaillant@inria.fr>

	python: Apply format

	python: Try a last fix

2025-01-07  Joris Vaillant  <joris.vaillant@inria.fr>

	python: Use new Optional syntax

	python: Make type alias working in python 3.8

	pre-commit: Fix py38 support

	pre-commit: Apply ruff fixes

2025-01-07  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>

	[pre-commit.ci] auto fixes from pre-commit.com hooks
	for more information, see https://pre-commit.ci

	[pre-commit.ci] pre-commit autoupdate
	updates:
	- [github.com/pre-commit/mirrors-clang-format: v19.1.1 → v19.1.6](https://github.com/pre-commit/mirrors-clang-format/compare/v19.1.1...v19.1.6)
	- [github.com/astral-sh/ruff-pre-commit: v0.6.9 → v0.8.6](https://github.com/astral-sh/ruff-pre-commit/compare/v0.6.9...v0.8.6)

2025-01-07  Mégane Millan  <37700908+MegMll@users.noreply.github.com>

	Merge pull request #2535 from JafarAbdi/fix_unknown_size_vector
	mjcf parser: Fix unknown size vector parsing

2025-01-06  Jafar Uruç  <jafar.uruc@gmail.com>

	Merge branch 'devel' into fix_unknown_size_vector

2025-01-06  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2546 from nim65s/rpath
	CMake: fix RPATH on macos

2025-01-06  JafarAbdi  <jafar.uruc@gmail.com>

	Add changelog

	Improves MJCF unknown size vector parsing robustness

2025-01-06  Joris Vaillant  <joris.vaillant@inria.fr>

	changelog: Add entry

	core: Fix aba explicit template instantiation
	core: Fix typo

2025-01-06  Guilhem Saurel  <guilhem.saurel@laas.fr>

	add changelog entry

2025-01-06  Guilhem Saurel  <guilhem.saurel@laas.fr>

	CMake: fix RPATH on macos
	Re-apply #1908 which was
	somehow forgottent during the v3 merge.

	fix #2545

2025-01-03  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2541 from jorisv/topic/fix_aba_template_instantiation
	Fix aba explicit template instantiation

	Merge branch 'devel' into topic/fix_aba_template_instantiation

	Merge pull request #2537 from JafarAbdi/feature/mjcf_mesh_with_vertices
	Add support for vertex-based mesh definitions in MJCF

2025-01-03  Joris Vaillant  <joris.vaillant@inria.fr>

	changelog: Add entry

	core: Fix aba explicit template instantiation
	core: Fix typo

2025-01-02  JafarAbdi  <jafar.uruc@gmail.com>

	Use PINOCCHIO_THROW_PRETTY rather than plain exception

	Replace hpp::fcl::MatrixX3s with Eigen::MatrixX3d

	Add changelog

	Support vertex-based mesh definitions in MJCF

2025-01-02  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2540 from nim65s/nix
	Nix: update flake lock

2025-01-02  Guilhem Saurel  <guilhem.saurel@laas.fr>

	ci: weekly update flake lock

	nix flake update

	nix: clean

2025-01-02  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2538 from stack-of-tasks/topic/update-pixi
	Update pixi lockfile

2025-01-01  jorisv  <778707+jorisv@users.noreply.github.com>

	pixi: Update pixi lockfile

2024-12-24  Justin Carpentier  <justin.carpentier@inria.fr>

	python: hpp::fcl:: -> coal::

2024-12-23  Justin Carpentier  <justin.carpentier@inria.fr>

	changelog: sync

	python: hpp::fcl:: -> coal::

	Merge pull request #2529 from jcarpent/topic/submodule
	Sync submodule cmake

	cmake: sync submodule

2024-12-22  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2526 from JafarAbdi/fix_default_eulerseq
	Mjcf: Use xyz as a default value for eulerseq compiler option

	changelog: sync

2024-12-22  JafarAbdi  <jafar.uruc@gmail.com>

	Mjcf: Initialize mapEulerAngles to identity matrix by default

2024-12-20  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2517 from jorisv/topic/collision_in_core_quickfix
	Activate collision specific features in pinocchio_default

2024-12-19  Joris Vaillant  <joris.vaillant@inria.fr>

	ci: Set CMAKE_PREFIX_PATH in tests

	cmake: Don't add hpp-fcl as pkg-config dependency since hpp-fcl don't provide .pc anymore

	cmake: Try to use hpp-fcl include path in default

	changelog: Add entry

	ci: Fix linux.yml find_package

2024-12-18  Joris Vaillant  <joris.vaillant@inria.fr>

	cmake: Define PINOCCHIO_WITH_HPP_FCL in pinocchio_default to build all algorithms features

2024-12-16  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2514 from bxtbold/master
	fix: typo

2024-12-16  bxtbold  <bxtbold@protonmail.com>

	fix: fix typo

2024-12-13  Joris Vaillant  <joris.vaillant@inria.fr>

	release: Update CITATION.cff version to 3.3.1

	release: Update pixi.toml version to 3.3.1

	release: Update CHANGELOG.md for 3.3.1

	release: Update package.xml version to 3.3.1

	Merge pull request #2511 from jcarpent/topic/meshcat
	Fix scaling support for meshcat

	python: Add more generic check

	python: Run code formatting

	python: Add type annotation and assert on size

	python: Use @ instead of .dot

2024-12-12  Justin Carpentier  <justin.carpentier@inria.fr>

	changelog: update

	python/meshcat: fix scaling support

	Merge pull request #2510 from stephane-caron/devel
	Switch from os.path to pathlib in MeshCat visualizer

2024-12-12  Stéphane Caron  <stephane.caron@inria.fr>

	Add type annotations to meshcat_visualizer.py

	Switch from os.path to pathlib in meshcat_visualizer.py

2024-12-09  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2502 from jorisv/topic/fix_coal
	Fix coal integration

	changelog: Add entry

	unittest: Add compatibility with hpp-fcl

	examples: Avoid quadrotor-ocp.py failure if Ipopt doesn't find a solution

	ci: When updating pixi, run the CI with build_all label to tests all options

	unittest: Avoid error on coal bad collision detection

2024-12-07  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2503 from jorisv/topic/fix-meshcat-examples
	Fix meshcat examples

2024-12-06  Joris Vaillant  <joris.vaillant@inria.fr>

	python: Run linter

	changelog: Add entry

	examples: Fix meshcat examples

2024-12-03  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2495 from stack-of-tasks/topic/update-pixi
	Update pixi lockfile

	ci: Remove pixi version to avoid issues with the new pixi.lock format

	pixi: Use last hpp-fcl package

	ci: Try to remove version conflicts

	cmake: Fix warning with CMP0177 policy

2024-12-03  jorisv  <778707+jorisv@users.noreply.github.com>

	pixi: Update pixi lockfile

2024-12-03  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2492 from jcarpent/topic/cmake
	Sync submodule CMake

2024-11-30  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: apply pre-commit

	cmake: sync submodule

2024-11-25  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: add Ajay as core dev

2024-11-23  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2481 from ManifoldFR/topic/remove-unused-include
	topic/remove unused include

2024-11-23  ManifoldFR  <wilson.jallet@polytechnique.org>

	Remove unused includes for <iostream> and <iomanip>

2024-11-15  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2478 from abussy-aldebaran/topic/dae_texture
	meshcat_visualizer: force type of image paths to pathlib.Path

2024-11-15  Antoine Bussy  <antoine.bussy@aldebaran.com>

	Update CHANGELOG.

	meshcat_visualizer: force type of image paths to pathlib.Path

2024-11-13  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2477 from MegMll/fix/mjcf_armature
	Mjcf : Fix parsing of armature parameters

	changelog: Add entry

	mjcf: Copy frame to avoid undefined behavior when modifying the frames vector

2024-11-13  Megane Millan  <megane.millan@inria.fr>

	Update Changelog

	[parser/mjcf] Remove useless typedef

	[parser/mjcf] Add parsing of the default without name class

	[parser/mjcf] Armature uses nv

	[parser/mjcf] Simplify concatenation

	Update changelog

	[parser/mjcf] test parsing of armature

	[parser/mjcf] Change armature representation to fit the one that is in pinocchio model

2024-11-12  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2469 from jorisv/topic/hidden_symbols
	Hide all symbols by default

2024-11-09  Joris Vaillant  <joris.vaillant@inria.fr>

	changelog: Update changelog

	python: Don't generate config.hpp for Python bindings

	dev: Add a scripts to find common symbols

	python: Deactivate hidden visibility when building cppadcg binding on osx

	cmake: Use last jrl-cmakemodules

	core: Avoid a GCC explicit template instantiation and symbol visibility bug

	changelog: Add entry

	cmake: Use patched jrl-cmakemodules

	pixi: Fix codegen environment

	python: Generate config.hpp for Python bindings to allow public API definition on Unix

	core: Declare ContactCholeskyDecompositionTpl part of the public API

	cmake: hide all symbols by default

2024-11-08  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2475 from jorisv/topic/fix_libpython_option
	Add pinocchio_python_parser target

2024-11-08  Joris Vaillant  <joris.vaillant@inria.fr>

	cmake: Factorize python_parser test setup and add windows dll path

	pre-commit: lint cmake

	core: Move sources from bindings to core part

	Revert "cmake: Explicitly search for boost_python"
	This reverts commit 20c889b4b665d9e915fc3dea1913fdca1b7ddd84.

	cmake: Export some flags to other projects

	cmake: Explicitly search for boost_python

	cmake: Remove useless win specific code

	changelog: Add entry

	cmake: Rename BUILD_WITH_LIBPYTHON into BUILD_WITH_PYTHON_PARSER_SUPPORT

	python_parser: Try to remove some old code

	cmake: Add pinocchio_python_parser target

2024-11-06  Joris Vaillant  <joris.vaillant@inria.fr>

	release: Update CITATION.cff version to 3.3.0

	release: Update pixi.toml version to 3.3.0

	release: Update CHANGELOG.md for 3.3.0

	release: Update package.xml version to 3.3.0

2024-11-06  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2472 from jorisv/topic/new_version_task
	Add a task to easily release a new EigenPy version

2024-11-06  Joris Vaillant  <joris.vaillant@inria.fr>

	ci: Update paths-ignore

	readme: Fix linting

	ci: Add no changelog label in update lockfile PR

	pixi: Move activation scripts

	readme: Split readme
	readme: summarize conda instruction

2024-11-05  Joris Vaillant  <joris.vaillant@inria.fr>

	readme: Add release instructions

	pixi: Add new-version environment

	cmake: Use last jrl-cmakemodules

2024-10-31  Joris Vaillant  <joris.vaillant@inria.fr>

	Revert "changelog: Add entry"
	This reverts commit e1e18c5c317653c9d6f80bdaea9de3747237ce2c.

2024-10-30  Joris Vaillant  <joris.vaillant@inria.fr>

	changelog: Add entry

2024-10-29  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2466 from jcarpent/topic/jacobians
	Fix bug for get{Joint,Frame}JacobianTimeVariation

2024-10-28  Justin Carpentier  <justin.carpentier@inria.fr>

	changelog: sync

	test/frames: fix testing of getFrameJacobianTimeVariation

	algo/frames: fix bug with getFrameJacobianTimeVariation

	algo/frames: remove call to PINOCCHIO_EIGEN_CONST_CAST

	test/jacobians: enforce correct testing of getJointJacobianTimeVariation

	algo/jacobians: fix bug with getJointJacobianTimeVariation

	algo/jacobians: use const_cast_derived()

2024-10-28  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2459 from jorisv/topic/pixi
	Add pixi support

	ci: Don't launch CI on CHANGELOG.md

	changelog: Add entries

2024-10-25  Joris Vaillant  <joris.vaillant@inria.fr>

	pixi: Move all scripts inside build_scripts/pixi/

	ci: Add auto lockfile update workflow

	changelog: Add entry

	readme: Add Pixi build instruction

	unittest: Fix sincos on OSX in Debug mode

	core: Initialize all RigidConstraintDataTpl values

	mjcf: Fix unit test with last Boost version

	cppad: Fix cppad build with last version

	python: Avoid Python bindings crash on OSX in Debug

	ci: Add a workflow that use Pixi and remove conda workflow

	pixi: Add pixi.toml

2024-10-16  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2456 from MegMll/topic/weekly_ci
	Add a scheduled run on ci with build_all

	pre-commit: Apply formating

	ci: Revert change on linux.yml

2024-10-15  Megane Millan  <megane.millan@inria.fr>

	[ci] Schedule ci for monday midnight

	[ci] fix error in scripts

	[ci] fix error in windows ci

	[ci] Remove useless lines

	[ci] use only build_all as label

	[ci] Add global LABELS variable (and chenge schedule to test it)

	[ci] Remove log entry from get_compilation_flags.js

	[ci] Schedule for sunday night

	[ci] Remove useless checkout for linux/mac ci

	[ci] Apply pre-commit

	[ci] Make sure scheduled workflow run with build_all

	[ci] When scheduled, checkout on devel branch

2024-10-14  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2452 from stack-of-tasks/dependabot/github_actions/devel/ros-industrial/industrial_ci-8d0620b3c43fc3bb2599b6ede6e0a261a2eced02
	build(deps): bump ros-industrial/industrial_ci from d23b9ad2c63bfad638a2b1fe3df34b8df9a2f17b to 8d0620b3c43fc3bb2599b6ede6e0a261a2eced02

2024-10-14  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump ros-industrial/industrial_ci
	Bumps [ros-industrial/industrial_ci](https://github.com/ros-industrial/industrial_ci) from d23b9ad2c63bfad638a2b1fe3df34b8df9a2f17b to 8d0620b3c43fc3bb2599b6ede6e0a261a2eced02.
	- [Commits](https://github.com/ros-industrial/industrial_ci/compare/d23b9ad2c63bfad638a2b1fe3df34b8df9a2f17b...8d0620b3c43fc3bb2599b6ede6e0a261a2eced02)

	---
	updated-dependencies:
	- dependency-name: ros-industrial/industrial_ci
	  dependency-type: direct:production
	...

2024-10-11  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2450 from ubgk/fix/windows-ci-badge
	[README] Fix the CI badge for the Windows workflow

2024-10-11  ubgk  <82390536+ubgk@users.noreply.github.com>

	Fix the CI badge for the Windows workflow

2024-10-08  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2448 from stack-of-tasks/pre-commit-ci-update-config
	[pre-commit.ci] pre-commit autoupdate

2024-10-08  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>

	[pre-commit.ci] auto fixes from pre-commit.com hooks
	for more information, see https://pre-commit.ci

	[pre-commit.ci] pre-commit autoupdate
	updates:
	- [github.com/pre-commit/mirrors-clang-format: v18.1.8 → v19.1.1](https://github.com/pre-commit/mirrors-clang-format/compare/v18.1.8...v19.1.1)
	- [github.com/pre-commit/pre-commit-hooks: v4.6.0 → v5.0.0](https://github.com/pre-commit/pre-commit-hooks/compare/v4.6.0...v5.0.0)
	- [github.com/astral-sh/ruff-pre-commit: v0.6.2 → v0.6.9](https://github.com/astral-sh/ruff-pre-commit/compare/v0.6.2...v0.6.9)

2024-10-07  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2447 from stack-of-tasks/dependabot/github_actions/devel/cachix/install-nix-action-30
	build(deps): bump cachix/install-nix-action from 29 to 30

2024-10-07  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump cachix/install-nix-action from 29 to 30
	Bumps [cachix/install-nix-action](https://github.com/cachix/install-nix-action) from 29 to 30.
	- [Release notes](https://github.com/cachix/install-nix-action/releases)
	- [Commits](https://github.com/cachix/install-nix-action/compare/v29...v30)

	---
	updated-dependencies:
	- dependency-name: cachix/install-nix-action
	  dependency-type: direct:production
	  update-type: version-update:semver-major
	...

2024-10-04  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2443 from jorisv/topic/fix_examples
	Fix some examples

2024-10-03  Joris Vaillant  <joris.vaillant@inria.fr>

	pre-commit: Sort import

	changelog: Add entry

	example: Load cassie from example_robot_data

	example: Use GepettoVisualize

	Merge pull request #2296 from simeon-ned/devel
	Different inertia parametrizations and Physical consistency

	unittest: Rewrote some code to please codacy

	changelog: Add entry

	python: Add some guards when providing vector of size (10, 1)

	python: Use last __array__ API

	python: Add cast method to PseudoInertia and LogCholeskyParameters

	python add PseudoInertia::toInertia binding

	python: Remove compiler diagnostic pragma

2024-10-03  Lev Kozlov  <kozlov.l.a10@gmail.com>

	test: inertia parametrization

	fix: update spatial to work well with bindings

	fix: add proxy `toDynamicParameters`

	fix: update python bindings for pseudo inertia and logcholesky

	fix: update changelog

	fix: update codacy

	feat: expose pseudo inertia and logcholesky

	fix: formatting issues

	fix: update bindings

2024-10-03  simeon  <simkaned@gmail.com>

	removed unecesarry comments

	exposed log cholesky

	exposed pseudo inertia

	exposed inertia transforms

2024-10-03  Simeon Nedelchev  <simkaned@gmail.com>
	    Joris Vaillant  <joris.vaillant@gmail.com>

	Update include/pinocchio/spatial/inertia.hpp

2024-10-03  simeon  <simkaned@gmail.com>

	removed unnecessary constructors, minor fixes

	code formatting, minor style fixes

	renaming, minor refactoring

	removed outdated cpp tests

	minor reordering in tests

	removed outdated python tests

2024-10-03  Simeon Nedelchev  <simkaned@gmail.com>

	Feature/modified inertia (#2)
	*  structures for inertia and logcholesky

	* added conversion from logcholesky to inertia,

	* fixed logcholesky and pseudo templates, add disp

	* unit tests in cpp

2024-10-03  Lev Kozlov  <kozlov.l.a10@gmail.com>

	style: apply pre-commit

	test: conversions tests

2024-10-03  simeon  <simkaned@gmail.com>

	added unit tests for logcholesky and pseudo in py

	removed unnecesary comments

	added logcholesky jacobian, fixed pybinds

	fixed typo in logcholesky

	added pseudo inertia conversion

	added conversion from logcholesky to inertia

2024-10-02  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2431 from nim65s/path
	bindings: allow use of `pathlib.Path | str` for paths

2024-10-02  Joris Vaillant  <joris.vaillant@inria.fr>

	python: Don't use Py_IsNone that is not supported by all Python version

	python: Remove Path management in extract(bp::list) to avoid issue when working with a non string vector

	pre-commit: Apply formating

	python: Manage package_dir as list of path in urdf parser

	python: Take a Path|Str or a [Path|Str]

2024-10-02  Guilhem Saurel  <guilhem.saurel@laas.fr>

	add changelog entry

	os.path -> pathlib

2024-10-01  Guilhem Saurel  <guilhem.saurel@laas.fr>

	ruff: select PTH rules

	bindings: filename can be pathlib.Path | str

2024-10-01  Joris Vaillant  <joris.vaillant@inria.fr>

	core: Add other boost archive type

	changelog: Add entries

	changelog: Regroup entry in same sections

	core: Add MSVC with C++17 workaround for Eigen serialization

2024-10-01  Megane Millan  <megane.millan@inria.fr>

	Make name of js script more explicit

2024-10-01  Joris Vaillant  <joris.vaillant@inria.fr>

	unittest: Fix sdf package dir path

	unittest: Fix sdf path

2024-10-01  Megane Millan  <megane.millan@inria.fr>

	Add sdf to build_all

	add a var and print

	[workflows] Change labels for windows

2024-10-01  Mégane Millan  <37700908+MegMll@users.noreply.github.com>
	    Justin Carpentier  <justin.carpentier@inria.fr>

	Update README.md

2024-10-01  Megane Millan  <megane.millan@inria.fr>

	Update Readme.md

	Simplify check_label.js

	[workflows] modify compilation flags based on os

2024-09-30  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2439 from stack-of-tasks/dependabot/github_actions/devel/cachix/install-nix-action-v29
	build(deps): bump cachix/install-nix-action from V28 to 29

2024-09-30  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump cachix/install-nix-action from V28 to 29
	Bumps [cachix/install-nix-action](https://github.com/cachix/install-nix-action) from V28 to 29. This release includes the previously tagged commit.
	- [Release notes](https://github.com/cachix/install-nix-action/releases)
	- [Commits](https://github.com/cachix/install-nix-action/compare/V28...v29)

	---
	updated-dependencies:
	- dependency-name: cachix/install-nix-action
	  dependency-type: direct:production
	...

2024-09-25  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2436 from jorisv/topic/numpy2
	Numpy 2 compatibility

2024-09-25  Joris Vaillant  <joris.vaillant@inria.fr>

	python: Apply clang-format

	changelog: Add changelog entry

	python: Manage new numpy2 __array__ API

	Merge pull request #2402 from MegMll/topic/urdf_root_joint
	Update Model parsing 

2024-09-24  Joris Vaillant  <joris.vaillant@inria.fr>

	pre-commit: Apply pre-commit

	python: Apply codacy review

	unittest: Allow 6 failure because of Windows

2024-09-24  Megane Millan  <megane.millan@inria.fr>

	[parser/mjcf] Re-added every buildModelFromXML

	[python/shortcuts] Add empty list in case contact is true and rootJointName is not

2024-09-24  Joris Vaillant  <joris.vaillant@inria.fr>

	sdf: Replace `and` and `or` by `&&` and `||`

	sdf: Replace `not and `and` keyword into `!` and `&&`

	unittest: Normalize q vector to avoid some assertion

2024-09-23  Megane Millan  <megane.millan@inria.fr>

	[binding/mjcf] Add binding to support constraint and modify shortcut

	[parser/mjcf] Add combinatory arguments

2024-09-23  Joris Vaillant  <joris.vaillant@inria.fr>

	python: Add WITH_SDFORMAT flag in Python binding and only run SDF test when this flag is defined

2024-09-23  Megane Millan  <megane.millan@inria.fr>

	Adding unittest for new api

	Fix sdf new api

	[python/shortcuts] Modify sdf  shortcut api

	[python/shortcuts] Add security

	[robot_wrapper] Fix argument

	[bindings/parsers] unify naming

	[bindings/shortcut] Simplify logic of code

	[bindings/parsers] simplify call

	Update Changelog

	[bindings/shortcut] Avoid code duplicate

	[bindings/shortcut] simplify for loop

	[robot_wrapper] update to match shortcuts

	[bindings/shortcut] update to accept positionnal arguments

	Update Changelog

	[python/shortcuts] Modify buildModels to take different sets of arguments and modify doc to explain possible arguments

	[parsers] Throw errors when no jointRootName is given

	[parser] unify naming

	[bindings/parser] Make doc clearer

	[unittest/mjcf] unify naming

	[bindings/parser] unify naming

	[bindings/parser] reintroduce old signature to not break api

	[parsers] Reintroduce old signature to not api

	[robot_wrapper] Add root_joint_name argument

	[parser/shortcuts] Fix shortcuts

	[bindings/parsers] Add rootJointName argument to bindings

	[parsers] Move rootJointName argument

	[parsers] Added reference

2024-09-23  Mégane Millan  <37700908+MegMll@users.noreply.github.com>

	Update CHANGELOG.md

2024-09-23  Megane Millan  <megane.millan@inria.fr>

	[unittest/urdf] Update test to fit new convention

	[parser] Remove fixed frame root_joint at the base of parsed models

	[parser] Add rootJointName in urdfVisitor

	[parser/urdf] Add rootJointName parameter

	[parser/sdf] Add rootJointName parameter

	[parser/mjcf] Add rootJointName parameter

2024-09-22  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2413 from lvjonok/feature/parse-mjcf-equality
	Feature: Support for Parsing MJCF `equality/connect` Tag for Closed Chains

	test/mjcf: fix test of equality constraints

	parsers/mjcf: use map for Equality constraints

	test/mjcf: fix compilation warnings

	test/mjcf: enhance testing

	parsers/mjcf: clean

	changelog: sync

	parsers/mjcf: remove redundant PINOCCHIO_PARSERS_DLLAPI
	See https://learn.microsoft.com/en-us/cpp/error-messages/compiler-errors-1/compiler-error-c2487?view=msvc-170 for further explanations

2024-09-22  Lev Kozlov  <kozlov.l.a10@gmail.com>

	feat: add a simple test using reduced cassie model

	feat: generate a bunch of functions for contact model creation with mjcf

	feat: create constraint struct and parse

2024-09-22  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2430 from jcarpent/topic/examples
	Fix ruff warnings

	ruff: fix

	Merge pull request #2429 from jcarpent/topic/cmake
	Sync submodule CMake

	Merge pull request #2428 from jcarpent/topic/examples
	Add inverse-kinematics for translation error only

	Merge pull request #2418 from nim65s/ruff
	modernize python code base, part 2

	cmake: sync submodule

	changelog: sync

	examples: add inverse-kinematics for translation error only

2024-09-20  Justin Carpentier  <justin.carpentier@inria.fr>

	github/workflow: remove accelerate support for build_all

	Merge pull request #2425 from jcarpent/topic/rviz
	Fix abstract class error

2024-09-19  Justin Carpentier  <justin.carpentier@inria.fr>

	changelog: update

	python/viewers: fix abstract class error

2024-09-17  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2415 from abussy-aldebaran/feature/doc_null_space
	doc - Add explanations for null space projection.

2024-09-17  Antoine Bussy  <antoine.bussy@aldebaran.com>

	doc - Add explanations for null space projection.

2024-09-16  Guilhem Saurel  <guilhem.saurel@laas.fr>

	ruff: select E, F, I, RUF, UP &  W

2024-09-16  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2419 from nim65s/viewers
	configurable default visualizer

2024-09-16  Guilhem Saurel  <guilhem.saurel@laas.fr>

	configurable default visualizer

2024-09-16  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>
	    dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>
	    Guilhem Saurel  <guilhem.saurel@laas.fr>

	build(deps): bump cachix/install-nix-action from 27 to 28 (#2417)
	* build(deps): bump cachix/install-nix-action from 27 to 28
	
	Bumps [cachix/install-nix-action](https://github.com/cachix/install-nix-action) from 27 to 28.
	- [Release notes](https://github.com/cachix/install-nix-action/releases)
	- [Commits](https://github.com/cachix/install-nix-action/compare/v27...V28)
	
	---
	updated-dependencies:
	- dependency-name: cachix/install-nix-action
	  dependency-type: direct:production
	  update-type: version-update:semver-major
	...
	
	Signed-off-by: dependabot[bot] <support@github.com>
	
	* nix: avoid SIGTRAP on macos in pinocchio-example-py-casadi-quadrotor-ocp
	
	* nix flake update
	
	---------
	
	Signed-off-by: dependabot[bot] <support@github.com>

2024-09-16  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2416 from nim65s/issue/2304
	contact-info: cache nv, fix #2304

2024-09-14  Guilhem Saurel  <guilhem.saurel@laas.fr>

	add changelog entry

	contact-info: cache nv, fix #2304

2024-09-06  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2407 from stephane-caron/fix/broken_pages
	doc: Fix orphaned documentation pages for Features

2024-09-06  Stéphane Caron  <stephane.caron@inria.fr>

	doc: Move content from intro.md to existing Features page

2024-09-06  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2409 from stephane-caron/doc/free_flyer_config
	doc: Document the JointModelFreeFlyerTpl structure

2024-09-06  Stéphane Caron  <stephane.caron@inria.fr>

	doc: Document JointModelFreeFlyerTpl configuration/tangent

2024-09-04  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2404 from stack-of-tasks/nix
	Nix

2024-09-04  Guilhem Saurel  <guilhem.saurel@laas.fr>

	Nix

2024-09-04  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2405 from nim65s/pre-commit-fix
	Pre commit fix

2024-09-04  Guilhem Saurel  <guilhem.saurel@laas.fr>

	ignore previous commit

	pre-commit run -a

2024-09-04  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2403 from MegMll/topic/mjcf_warning_and_root_joint
	Parser/mjcf : Add warning and fix root joint of mjcf models

2024-09-04  Mégane Millan  <37700908+MegMll@users.noreply.github.com>
	    Justin Carpentier  <justin.carpentier@inria.fr>

	[parser/mjcf] Add security when testing texture type

2024-09-04  Megane Millan  <megane.millan@inria.fr>

	[unittest/mjcf] Test on which joints inertias are appended

2024-09-04  Mégane Millan  <37700908+MegMll@users.noreply.github.com>

	Update CHANGELOG.md

2024-09-04  Megane Millan  <megane.millan@inria.fr>

	[parser/mjcf] Don't throw errors for textures that are not supported

	[parser/mjcf] Fix inertia appending of first body

2024-09-02  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: refresh Pinocchio3 section

	readme: sync table of contents

	readme: update foundations papers + related projects

2024-08-30  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2400 from fabinsch/fix-ci-win
	fix windows ci 

	changelog: sync

2024-08-30  Fabian Schramm  <55981657+fabinsch@users.noreply.github.com>

	cmake: do not use CMP0167 for clang-cl on win

2024-08-29  Fabian Schramm  <55981657+fabinsch@users.noreply.github.com>

	fix windows ci to use clang-cl

2024-08-27  Justin Carpentier  <justin.carpentier@inria.fr>

	release: Update CITATION.cff version to 3.2.0

	release: Update CHANGELOG.md for 3.2.0

	release: Update package.xml version to 3.2.0

2024-08-27  Mégane Millan  <37700908+MegMll@users.noreply.github.com>
	    Megane Millan  <megane.millan@inria.fr>

	Fix a few examples scripts (#2392)
	* [unittest] Remove compilation warning from mjcf test
	
	* [examples] Remove duplicate line
	
	* [examples] Update talos example
	
	* [examples] Update closed kinematic example
	
	* Update CHANGELOG.md
	
	---------

2024-08-27  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2393 from jcarpent/topic/examples
	Enhance CppAD benchmarks outputs + fix

	changelog: sync

	bench/cppad: enhance printing

	bench/cppad: enhance printing

	benchmark/cg: fix running issue

	Merge pull request #2388 from jcarpent/topic/examples
	Restructure CppAD and CasADi examples

	examples/casadi: fix Python warnings

	Merge pull request #2389 from stack-of-tasks/pre-commit-ci-update-config
	[pre-commit.ci] pre-commit autoupdate

	core: fix namespace ambiguity on Windows systems

2024-08-26  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>

	[pre-commit.ci] pre-commit autoupdate
	updates:
	- [github.com/astral-sh/ruff-pre-commit: v0.6.1 → v0.6.2](https://github.com/astral-sh/ruff-pre-commit/compare/v0.6.1...v0.6.2)

2024-08-26  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: fix CasADi examples

	examples: fix cartpole examples when meshcat is missing

	example: remove Python warning

	cmake: fix CasADi example name for Python

	examples/casadi: remove useless functions

	changelog: sync

	examples/casadi: add ABA example

	examples/casadi: add RNEA example

	examples/casadi: fix ocp example

	examples/casadi: fix cartpole

	cmake: fix missing include

	examples: move CasADi files to a dedicated folder

	examples: mv autodiff to CppAD folder

	Merge pull request #2386 from MegMll/topic/mjcf_parsing_base
	Fix Mjcf parsing of root joint

	python/parsers: fix copyright + doc

2024-08-26  Mégane Millan  <37700908+MegMll@users.noreply.github.com>

	Update CHANGELOG.md

2024-08-26  Megane Millan  <megane.millan@inria.fr>

	[mjcf] Use root body and joint associated with it

	[unittest] Remove root joint, and use the one in the model

2024-08-25  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2384 from jcarpent/topic/examples
	Restore URDF cpp example

	example/casadi: remove unused variables

	changelog: sync

	examples: restore URDF cpp example
	Solving https://github.com/stack-of-tasks/pinocchio/issues/2377

2024-08-24  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2382 from jcarpent/topic/deprecated
	Delete duplicated files + sync submodule CMake

2024-08-23  Justin Carpentier  <justin.carpentier@inria.fr>

	changelog: sync

	core: remove duplicated files
	They have been moved to:
	- multibody/constraint-base.hpp -> multibody/joint-motion-subspace-base.hpp
	- multibody/constraint-generic.hpp -> multibody/joint-motion-subspace-generic.hpp
	- serialization/joints-constraint.hpp -> serialization/joints-motion-subspace.hpp

	cmake: sync submodule

2024-08-20  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2378 from stack-of-tasks/pre-commit-ci-update-config
	[pre-commit.ci] pre-commit autoupdate

2024-08-19  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>

	[pre-commit.ci] auto fixes from pre-commit.com hooks
	for more information, see https://pre-commit.ci

	[pre-commit.ci] pre-commit autoupdate
	updates:
	- [github.com/astral-sh/ruff-pre-commit: v0.5.7 → v0.6.1](https://github.com/astral-sh/ruff-pre-commit/compare/v0.5.7...v0.6.1)

2024-08-13  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2371 from jcarpent/topic/ci
	Fix printing of the options

	ci/labels: fix printing of the options

	Merge pull request #2370 from jcarpent/topic/casadi
	Fix compatibility with NumPy 2.x

	python/casadi: fix compatibility with NumPy 2.x

	Merge pull request #2369 from jcarpent/topic/ci
	Fix message and build_all label

	git/labels: fix message and flags

	git/workflow: add types to know when to run the check

	Merge pull request #2367 from nim65s/ruff
	modernize python code base

2024-08-13  Guilhem Saurel  <guilhem.saurel@laas.fr>

	add changelog entry

	add auto changes to git-blame-ignore

	pre-commit run -a

	pre-commit: ruff check

	manual ruff fixes & noqas

	ruff check --fix

2024-08-13  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2366 from abussy-aldebaran/feature/doc_null_space
	doc - Correct null space projection formula.

2024-08-13  Antoine Bussy  <antoine.bussy@aldebaran.com>

	doc - Correct null space projection formula.

2024-08-13  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>
	    pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>

	[pre-commit.ci] pre-commit autoupdate (#2368)
	* [pre-commit.ci] pre-commit autoupdate
	
	updates:
	- [github.com/astral-sh/ruff-pre-commit: v0.5.6 → v0.5.7](https://github.com/astral-sh/ruff-pre-commit/compare/v0.5.6...v0.5.7)
	
	* [pre-commit.ci] auto fixes from pre-commit.com hooks
	
	for more information, see https://pre-commit.ci
	
	---------

2024-08-08  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2363 from stephane-caron/feature/wrapper_build_models_from_mjcf
	Add BuildFromMJCF function to RobotWrapper

2024-08-07  Stéphane Caron  <stephane.caron@inria.fr>

	Add unit test for loading an MJCF description via RobotWrapper

	Clean up unused package_dirs argument

	Update the changelog

	Add BuildFromMJCF function to RobotWrapper

2024-08-07  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2360 from stack-of-tasks/dependabot/github_actions/devel/ros-industrial/industrial_ci-d23b9ad2c63bfad638a2b1fe3df34b8df9a2f17b
	build(deps): bump ros-industrial/industrial_ci from 875c2aebfd634eebaa84dbe5198f2fdb4c5f1b7e to d23b9ad2c63bfad638a2b1fe3df34b8df9a2f17b

2024-08-07  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump ros-industrial/industrial_ci
	Bumps [ros-industrial/industrial_ci](https://github.com/ros-industrial/industrial_ci) from 875c2aebfd634eebaa84dbe5198f2fdb4c5f1b7e to d23b9ad2c63bfad638a2b1fe3df34b8df9a2f17b.
	- [Commits](https://github.com/ros-industrial/industrial_ci/compare/875c2aebfd634eebaa84dbe5198f2fdb4c5f1b7e...d23b9ad2c63bfad638a2b1fe3df34b8df9a2f17b)

	---
	updated-dependencies:
	- dependency-name: ros-industrial/industrial_ci
	  dependency-type: direct:production
	...

2024-08-07  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2359 from stack-of-tasks/dependabot/github_actions/devel/tarides/changelog-check-action-3
	build(deps): bump tarides/changelog-check-action from 2 to 3

2024-08-07  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump tarides/changelog-check-action from 2 to 3
	Bumps [tarides/changelog-check-action](https://github.com/tarides/changelog-check-action) from 2 to 3.
	- [Release notes](https://github.com/tarides/changelog-check-action/releases)
	- [Commits](https://github.com/tarides/changelog-check-action/compare/v2...v3)

	---
	updated-dependencies:
	- dependency-name: tarides/changelog-check-action
	  dependency-type: direct:production
	  update-type: version-update:semver-major
	...

2024-08-07  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2362 from stack-of-tasks/pre-commit-ci-update-config
	[pre-commit.ci] pre-commit autoupdate

2024-08-05  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>

	[pre-commit.ci] pre-commit autoupdate
	updates:
	- [github.com/astral-sh/ruff-pre-commit: v0.5.5 → v0.5.6](https://github.com/astral-sh/ruff-pre-commit/compare/v0.5.5...v0.5.6)

2024-07-30  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2354 from stack-of-tasks/pre-commit-ci-update-config
	[pre-commit.ci] pre-commit autoupdate

2024-07-29  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>

	[pre-commit.ci] pre-commit autoupdate
	updates:
	- [github.com/astral-sh/ruff-pre-commit: v0.5.4 → v0.5.5](https://github.com/astral-sh/ruff-pre-commit/compare/v0.5.4...v0.5.5)

2024-07-27  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2350 from stephane-caron/feature/meshcat_colmodcol
	Separate collision_color in MeshcatVisualizer.loadViewerModel

2024-07-27  Stéphane Caron  <stephane.caron@inria.fr>

	Add visual_color and deprecate color argument

	Apply ruff to meshcat_visualizer.py

	Update the changelog

	python: Separate collision_color in MeshcatVisualizer.loadViewerModel

2024-07-26  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2353 from abussy-aldebaran/feature/docs_typos
	doc - Correct ??? placeholder.

2024-07-26  Antoine Bussy  <antoine.bussy@aldebaran.com>

	doc - Correct ??? placeholder.
	These ??? where left out in #2351.

2024-07-25  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2351 from abussy-aldebaran/feature/docs_typos
	doc: Fix typos and errors.

2024-07-25  Antoine Bussy  <antoine.bussy@aldebaran.com>

	doc: Fix typos and errors.

2024-07-25  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2352 from abussy-aldebaran/feature/cmake_urdf
	cmake - Fix cmake when urdf support is disabled.

2024-07-25  Antoine Bussy  <antoine.bussy@aldebaran.com>

	cmake - Fix cmake when urdf support is disabled.
	Fix the error:

	CMake Error at CMakeLists.txt:247 (if):
	  if given arguments:

	    "BUILD_WITH_URDF_SUPPORT" "AND" "VERSION_GREATER" "0.4.2"

	  Unknown arguments specified

	when running cmake -DBUILD_WITH_URDF_SUPPORT=off

2024-07-25  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2348 from stephane-caron/docs/parameters
	Fix two equations and typos in the documentation

2024-07-24  Stéphane Caron  <stephane.caron@inria.fr>

	Fix two equations and typos in the documentation

2024-07-24  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2333 from jorisv/topic/workspace
	Enable jrl-cmakemodules workspace compatiblity

	pre-commit: Apply pre-commit

	cmake: Switch to upstream jrl-cmakemodules

	cmake: Setup back PYTHONHOME variable

	cmake: Add debug output for CI debugging

	cmake: Fix PATH setup on Windows

	pre-commit: Add --preserve-quotes options to avoid issue with docker image name

	changelog: Add changelog entry

	cmake: Use topic/workspace jrl-cmakemodules

	cmake: Configure PROJECT_SOURCE_DIR

	cmake: Export pinocchio_VERSION in parent directory

	cmake: Alias pinocchio target and fix include_directories

	cmake: Prefix all test target by pinocchio-

	cmake: Don't take python from eigenpy transitive dependency

	cmake: Use compute_pythonpath instead of redefining it

	cmake: Replace CMAKE_{SOURCE,BINARY}_DIR by PROJECT_{SOURCE,BINARY}_DIR

	cmake: Rename python target into pinocchio_python

	cmake: Disable automatic finalize call

2024-07-24  Marco Boneberger  <marco.boneberger@gauss-robotics.de>
	    Wolfgang Merkt  <wxmerkt@users.noreply.github.com>
	    Justin Carpentier  <justin.carpentier@inria.fr>
	    Wolfgang Merkt  <wxmerkt@users.noreply.github.com>

	Fix urdfdom dependency (#2341)
	* fix urdfdom dependency in package.xml
	
	We now install the urdfdom that is provided by ROS instead of the package that comes from ubuntu
	
	* changelog: sync
	
	* ros: handle ROS1 and ROS2 context switch for urdfdom
	
	
	---------

2024-07-24  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>
	    pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>
	    Guilhem Saurel  <guilhem.saurel@laas.fr>
	    Justin Carpentier  <justin.carpentier@inria.fr>

	[pre-commit.ci] pre-commit autoupdate (#2344)
	* [pre-commit.ci] pre-commit autoupdate
	
	updates:
	- [github.com/astral-sh/ruff-pre-commit: v0.5.2 → v0.5.4](https://github.com/astral-sh/ruff-pre-commit/compare/v0.5.2...v0.5.4)
	
	* [pre-commit.ci] auto fixes from pre-commit.com hooks
	
	for more information, see https://pre-commit.ci
	
	* ci: add missing checkout
	
	---------

2024-07-24  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2347 from jorisv/topic/remove_cmake_warnings
	Set policy CMP0167 to avoid warnings with CMake 3.30

2024-07-23  Joris Vaillant  <joris.vaillant@inria.fr>

	changelog: Add changelog entry

	cmake: Set policy CMP0167 to avoid warnings with CMake 3.30

	Merge pull request #2346 from MegMll/fix/automatic_comment
	CI - Fix automatic comment

2024-07-23  Megane Millan  <megane.millan@inria.fr>

	CI - Added checkout

2024-07-22  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2323 from nim65s/coal-compat
	non-breaking coal initial compatibility

2024-07-22  Joris Vaillant  <joris.vaillant@inria.fr>

	coal: Don't include hpp/fcl/config.hpp if collision is not enable
	Split forward declaration in a standalone header to avoid code
	duplication in sdf/geometry.hxx.

2024-07-22  Guilhem Saurel  <guilhem.saurel@laas.fr>

	changelog

	non-breaking coal initial compatibility

2024-07-22  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2343 from MegMll/topic/automatic_pr_comment
	Check Labels for pull requests

2024-07-22  Mégane Millan  <37700908+MegMll@users.noreply.github.com>

	Create check_label.js

2024-07-22  Justin Carpentier  <justin.carpentier@inria.fr>

	Add core headers to target library (#2340)
	* cmake: add core headers to target library
	
	This is mainly necessary when use cmake generator features
	
	* cmake: fix support for INTERFACE
	
	* cmake: move block
	
	* cmake: add missing BUILD_INTERFACE
	
	* cmake: handle @jorisv review comments

2024-07-18  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2334 from MegMll/topic/options_compilation_ci
	CI - Compilation options based on pull request labels

2024-07-18  Mégane Millan  <37700908+MegMll@users.noreply.github.com>

	Add precision about the possible labels in the message

	Added bot comment to pr if no label are found

2024-07-18  Megane Millan  <megane.millan@inria.fr>

	Added libsdformat to conda environment for macos-linux and windows

	[CI] Added accelerate option

	[CI] Put explicit arguments back into workflow yaml

	[CI] Remove quote for macos linux ci

	[CI] Remove debug printing

	[CI] Update Flags for windows

	[ci] remove quote for windows

	[CI] Update windows ci to get minimal options

	[CI] Update get_label.js (make it more compact and complete)

	[CI] Add get labels to mac-linux worflow

	[CI] Add get flags into windows-conda ci

	[CI] Get pr labels to set compilation flags

2024-07-18  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2339 from nim65s/static-cast
	urdf parser: use static casts when type is known

2024-07-18  Guilhem Saurel  <guilhem.saurel@laas.fr>

	add changelog entry

2024-07-17  Guilhem Saurel  <guilhem.saurel@laas.fr>

	parser urdf: use static_ptr_cast after inside type checks

2024-07-17  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2331 from jcarpent/topic/meshcat
	Fix Dae support in MeshCat

2024-07-16  Justin Carpentier  <justin.carpentier@inria.fr>

	python/examples: remove manual scaling

	changelog: sync

	python/examples: remove the use of gepetto-gui

	python/meshcat: fix scaling for DaeMeshGeometry

	python: enforce the use of MeshCat viewer

	changelog: sync

	python/meschat: fix Dae support

	Merge pull request #2330 from stack-of-tasks/pre-commit-ci-update-config
	[pre-commit.ci] pre-commit autoupdate

2024-07-16  Guilhem Saurel  <guilhem.saurel@laas.fr>

	yamlfmt cant handle colons

2024-07-15  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>

	[pre-commit.ci] pre-commit autoupdate
	updates:
	- [github.com/astral-sh/ruff-pre-commit: v0.5.1 → v0.5.2](https://github.com/astral-sh/ruff-pre-commit/compare/v0.5.1...v0.5.2)

2024-07-15  Joris Vaillant  <joris.vaillant@inria.fr>

	ci: Fix linux.yml

	ci: Add qhull-static dependency

2024-07-12  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2326 from MegMll/topic/ubuntu24_ci
	CI - Added support for ubuntu 24.04

	pre-commit: Apply pre-commit

2024-07-12  Mégane Millan  <37700908+MegMll@users.noreply.github.com>

	Added green-light check

	[ci] Added support for ubuntu 24.04

2024-07-11  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2312 from nim65s/modernize-console-bridge
	CMake: modernize link to console_bridge

2024-07-11  Guilhem Saurel  <guilhem.saurel@laas.fr>

	add changelog entry

	CMake: modernize link to console_bridge

2024-07-11  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2322 from jorisv/topic/fix_pkg_config
	Add missing dependencies into pkg-config

	CI: Launch the new test in the CI

	test: Add a pkgconfig test for pinocchio_parsers

	changelog: Add entry

	cmake: Fix pkg-config dependencies

	Merge pull request #2318 from MegMll/topic/ci_docker_linux
	CI - Change Environment for Linux CI

2024-07-11  Mégane Millan  <37700908+MegMll@users.noreply.github.com>

	[ci] Add comment and remove sudo

2024-07-11  Megane Millan  <megane.millan@inria.fr>

	[ci] Restore cache to original value

2024-07-11  Mégane Millan  <37700908+MegMll@users.noreply.github.com>
	    Joris Vaillant  <joris.vaillant@gmail.com>

	Update ubuntu version

2024-07-11  Mégane Millan  <37700908+MegMll@users.noreply.github.com>

	[ci] Remove root usage on container

2024-07-11  Megane Millan  <megane.millan@inria.fr>

	[ci] Setup linux ci with docker container

2024-07-10  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2315 from MegMll/topic/bindings_jmodel_variant
	Changed Geometry Objects bindings and added getMotionAxis function

2024-07-09  Joris Vaillant  <joris.vaillant@inria.fr>

	pre-commit: Update quarterly

2024-07-09  Megane Millan  <megane.millan@inria.fr>

	[bindings] Add precisions to documentation

	[Joint] Modify default behaviour and return const

	Update Changelog.md

	[bindings] Added revolute unbounded

	[Bindings] Joint specialization for getMotionAxis

	[joint] Added getMotionAxis function

	[Geometry Object] Use eigenpy variant converter

2024-07-09  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>
	    pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>

	[pre-commit.ci] pre-commit autoupdate (#2316)
	updates:
	- [github.com/astral-sh/ruff-pre-commit: v0.5.0 → v0.5.1](https://github.com/astral-sh/ruff-pre-commit/compare/v0.5.0...v0.5.1)

2024-07-04  Joris Vaillant  <joris.vaillant@inria.fr>

	release: Update CITATION.cff version to 3.1.0

	release: Update CHANGELOG.md for 3.1.0

	release: Update package.xml version to 3.1.0

2024-07-02  Sebastian Castro  <4603398+sea-bass@users.noreply.github.com>

	Clean up ROS README section and add ROS 2 example (#2309)
	* Clean up ROS README section and add ROS 2 example
	
	* Add spaces to ROS

2024-07-02  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2308 from stack-of-tasks/pre-commit-ci-update-config
	[pre-commit.ci] pre-commit autoupdate

2024-07-02  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>

	[pre-commit.ci] pre-commit autoupdate
	updates:
	- [github.com/pre-commit/mirrors-clang-format: v18.1.7 → v18.1.8](https://github.com/pre-commit/mirrors-clang-format/compare/v18.1.7...v18.1.8)
	- [github.com/astral-sh/ruff-pre-commit: v0.4.10 → v0.5.0](https://github.com/astral-sh/ruff-pre-commit/compare/v0.4.10...v0.5.0)

2024-06-25  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>
	    pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>

	[pre-commit.ci] pre-commit autoupdate (#2302)
	* [pre-commit.ci] pre-commit autoupdate
	
	updates:
	- [github.com/pre-commit/mirrors-clang-format: v18.1.6 → v18.1.7](https://github.com/pre-commit/mirrors-clang-format/compare/v18.1.6...v18.1.7)
	- [github.com/astral-sh/ruff-pre-commit: v0.4.9 → v0.4.10](https://github.com/astral-sh/ruff-pre-commit/compare/v0.4.9...v0.4.10)
	
	* [pre-commit.ci] auto fixes from pre-commit.com hooks
	
	for more information, see https://pre-commit.ci
	
	---------

2024-06-24  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2300 from jcarpent/topic/pin3
	Fix contact derivatives test and restore missing tests

2024-06-24  Joris Vaillant  <joris.vaillant@inria.fr>

	changelog: Fix format

	tests: Lower the precision required to allow test to pass on Windows

	core: Remove some warnings in computeConstraintDynamicsDerivatives

2024-06-24  Justin Carpentier  <justin.carpentier@inria.fr>

	windows: or -> ||

	changelog: sync

	test/impulses: remove WORLD reference

	test: restore comment tests

	algo/contacts: fix derivatives

	Merge pull request #2299 from mohammadYg/patch-1
	Argument missing in anymal-simulation.py

	changelog: sync

2024-06-24  mohammad hasan Yeganegi  <yeganegi.m94@gmail.com>

	Update anymal-simulation.py
	Robot's model was missed when calling pinocchio.RigidConstraintModel function

2024-06-24  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2297 from sea-bass/add-pyroboplan
	Add PyRoboPlan to open-source projects

2024-06-24  Sebastian Castro  <sebas.a.castro@gmail.com>

	Add PyRoboPlan to open-source projects

2024-06-22  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: add pre-commit badge

	Merge pull request #2295 from MegMll/fix/appendModel_parallel
	[Model] Fix appendModel for parallel joints at the base

	changelog: sync

2024-06-21  Megane Millan  <megane.millan@inria.fr>

	[AppendModel] Added unittest for model with parallel joints after base

	[AppendModel] Check the parents

	[Model] Fix appendModel

2024-06-20  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2292 from jorisv/topic/fix_deprecated_messages
	Fix Windows build

	Merge branch 'devel' into topic/fix_deprecated_messages

	Merge pull request #2294 from fabinsch/fix-mesh-visualization
	Fix mesh visualization in meshcat

2024-06-20  Fabian Schramm  <55981657+fabinsch@users.noreply.github.com>

	update changelog

2024-06-20  Justin Carpentier  <justin.carpentier@inria.fr>

	python/meshcat: display mesh first

2024-06-20  Joris Vaillant  <joris.vaillant@inria.fr>

	changelog: Add changelog entry

	core: Fix Windows build in Debug mode

	changelog: Add changelog entry

	Fix deprecated header error message

	core: Define empty macro on Windows to avoid compilation issues

2024-06-18  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2284 from florent-lamiraux/devel
	Some minor modifications necessary to upgrade HPP

2024-06-18  Joris Vaillant  <joris.vaillant@inria.fr>

	changelog: Clarify changelog

2024-06-18  Florent Lamiraux  <florent@laas.fr>

	Update CHANGLOG.md

	[algorithm] resolve ambiguity in JointModel type.
	  When using a different JointCollection, JointModel is not of the right type
	  and causes a compilation error.

	Return Vector3 instead of Vector3::ConstandReturnType
	  The compiler otherwise fails to evaluate method
	  TransformHelicalTpl::translation.

	Add a test on access to pose in joint data.

	Do not specify size of Identity for constant size matrices.

2024-06-18  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2288 from jorisv/topic/simplify_hpp_fcl_bindings
	Always suppose hpp-fcl Python binding are present when hpp-fcl C++ library is found

	changelog: Add changelog entry

2024-06-18  Joris Vaillant  <joris.vaillant@inria.fr>

	cmake: Always suppose hpp-fcl Python binding are present when hpp-fcl C++ library is found
	Pinocchio Python binding needs hpp-fcl Python binding for
	collision/contact related algorithms.

	We allow with the `BUILD_WITH_HPP_FCL_PYTHON_BINDINGS` CMake variable to build
	Pinocchio C++ library with hpp-fcl but to ignore hpp-fcl in the Python
	bindings if the hpp-fcl Python bindings are not installed.

	This create the following issues:
	- To compute `BUILD_WITH_HPP_FCL_PYTHON_BINDINGS` we must call the
	  Python interpreter. This create some issue when cross compiling.
	- We never test this case in our CI, so we don't know if this option is
	  working.

	This PR remove this option to simplify the build.
	In the case an user build Pinocchio Python binding with hpp-fcl
	C++ library but without hpp-fcl binding, the Python interpreter will
	raise an ImportError.

2024-06-18  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2286 from stack-of-tasks/pre-commit-ci-update-config
	[pre-commit.ci] pre-commit autoupdate

2024-06-17  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>

	[pre-commit.ci] pre-commit autoupdate
	updates:
	- [github.com/astral-sh/ruff-pre-commit: v0.4.8 → v0.4.9](https://github.com/astral-sh/ruff-pre-commit/compare/v0.4.8...v0.4.9)

2024-06-16  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2282 from lvjonok/devel
	Kinetic and potential energy regressors

2024-06-15  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2283 from jcarpent/topic/cmake
	Sync submodule cmake

	core: fix Vector type

	readme: fix

	test/regressor: fix

	algo: fix segments

	test: remove useless var

	algo: add template instatiation compute{Kinetic,Potential}EnergyRegressor

	changelog: sync

	readme: add Lev Kozlov as contributor

	test: enhance

	algo: run pre-commit

	algo: rename var

	algo: rework computePotentialEnergyRegressor for enhance readibility

	python: expose Data::{kinetic,porential}EnergyRegressor

	core: use RowVectorXs for potentialEnergyRegressor

	algo: add missing call to forwardKinematics

	algo: rework computeKineticEnergyRegressor for enhance readibility

	core: use RowVectorXs for kineticEnergyRegressor

	cmake: sync submodule

2024-06-14  Lev Kozlov  <kozlov.l.a10@gmail.com>

	style: applied pre-commit

	feat: add tests for regressors

	feat: add kinetic and potential energy regressor

2024-06-11  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2281 from stack-of-tasks/pre-commit-ci-update-config
	[pre-commit.ci] pre-commit autoupdate

2024-06-11  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>

	[pre-commit.ci] pre-commit autoupdate
	updates:
	- [github.com/pre-commit/mirrors-clang-format: v18.1.5 → v18.1.6](https://github.com/pre-commit/mirrors-clang-format/compare/v18.1.5...v18.1.6)
	- [github.com/astral-sh/ruff-pre-commit: v0.4.7 → v0.4.8](https://github.com/astral-sh/ruff-pre-commit/compare/v0.4.7...v0.4.8)

2024-06-11  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2275 from AjSat/casadi_operation_count
	Add get operation counts for Casadi

2024-06-09  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge branch 'devel' into casadi_operation_count

2024-06-07  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2279 from stephane-caron/feature/docs_minor_corrections
	Minor English corrections to the docs

2024-06-07  Stéphane Caron  <stephane.caron@inria.fr>

	Minor English corrections to the docs

2024-06-07  Ajay Sathya  <ajay.sathya@inria.fr>

	Casadi: update changelog

2024-06-06  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2273 from fabinsch/add-py-unittest-transport
	Test vector transport and its inverse with `dIntegrateTransport`

	changelog: clean

2024-06-06  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>

	[pre-commit.ci] auto fixes from pre-commit.com hooks
	for more information, see https://pre-commit.ci

2024-06-05  Fabian Schramm  <55981657+fabinsch@users.noreply.github.com>

	rename vars in unittest dIntegrateTransport

	update CHANGELOG

	cpp/test: use `dIntegrateTransport` to transport vector/matrix back and forth

	py/test: use `dIntegrateTransport` to transport matrix back and forth

	update CHANGELOG

	py/test: use `dIntegrateTransport` to transport vector back and forth

2024-06-05  Ajay Sathya  <ajay.sathya@inria.fr>

	casadi: implemented Joris's suggestions

	casadi: get operation counts

2024-06-04  Wilson  <wilson.jallet@polytechnique.org>

	Merge pull request #2274 from jorisv/topic/deactivate_with_libpython_with_pypy
	Turn `BUILD_WITH_LIBPYTHON` OFF when building with PyPy

2024-06-04  Joris Vaillant  <joris.vaillant@inria.fr>

	changelog: Add changelog entry

	cmake: Turn `BUILD_WITH_LIBPYTHON` OFF when building with PyPy
	This already had been fixed in 4d521ec but had been lost in CMakeLists
	refactoring.

2024-06-04  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2272 from stack-of-tasks/pre-commit-ci-update-config
	[pre-commit.ci] pre-commit autoupdate

2024-06-03  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>

	[pre-commit.ci] pre-commit autoupdate
	updates:
	- [github.com/astral-sh/ruff-pre-commit: v0.4.6 → v0.4.7](https://github.com/astral-sh/ruff-pre-commit/compare/v0.4.6...v0.4.7)

2024-06-03  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2269 from stack-of-tasks/dependabot/github_actions/devel/ros-industrial/industrial_ci-875c2aebfd634eebaa84dbe5198f2fdb4c5f1b7e
	build(deps): bump ros-industrial/industrial_ci from 3ed9846c96ed1e0bb36193e8e250632eaac980d0 to 875c2aebfd634eebaa84dbe5198f2fdb4c5f1b7e

2024-06-03  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump ros-industrial/industrial_ci
	Bumps [ros-industrial/industrial_ci](https://github.com/ros-industrial/industrial_ci) from 3ed9846c96ed1e0bb36193e8e250632eaac980d0 to 875c2aebfd634eebaa84dbe5198f2fdb4c5f1b7e.
	- [Commits](https://github.com/ros-industrial/industrial_ci/compare/3ed9846c96ed1e0bb36193e8e250632eaac980d0...875c2aebfd634eebaa84dbe5198f2fdb4c5f1b7e)

	---
	updated-dependencies:
	- dependency-name: ros-industrial/industrial_ci
	  dependency-type: direct:production
	...

2024-06-02  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2268 from jcarpent/topic/pin3
	Move the license to LICENSE and update copyright years

2024-06-01  Justin Carpentier  <justin.carpentier@inria.fr>

	license: increase copyright year

	license: move to LICENSE

2024-05-31  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2267 from MegMll/topic/update_changelog
	Update CHANGELOG.md

2024-05-31  Mégane Millan  <37700908+MegMll@users.noreply.github.com>

	Update CHANGELOG.md

2024-05-31  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2263 from fabinsch/add-py-unittest-constraint-inverse-dynamics
	add python test for `contactInverseDynamics`

2024-05-30  Fabian Schramm  <55981657+fabinsch@users.noreply.github.com>

	remove unused header `list.hpp`

	use `assertApprox` from `TestCase`

	update changelog

	run all 3 versions

	expose contactInverseDynamics:  include std-vector from utils

	edit changelog

	add py test for contactInverseDynamics

2024-05-30  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2264 from nim65s/arch
	unittest: add 2 valgrind suppressions

2024-05-30  Guilhem Saurel  <guilhem.saurel@laas.fr>

	unittest: add 2 valgrind suppressions
	To fix packaging on ArchLinux, when valgrind is installed.

	They are the same as the 2 previous ones, except:
	- realloc instead of alloc
	- some extra `fun:UnknownInlinedFun`

2024-05-29  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2255 from jcarpent/topic/pin3
	Fix compilation issue for Boost 1.85

2024-05-29  Joris Vaillant  <joris.vaillant@gmail.com>

	Update CHANGELOG.md

2024-05-29  Justin Carpentier  <justin.carpentier@inria.fr>

	mjcf: apply pre-commit

	pre-commit: update

	mjcf: fix

	changelog: sync

	mjcf: fix compilation issue for Boost 1.85

2024-05-28  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2245 from stack-of-tasks/pre-commit-ci-update-config
	[pre-commit.ci] pre-commit autoupdate

2024-05-27  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>

	[pre-commit.ci] pre-commit autoupdate
	updates:
	- [github.com/astral-sh/ruff-pre-commit: v0.4.4 → v0.4.5](https://github.com/astral-sh/ruff-pre-commit/compare/v0.4.4...v0.4.5)

2024-05-27  Joris Vaillant  <joris.vaillant@inria.fr>

	release: Update CHANGELOG.md for 3.0.0

	release: Update package.xml version to 3.0.0

	Merge pull request #2235 from stack-of-tasks/topic/pinocchio-3x
	Pinocchio 3 developments

	ci: Don't generate Debug symbol on macos too

	changelog: RNEA is not in WORLD convention

	unittest: Deactivate lanczos-decomposition unit test

	ci: Restore laas gitlab-ci file

	ci: Only compile on 2 core on Windows to avoid 'compiler is out of heap space' error

2024-05-24  Joris Vaillant  <joris.vaillant@inria.fr>

	core: Setup back GeometryObject deprecated constructor (deprecated since pinocchio 3)

	cmake: Export CppAD finders and remove pycppad cmake dependency

	core: Fix missing pinocchio namespace

	casadi: Fix missing includes

	core: Replace abort by exceptions

	core: Use local convention by default in CRBA

	ci: Use the same cppad version in macos/linux/windows

2024-05-24  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: fix typo

2024-05-24  Joris Vaillant  <joris.vaillant@inria.fr>

	core: Remove a lot of deprecation warnings

	core: put aba{Local,World}Convention in a private namespace

2024-05-23  Joris Vaillant  <joris.vaillant@inria.fr>

	ci: Don't use cppad 2024 since it's incompatible with clang and cppadcodegen

	cmake: Try to fix pkg-config packaging

	ci: Add missing dependency in ubuntu build

	ci: Try to fix casadi error in ubuntu 20.04 workflow

	pre-commit: apply

	core: Fix missing enum name

	cmake: Fix cmake compatibility with cmake 3.16

	python: Include fwd.hpp before all header to avoid some wrong boost definition

2024-05-22  Joris Vaillant  <joris.vaillant@inria.fr>

	core: Add convention and use local convention by default in ABA

	ci: Always save cache even on fail to save build time

	ci: Avoid disk space explosion in linux workflow

2024-05-22  Louis Montaut  <louismontaut@gmail.com>

	unittest: fix constrained-dynamics test
	isApprox is the culprit: when stuff is zero, relative comparison makes
	no sense.

2024-05-21  Joris Vaillant  <joris.vaillant@inria.fr>

	unittest: Add more suppresion for urdf memory leak test

	cmake: Add CPPAD_DEBUG_AND_RELEASE define to cppad and cppadcg build

	ci: Try a new path to find cmake toolchain file

	ci: Fix clang-cl use on Windows

	unittest: Fix casadi/algorithms

	unittest: Fix constrained-dynamics

	ci: Disable debug symbol generation on Linux Debug build

	unittest: Fix casadi/joints

	unittest: Fix casadi/explog

	unittest: Fix cppad/joints

2024-05-17  Joris Vaillant  <joris.vaillant@inria.fr>

	core: Fix Debug build on Linux

	ci: Remove llvm-openmp dependency on Windows

	ci: Remove panda3_viewer dependency

	ci: Build all options

2024-05-17  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/c++11' into 'pinocchio-3x'
	Set C++11 as the minimal C++ version

	See merge request jucarpen/pinocchio!645

2024-05-17  Wilson Jallet  <wilson.jallet@polytechnique.org>
	    Wilson Jallet  <wilson.jallet@polytechnique.org>

	Apply 1 suggestion(s) to 1 file(s)

2024-05-17  Joris Vaillant  <joris.vaillant@inria.fr>

	benchmark: Fix build with C++ < 17 and fix runtime error on Linux

	changelog: Add changelog entry

	cmake: Force minimal C++ version to C++11

2024-05-17  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/eigen-macros-add-concurrency-warning' into 'pinocchio-3x'
	eigen-macros: add warning for malloc checks+multithreading, mark malloc status...

	See merge request jucarpen/pinocchio!644

2024-05-17  ManifoldFR  <wilson.jallet@polytechnique.org>

	eigen-macros: add warning for malloc checks+multithreading, mark malloc status variable thread_local

2024-05-17  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/format' into 'pinocchio-3x'
	Format CMake/Python/C++/Yaml sources

	See merge request jucarpen/pinocchio!643

2024-05-17  Joris Vaillant  <joris.vaillant@inria.fr>

	git: Ignore previous commit in blame history

2024-05-17  format-all  <format-all@inria.fr>

	pre-commit: Apply clang-format, cmake-format, ruff-format and yamlfmt
	pre-commit: Remove tabs

	pre-commit: Apply cmake-format

	pre-commit: Apply ruff-format

	pre-commit: Apply clang-format

	pre-commit: Apply yamlfmt

	pre-commit: Change AlignAfterOpenBracket to AlwaysBreak

2024-05-16  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/changelog' into 'pinocchio-3x'
	Add pinocchio 3 new features to the changelog

	See merge request jucarpen/pinocchio!642

2024-05-16  Wilson Jallet  <wilson.jallet@polytechnique.org>
	    Wilson Jallet  <wilson.jallet@polytechnique.org>

	Apply 10 suggestion(s) to 1 file(s)

2024-05-16  Joris Vaillant  <joris.vaillant@inria.fr>

	doc: Update _porting.md

	changelog: Add Removed and Changed section

2024-05-15  Joris Vaillant  <joris.vaillant@inria.fr>

	changelog: Add pinocchio 3 new feature
	Thank's @jcarpent !

	cmake: Use interface to set compile option and definition to pinocchio_headers

2024-05-15  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/unittest-mjcf' into 'pinocchio-3x'
	Parser Mujoco : Bug Fix and add unittest

	See merge request jucarpen/pinocchio!641

2024-05-15  Megane Millan  <megane.millan@inria.fr>

	[unittest/mjcf] Add test for keyframe+composite and site

	[unittest/mjcf] Add documentation

	[mjcf] BodyInJoint is now always initialized

	[mjcf] Add documentation to latest functions

2024-05-15  Joris Vaillant  <joris.vaillant@inria.fr>

	core: Remove some warnings

	cmake: Add python_build as stub generation dependency

	test: Fix cppadcg/algorithms test on Linux

	cmake: Fix cflags definition in unittest

2024-05-13  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

	python/meshcat: fix int type
	Related to recent deprecation in NumPy

2024-05-07  ManifoldFR  <wilson.jallet@polytechnique.org>

	[unittest] fix corner case when calling ADD_TEST_CFLAGS

2024-05-07  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge remote-tracking branch 'pinocchio_v2/devel' into pinocchio-3x

	Merge branch 'devel' into pinocchio-3x

2024-05-07  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/fix_last_ut' into 'pinocchio-3x'
	Fix unit tests

	See merge request jucarpen/pinocchio!639

2024-05-07  Joris Vaillant  <joris.vaillant@inria.fr>

	python: Add more suppression to build_geom_from_urdf memorycheck test

	cppad: Fix jit test under Linux

2024-05-07  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/remove_aligned_vector' into 'pinocchio-3x'
	Replace aligned_vector struct by an alias template

	See merge request jucarpen/pinocchio!638

2024-05-07  VAILLANT Joris  <joris.vaillant@inria.fr>

	Replace aligned_vector struct by an alias template

2024-05-07  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/fix_install' into 'pinocchio-3x'
	Fix config.hpp installation and missing includes

	See merge request jucarpen/pinocchio!637

2024-05-07  VAILLANT Joris  <joris.vaillant@inria.fr>

	Fix config.hpp installation and missing includes

2024-05-06  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/new_deprecation' into 'pinocchio-3x'
	Add deprecation in Pinocchio 2 API and label unstable algorthims

	See merge request jucarpen/pinocchio!635

2024-05-06  VAILLANT Joris  <joris.vaillant@inria.fr>

	Add deprecation in Pinocchio 2 API and label unstable algorthims

2024-05-06  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/remove_deprecated' into 'pinocchio-3x'
	Remove old deprecated functions

	See merge request jucarpen/pinocchio!631

2024-05-06  MILLAN Megane  <megane.millan@inria.fr>

	Remove old deprecated functions

2024-05-06  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/reactivate_constraint_model' into 'pinocchio-3x'
	Reactivate custom scalar binding of RigidConstraint

	See merge request jucarpen/pinocchio!636

2024-05-06  VAILLANT Joris  <joris.vaillant@inria.fr>

	Reactivate custom scalar binding of RigidConstraint

2024-05-06  Joris Vaillant  <joris.vaillant@inria.fr>

	mjcf: Avoid reordering a vector without copy

2024-05-06  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/mjcf_predefined_positions' into 'pinocchio-3x'
	Adding parsing of keyframes and sites

	See merge request jucarpen/pinocchio!626

2024-05-06  MILLAN Megane  <megane.millan@inria.fr>

	Adding parsing of keyframes and sites

2024-04-26  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/fix_windows' into 'pinocchio-3x'
	Fix Windows build

	See merge request jucarpen/pinocchio!634

2024-04-26  VAILLANT Joris  <joris.vaillant@inria.fr>

	Fix Windows build

2024-04-26  Joris Vaillant  <joris.vaillant@inria.fr>

	release: Update CHANGELOG.md for 2.7.1

	release: Update package.xml version to 2.7.1

	changelog: Add missing PR link to some entries

2024-04-25  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/fix_tests' into 'pinocchio-3x'
	Fix tests

	See merge request jucarpen/pinocchio!632

2024-04-25  VAILLANT Joris  <joris.vaillant@inria.fr>

	Fix tests

2024-04-25  DE MATTEIS Ludovic  <ludovic.de-matteis@inria.fr>

	Merge branch 'ldematte/topic/fix_append_model' into 'pinocchio-3x'
	Fix Incorrect mass in Append Model

	See merge request jucarpen/pinocchio!628

2024-04-25  Ludovic De Matteis  <ldematteis@laas.fr>

	Remove blank line and printing

	Fix incorrect mass in append model

	Add unittest

2024-04-24  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/fix_gepetto_viewer' into 'pinocchio-3x'
	Fix panda3d and gepetto viewer exemple

	See merge request jucarpen/pinocchio!630

2024-04-24  VAILLANT Joris  <joris.vaillant@inria.fr>

	Fix panda3d and gepetto viewer exemple

2024-04-23  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/hpp-fcl-2x' into 'pinocchio-3x'
	Support hpp-fcl 2x

	See merge request jucarpen/pinocchio!629

2024-04-23  Joris Vaillant  <joris.vaillant@inria.fr>

	python: Don't call hppfcl.WITH_OCTOMAP on hppfcl < 3.0.0

	serialization: Manage Eigen/Boost.Serialization workaround with different hpp-fcl version

	serialization: Don't include octree in hpp-fcl 2x

2024-04-19  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/qhull-use-add-project-dependency' into 'pinocchio-3x'
	[cmake] Use add_project_dependency for Qhull

	See merge request jucarpen/pinocchio!627

2024-04-19  Wilson Jallet  <wilson.jallet@polytechnique.org>

	[cmake] Use add_project_dependency for Qhull and use REQUIRED for OpenMP

2024-04-17  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/visualize-fix-imports-and-args' into 'pinocchio-3x'
	[bindings/python/visualize] Minor fixes

	See merge request jucarpen/pinocchio!624

2024-04-17  ManifoldFR  <wilson.jallet@polytechnique.org>

	[bindings/python/visualize] base_visualizer: use abc.ABC to mark as abstract class

	[bindings/python/visualize] fix redefined methods in BaseVisualizer python class
	+ remove unneeded import

	[bindings/python/visualize] meshcat_visualizer: remove another unused import

	[visualize] meshcat_visualizer: make arguments of __init__ explicit

2024-04-16  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/fix_autoinertia' into 'pinocchio-3x'
	[Parsers/Mjcf] Fix Small problems with Mjcf geometry model

	See merge request jucarpen/pinocchio!621

2024-04-16  MILLAN Megane  <megane.millan@inria.fr>

	[Parsers/Mjcf] Fix Small problems with Mjcf geometry model

2024-04-16  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/optional_openmp' into 'pinocchio-3x'
	Add pinocchio_parallel and pinocchio_collision_parallel target

	See merge request jucarpen/pinocchio!623

2024-04-16  Joris Vaillant  <joris.vaillant@inria.fr>

	unittest: Add optional dependencies to test with #ifdef

	cmake: Remove LINK_PYTHON_INTERFACE_TO_OPENMP options

	cmake: Remove an error message

2024-04-15  Joris Vaillant  <joris.vaillant@inria.fr>

	cmake: link to OpenMP via parallel target

	cmake: Rename OPENMP sources into PARALLEL

	cmake: Add missing headers

	cmake: Don't require OpenMP

	cmake: Add pinocchio_parallel and pinocchio_collision_parallel to turn OpenMP as an optional dependency

2024-04-15  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2218 from florent-lamiraux/devel
	Modify model appending algorithm

2024-04-15  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/fix-mjcf-parser-eigen337' into 'pinocchio-3x'
	[parsers] Eigen::Vector isn't legal for eigen 3.3.7

	See merge request jucarpen/pinocchio!620

2024-04-15  ManifoldFR  <wilson.jallet@polytechnique.org>

	[parsers] Eigen::Vector isn't legal for eigen 3.3.7

2024-04-15  Justin Carpentier  <justin.carpentier@inria.fr>

	algo: add TODO as future enhancement

2024-04-15  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/fix_openmp_export' into 'topic/fusion-2x-3x'
	Add find_package OpenMP in exported target

	See merge request jucarpen/pinocchio!619

2024-04-15  Joris Vaillant  <joris.vaillant@inria.fr>

	cmake: Add OpenMP find_package into export target

2024-04-15  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/fix_no_template_inst' into 'topic/fusion-2x-3x'
	Fix build when template instantiation is disabled

	See merge request jucarpen/pinocchio!618

2024-04-15  Joris Vaillant  <joris.vaillant@inria.fr>

	cmake: Fix build when template instantiation is disabled

2024-04-15  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/fix_custom_scalar_build' into 'topic/fusion-2x-3x'
	Fix custom scalar build

	See merge request jucarpen/pinocchio!617

2024-04-15  Joris Vaillant  <joris.vaillant@inria.fr>

	python: Don't bind lanczos decomposition and some TridiagonalMatrix methods to casadi bindings

	core: Fix custom scalar build

2024-04-12  Justin Carpentier  <justin.carpentier@inria.fr>

	Revert "Fix incoherent mass when calling appendModel"
	This reverts commit 976cf3fbf1387bfebf5fd1524a778772517e2883.

	Merge remote-tracking branch 'inria/topic/fusion-2x-3x' into topic/fusion-2x-3x

	contact: comment useless var

	solver: add missing variable initialization

	cmake: add missing include

	python: expose LanczosDecomposition

	python: expose TridiagonalMatrix

	test/math: extend Lanczos tests

	math: enhance doc and add operator{!=,==}

	math: add missing EIGEN_MAKE_ALIGNED_OPERATOR_NEW

	math: add orthonormalization step in Lanczos algo

	core: fix indent

	serialization: add toCSVfile for Eigen objects

2024-04-12  Florent Lamiraux  <florent@laas.fr>

	Merge branch 'devel' into devel

2024-04-12  Florent Lamiraux  <florent@laas.fr>

	Fix model appending.
	  Modify robot append algorithm. In the new version, when appending model B to
	  model A on frame F, joints are copied in the
	  following order
	    - joints of model A up to the parent of F,
	    - all the descendents of parent of F,
	    - the remaining joints of A.

	  Modify test-cpp-model to check the new behavior.
	  Improve documentation of Model.

2024-04-12  Justin Carpentier  <justin.carpentier@inria.fr>

	math: add missing EIGEN_MAKE_ALIGNED_OPERATOR_NEW

2024-04-12  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/mujoco_geom_model' into 'topic/fusion-2x-3x'
	Parsers/Mjcf : Build Geometry Model

	See merge request jucarpen/pinocchio!616

2024-04-12  MILLAN Megane  <megane.millan@inria.fr>

	Parsers/Mjcf : Build Geometry Model

2024-04-11  Justin Carpentier  <justin.carpentier@inria.fr>

	test/math: add test Gram Schmidt orthonormalization algo

	math: add Gram Schmidt orthonormalization algo

	Merge pull request #2216 from nim65s/jrl-install
	CMake: allow use of installed jrl-cmakemodule

2024-04-11  Guilhem Saurel  <guilhem.saurel@laas.fr>

	add changelog entry

	CMake: allow use of installed jrl-cmakemodule

2024-04-11  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2217 from nim65s/submodules
	sync submodules

2024-04-11  Guilhem Saurel  <guilhem.saurel@laas.fr>

	sync submodules

2024-04-11  Justin Carpentier  <justin.carpentier@inria.fr>

	math: fix lanczos decomposition

	math: TridiagonalSymmetricMatrix -> TridiagonalSymmetricMatrixTpl

2024-04-10  Justin Carpentier  <justin.carpentier@inria.fr>

	test/math: test LanczosDecompositionTpl

	math: add LanczosDecompositionTpl

2024-04-09  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/mujoco_geom' into 'topic/fusion-2x-3x'
	Parsers/Mjcf : Adding support for geometries

	See merge request jucarpen/pinocchio!615

2024-04-09  MILLAN Megane  <megane.millan@inria.fr>

	Parsers/Mjcf : Adding support for computing inertia from geometry primitive

2024-04-09  Justin Carpentier  <justin.carpentier@inria.fr>

	math: add TridiagonalSymmetricMatrix::applyOnTheLeft

2024-04-09  Stéphane Caron  <stephane.caron@inria.fr>

	Fix SO(3) title and ref in the documentation (#2210)
	* Fix SO(3) title and ref in the documentation
	
	* Update the changelog

2024-04-09  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/inertia_from_capsule' into 'topic/fusion-2x-3x'
	Spatial/Inertia : Default inertia computation from a capsule geometry

	See merge request jucarpen/pinocchio!614

2024-04-09  MILLAN Megane  <megane.millan@inria.fr>

	Spatial/Inertia : Default inertia computation from a capsule geometry

2024-04-09  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2212 from stack-of-tasks/pre-commit-ci-update-config
	[pre-commit.ci] pre-commit autoupdate

2024-04-08  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>

	[pre-commit.ci] pre-commit autoupdate
	updates:
	- [github.com/pre-commit/pre-commit-hooks: v4.5.0 → v4.6.0](https://github.com/pre-commit/pre-commit-hooks/compare/v4.5.0...v4.6.0)

2024-04-08  Stéphane Caron  <stephane.caron@inria.fr>

	Document configuration vector for the planar joint (#2211)
	* Documentation configuration/tangent vectors for the planar joint
	
	* Tangent rather than "velocity" vector

2024-04-08  Justin Carpentier  <justin.carpentier@inria.fr>

	test: test TridiagonalSymmetricMatrix

	core: add TridiagonalSymmetricMatrix

2024-04-06  Justin Carpentier  <justin.carpentier@inria.fr>

	python/meschat: remove scaling handling
	It has been fixed in recent version of Meshcat

2024-04-06  DE MATTEIS Ludovic  <ludovic.de-matteis@inria.fr>

	Fix incoherent mass when calling appendModel

2024-04-06  Justin Carpentier  <justin.carpentier@inria.fr>

	eigen: fix compilation issue with Eigen 3.4.90

	cmake: remove setting of the CXX_STANDARD

	test: remove compilation warning

	algo/delassus: fix order

	python/contact: use DelassusOperatorSparseAccelerate for ADMM contact solver

	python: expose DelassusOperatorSparseAccelerate

	delassus: add Sparse Accelerate framework support

	cmake: start adding support of APPLE Accelerate framework

2024-04-05  Mégane Millan  <37700908+MegMll@users.noreply.github.com>
	    Megane Millan  <megane.millan@inria.fr>

	Fix CMake install path (#2202)
	* Change path for target and config file
	
	* Remove absolute path for boost library (only works when boost and pinocchio are installed in the same dir)
	
	* Add Changelog entry
	
	* Removed lines from commit
	
	* Removed Comments
	
	* Update CMakeLists.txt
	
	Revert
	
	* Removed wrong lines and change absolute to relative path
	
	---------

2024-04-04  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/mujoco_orientation' into 'topic/fusion-2x-3x'
	Mujoco Parser : Added missing support for frame orientation

	See merge request jucarpen/pinocchio!613

2024-04-04  MILLAN Megane  <megane.millan@inria.fr>

	Mujoco Parser : Added missing support for frame orientation

2024-04-04  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/mujoco_default' into 'topic/fusion-2x-3x'
	Mjcf Parser : Full Support of Default attributes

	See merge request jucarpen/pinocchio!611

2024-04-04  MILLAN Megane  <megane.millan@inria.fr>

	Mjcf Parser : Full Support of Default attributes

2024-03-28  Fabian Schramm  <55981657+fabinsch@users.noreply.github.com>
	    Stéphane Caron  <stephane.caron@inria.fr>
	    Stéphane Caron  <stephane.caron@inria.fr>

	[doc] Improve documentation of getJointJacobian. (#2193)
	* [doc] Improve documentation of getJointJacobian.
	
	* [doc] add reference to  A Mathematical Introduction to Robotic Manipulation
	
	* Update include/pinocchio/algorithm/jacobian.hpp
	
	
	---------

2024-03-27  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'pv_caba_cherrypick' into 'topic/fusion-2x-3x'
	PV, constrainedABA and cABA-OSIM algos added

	See merge request jucarpen/pinocchio!610

2024-03-27  Ajay Sathya  <ajay.sathya@inria.fr>

	Added documentation comments to PV header file

2024-03-26  Ajay Sathya  <ajay.sathya@inria.fr>

	reverted .gitignore change

2024-03-26  Megane Millan  <megane.millan@inria.fr>

	Fix python bindings for mjcf parsers

2024-03-26  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2190 from florent-lamiraux/devel
	[doc] Improve documentation of ReferenceFrame.

2024-03-26  Florent Lamiraux  <florent@laas.fr>

	[doc] Improve documentation of ReferenceFrame.

2024-03-26  MILLAN Megane  <megane.millan@inria.fr>

	Merge branch 'topic/mujoco_parser' into 'topic/fusion-2x-3x'
	First Draft for Mjcf parser

	See merge request jucarpen/pinocchio!602

2024-03-26  MILLAN Megane  <megane.millan@inria.fr>

	First Draft for Mjcf parser

2024-03-22  Ajay Sathya  <ajay.sathya@inria.fr>

	pv:also testing PV's Delassus matrix and updated copyright notices

	removed unnecessary urdf files

	delassus: more refactoring

	cleaned up delassus tests

	removed unused fields from data

2024-03-21  Ajay Sathya  <ajay.sathya@inria.fr>

	pv: removed separate benchmark files, added pv and constrainedABA to contact-dynamics file

	pv: more refactoring and avoiding auto keyword

	pv: cleaned-up and renamed pv_solver files

	pv: cleaned up PV solver tests

	pv: removed pv_settings, using only prox_settings now

	pv: refactored PV solver

	cABA: separated constrainedABA function from pv

	Delassus: block templates for slightly improved efficiency

	refactoring, using own findGCA

	greatly refactored, using EMPs over joints to avoid unnecessary copying

	reduced number of loops in cABA-OSIM, and removed LOIK struct from contact-info

	added efpa, caba-osim in Delassus benchmark, removed unnecessary template for 6x6 matrix in caba-osim, removed scratch_pad_vectors from data

	refactored and removed early_base and early_elim code

	rebased to topic-fusios-2x-3x

	Baumgarte at position level also works

	Baumgarte for velocity added

	both PV and constrainedABA verified for redundant connect constraints

	fixed a bug

	fixed the 3D constraint centrifugal term

	Use contact-cholesky solver for proxLTLs

	Atlas robot with shadow hands

	proxLTLs update

	first implementation of proxLTLs

	Optimized constraintABA, no prox iter over links not supporting constraints

	latest benchmark file

	created benchmark functions

	3D constraints for random joint placements

2024-03-21  Ajay Sathya  <sajaysathya@gmail.com>

	modified tests

	proxPV and constraintABA (local frame) first commit

2024-03-18  Stéphane Caron  <stephane.caron@inria.fr>

	Add remark on getFrameClassicalAcceleration (#2169)
	* Add remark on getFrameClassicalAcceleration
	
	* Update the changelog
	
	* Update include/pinocchio/algorithm/frames.hpp
	
	Thanks @traversaro
	
	* Correct the remark thanks to @traversaro
	
	* Add remark to getFrameAcceleration as well

2024-03-14  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2167 from stephane-caron/fix/empty_docs
	Clean up empty documentation pages and sections

2024-03-13  Stéphane Caron  <stephane.caron@inria.fr>

	Update the changelog

2024-03-12  Stéphane Caron  <stephane.caron@inria.fr>

	Clean up empty g- documentation placeholders

	Clean up empty f- documentation placeholders

	Clean up empty e- documentation placeholders

2024-03-12  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2166 from jorisv/topic/fix_stubgen
	Fix python stub generation

2024-03-12  Joris Vaillant  <joris.vaillant@inria.fr>

	ci: Generate stubs in CI to avoid regressions

	changelog: Add changelog entry

	cmake: Add binding dependency to stubgen

	python: Fix missing symbol issue

2024-03-08  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'topic/ldematte/fix_casadi_inverse-dynamics' into 'topic/fusion-2x-3x'
	Add contact inverse dynamics to casadi ignore for python bindings

	See merge request jucarpen/pinocchio!609

2024-03-08  DE MATTEIS Ludovic  <ludovic.de-matteis@inria.fr>

	Add contact inverse dynamics to casadi ignore for python bindings

2024-03-07  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/pinocchio_collision' into 'topic/fusion-2x-3x'
	Add pinocchio_collision target

	See merge request jucarpen/pinocchio!608

2024-03-07  VAILLANT Joris  <joris.vaillant@inria.fr>

	Add pinocchio_collision target

2024-03-06  Mégane Millan  <37700908+MegMll@users.noreply.github.com>
	    Megane Millan  <megane.millan@inria.fr>

	Fix Frames order in reducedModel (#2160)
	* Add frame to model in the same order as in the input model
	
	* Test to make sure frames are in the same order in reduce and full model
	
	* Remove useless comments
	
	* Added to changelog
	
	---------

2024-03-03  Justin Carpentier  <justin.carpentier@inria.fr>

	constraint: fix name

	cmake: sync submodule

	constaint: fix name

2024-03-03  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'topic/id' into 'topic/fusion-2x-3x'
	Add contact inverse dynamics

	See merge request jucarpen/pinocchio!606

2024-02-29  Joris Vaillant  <joris.vaillant@inria.fr>

	python: Fix build with eigenpy 3.4

2024-02-29  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: add missing include

2024-02-29  quentinldc  <quentin.le-lidec@inria.fr>

	contact inverse dynamics: using fext in the call to rnea

	Contact inverse dynamics: cleaning code

	contact inverse dynamics: adding unittest

	contact inverse dynamics: cleaning friction cone and computeContactImpulse

2024-02-29  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Contact inverse dynamics: cleaning code

2024-02-29  quentinldc  <quentin.le-lidec@inria.fr>

	adding contact inverse dynamics

	adding weighted projection to coulomb friction cone

2024-02-29  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/pinocchio_extra' into 'topic/fusion-2x-3x'
	Add pinocchio_extra target

	See merge request jucarpen/pinocchio!607

2024-02-29  Joris Vaillant  <joris.vaillant@inria.fr>

	cmake: Add pinocchio_extra target

	cmake: Rename WORKSPACE into EXTRA

2024-02-29  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'TI_other_types' into 'topic/fusion-2x-3x'
	Template instantiate custom scalar type

	See merge request jucarpen/pinocchio!603

2024-02-29  VAILLANT Joris  <joris.vaillant@inria.fr>

	Template instantiate custom scalar type
	- Create a library per custom scalar type
	- Add a standalone parsers library
	- Fix build with some scalar

2024-02-28  Justin Carpentier  <justin.carpentier@inria.fr>

	mpfr: fix compatibility with Eigen 3.4.9

	delassus: start refactoring the code

	core: include Eigen Sparse features by default

	test/liegroups: partial fix
	We should investigate where and why we are loosing numerical precisions

	all: fix missing namespace

	core: add missing include

2024-02-13  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge branch 'topic/apply_lost_fixes' into topic/fusion-2x-3x

	core: Fix manipulator model

	bindings: Remove double definition

	example: Fix IK

	Merge pull request #2155 from jorisv/topic/fix_windows_debug
	Fix ambiguous function call on Windows

2024-02-12  Joris Vaillant  <joris.vaillant@inria.fr>

	python: Don't import visualize by default

	changelog: Add changelog entry

	liegroup: disambiguate function call

	liegroup: Use static method when possible in implementation

2024-02-11  Justin Carpentier  <justin.carpentier@inria.fr>

	sync submodule

	python: fix compilation issues

	cmake: sync submodule

	sources: fix missing files

	test: fix tests for ARM64

2024-02-09  Joris Vaillant  <joris.vaillant@inria.fr>

	fcl: Fix build with FCL

	sdf: Fix build without hpp-fcl

	python: Fix Python unit test without hpp-fcl

	core: Fix build issues without hpp-fcl

	Merge tag 'v2.7.0' into topic/fusion-2x-3x
	Release of version 2.7.0.

	python: Fix MeshcatVizualizer

	bindings: Fix build

2024-02-08  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: remove policy

	joints: fix for Boost.MPFR

	all: move *.cpp to src

	all: fix merge

	Merge tag 'v2.6.21' into topic/merging-v2.6.21
	Release of version 2.6.21.

	all: move .h{pp,xx} to include/pinocchio

	cmake: fix missing include

	Merge remote-tracking branch 'inria/pinocchio-3x' into topic/merging-v2.6.21

2024-02-08  Joris Vaillant  <joris.vaillant@inria.fr>

	core: Fix build issues without hpp-fcl

2024-02-08  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge tag 'v2.6.20' into topic/merging-v2.6.20
	Release of version 2.6.20.

	test/joints: fix NLE check

	broadphase: fix assert check

	algo/collision: fix assert check

2024-02-07  Justin Carpentier  <justin.carpentier@inria.fr>

	test: fix missing init call

	core: fix bug

	collision: fix compilation warnign

	algo/delassus: use derived()

2024-02-06  Justin Carpentier  <justin.carpentier@inria.fr>

	core: fix missing typedef

	test/delassus: remove outdated namespace

	data: fix include order

	Merge tag 'v2.6.19' into topic/merging-v2.6.19
	Release of version 2.6.19.

	Merge tag 'v2.6.18' into topic/merging-v2.6.18
	Release of version 2.6.18.

	Merge tag 'v2.6.17' into topic/merging-v2.6.17
	Release of version 2.6.17.

2024-02-05  Justin Carpentier  <justin.carpentier@inria.fr>

	core: rename file

2024-02-04  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'delassus' into 'jcarpent/pinocchio-3x'
	Add cABA_osim

	See merge request jucarpen/pinocchio!601

2024-02-04  CARPENTIER Justin  <justin.carpentier@inria.fr>

	algo/delassus: apply suggested change

	algo/delassus: apply fix

2024-02-04  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/admm: remove timer

	core: fix namings

	algo/contact: move compute{Largest/Lowest}EigenValue to base class

	python: fully expose PowerIterationAlgoTpl

	math/powerIt: add computation of lowest Eigen values too

	algo/solvers: move the timer to the Base class

2024-02-02  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/admm: add dual_feasibility_ncp

	core: fix compilation issues

	algo/delassus: fix assert in debug mode

	algo/admm: check input size

	algo/admm: add Timer

	algo/admm: restore former strategy

2024-02-02  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2149 from jorisv/topic/accelerate_ci
	Accelerate CI

	CI: Reduce ccache compresslevel (recommanded setting in the documentation)

	ci: Remove pre-commit workflow since we already have pre-commit.ci setup

	Don't trigger build on .pre-commit-config.yaml change

	ci: Add pre-commit checking workflow

	review: Fix colcon file extension

	ci: Don't build in sudo

	ci: Use ccache to compile .c with casadi

	ci: Install ccache in linux workflow

	ci: Try to improve linux workflow compile time

	ci: Ignore some files

	ci: Cancel old workflow when a new one is launched

	Merge pull request #2147 from stephane-caron/fix/meshcat_no_collision
	Don't iterate on collision geometries when undefined

	changelog: Add changelog entry

2024-02-02  Justin Carpentier  <justin.carpentier@inria.fr>

	python/meshcat: fix also for no_visual

2024-02-02  Stéphane Caron  <stephane.caron@normalesup.org>

	Don't iterate on collision geometries when undefined
	Closes https://github.com/stack-of-tasks/pinocchio/issues/2146

2024-02-02  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2143 from fabinsch/example-floating-base-velocity
	Add example to visualize floating base velocity

	examples: Apply black

	examples: Remove enable_gravity and not used variables

2024-02-02  Fabian Schramm  <55981657+fabinsch@users.noreply.github.com>

	review: remove aba and just use v

2024-02-02  Justin Carpentier  <justin.carpentier@inria.fr>

	constraints: add typedef

2024-02-02  Fabian Schramm  <55981657+fabinsch@users.noreply.github.com>
	    Joris Vaillant  <joris.vaillant@gmail.com>

	Update examples/floating-base-velocity-viewer.py

	Update CHANGELOG.md

2024-02-02  Justin Carpentier  <justin.carpentier@inria.fr>

	python: expose computeComplementarityShift

	algo/admm: fix init

	algo/admm: keep z previous

	python: expose helper functions

	algo/contact: add more helper functions

	python: expose PGS for sparse matrices

	algo/pgs: make it compliant with Sparse Matrices

	algo/admm: update rho in a simpler way

	algo/admm: attemp for an overelax
	Not working well

	algo/admm: keep record of rho

	python: fix

	python: expose stat features

	algo/admm: fix init of primal variables

	algo/admm: add stats record

	algo/admm: fix it cout

	algo/delsassus: fix sparse matrix wrapper solve

2024-02-01  Justin Carpentier  <justin.carpentier@inria.fr>

	math: expose it in PowerIterationAlgo

	math: fix convergence criteria of Power Iteration algo

	python: expose PowerIterationAlgo

	algo/contact: expose power_iteration_algo

	algo/contact: fix max_it_largest_eigen_value_solver default value

	try a fix

	algo/contact: fix initial guess for x_

	debug

	python: expose extended ADMMSolver::solve

	algo/contact: add optional initial value

	python: expose optional for VectorXs and references

	python: update ADMMContactSolverTpl API

	algo/contact: start reworking ADMMContactSolverTpl

	algo/contact: add missing enums

	math: add PowerIterationAlgoTpl for more flexibility

	math: add log and exp in math namespace

2024-01-31  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/contact: add conic complementarity

	algo/pgs: fix computation of dual feasibility using norm-2

2024-01-31  Fabian Schramm  <55981657+fabinsch@users.noreply.github.com>

	new entry to changelog for adding example

	add example to visualize floating base velocity

2024-01-31  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/delassus: add wrapper around _solve_impl to avoid memory allocation

2024-01-31  Louis Montaut  <louismontaut@gmail.com>

	admm-solver: fix cone projection

	contact-cholesky: remove namespace in template instantiation

2024-01-31  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/contact: fix initial guess

2024-01-31  quentinldc  <quentin.le-lidec@inria.fr>

	fixing absolute residual

	adding dual feasibility criterion to pgs

2024-01-31  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/contact: code refactoring

	algo/contact: update stopping criteria

2024-01-30  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/sparse: use factorize for sparse matrix

	algo: add x_previous

	algo: add getComplementarityShift

	algo/sparse: track memory allocation

	algo: comment lines

	algo: fix bug

	core: extend MALLOC macro save and restore current malloc status

	python: fix matrix type

	algo: use DenseMatrix type for return of DelassusOperatorSparseTpl::inverse()

	python: fix exposition issue

	Merge pull request #2139 from jorisv/topic/remove_warnings
	Remove warnings

2024-01-29  Justin Carpentier  <justin.carpentier@inria.fr>

	python: add support for DelassusOperatorSparse

	algo: add DelassusOperatorSparseTpl

	python: expose ADMM::solve for DelassusOperatorDense

	algo: add DelassusOperatorDenseTpl

	algo: use DelassusOperatorBase for ADMM::solve

2024-01-29  Joris Vaillant  <joris.vaillant@inria.fr>

	[core] Remove O2 specific warnings

2024-01-29  Justin Carpentier  <justin.carpentier@inria.fr>

	python: add visitor for DelassusOperatorBase

	algo: refactor DelassusCholeskyExpression by moving out of ContactCholeskyDecomposition

	algo: add DelassusOperatorBase

	core: move out ContactCholeskyDecompositionTpl from cholesky namespace

2024-01-29  Joris Vaillant  <joris.vaillant@inria.fr>

	compiler: remove lasts warnings

	cmake: use standard jrl-cmakemodules

2024-01-29  Justin Carpentier  <justin.carpentier@inria.fr>

	solver: fix missing memory allocation

	solvers: use intermediate var to avoid memory allocation

2024-01-26  Justin Carpentier  <justin.carpentier@inria.fr>

	parallel/broadphase: add missing true value

2024-01-26  Joris Vaillant  <joris.vaillant@inria.fr>

	cmake: update jrl-cmakemodules

	cmake: Move CXX_FLAGS_BY_COMPILER_FRONTEND to jrl-cmakemodules

	cmake: update jrl-cmakemodules

	core: Don't use -Wno-maybe-uninitialized, ignore the warning locally

	core: Add macro to ignore -Wmaybe-uninitialized
	This reverts commit e122d6e8f914b1be6f4099c3e223e5e19ce74254.

	changelog: Add entries

	cmake: Since -Wno-maybe-uninitialized is PRIVATE, add it to unit tests and examples

	[cmake] Improve ClangCL support with CXX_FLAGS_BY_COMPILER_FRONTEND

	cmake: Remove NOMINMAX definition since is a public pinocchio definition

2024-01-25  Joris Vaillant  <joris.vaillant@inria.fr>

	[core] Remove -Wconversion warning

	Revert "core: Add macro to ignore -Wmaybe-uninitialized"
	This reverts commit 372832778b61d5516ae116fe83189ac2656a84b5.

	cmake: Deactivate maybe-uninitialized warning

	core: Initialize second base class in default copy constructor/assignement

	core: Add macro to ignore -Wmaybe-uninitialized

	python: Don't use a deprecated macro when using recent Eigenpy version

	core: Don't use const_derived Eigen3 hack for QuaternionBase type

	core: Use C++11 std::vector constructor to avoid maybe-uninitialized warning

2024-01-24  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2137 from stack-of-tasks/dependabot/github_actions/devel/actions/cache-4
	build(deps): bump actions/cache from 3 to 4

2024-01-23  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump actions/cache from 3 to 4
	Bumps [actions/cache](https://github.com/actions/cache) from 3 to 4.
	- [Release notes](https://github.com/actions/cache/releases)
	- [Changelog](https://github.com/actions/cache/blob/main/RELEASES.md)
	- [Commits](https://github.com/actions/cache/compare/v3...v4)

	---
	updated-dependencies:
	- dependency-name: actions/cache
	  dependency-type: direct:production
	  update-type: version-update:semver-major
	...

2024-01-23  Joris Vaillant  <joris.vaillant@inria.fr>

	release: Update CHANGELOG.md for 2.7.0

	release: Update package.xml version to 2.7.0

2024-01-23  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/contact: remove std::cout

	algo: add missing constraint algo

2024-01-23  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'pinocchio-3x' into 'pinocchio-3x'
	Add auto collisions in reachable-workspace-with-collisions example

	See merge request jucarpen/pinocchio!591

2024-01-23  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'wjallet/topic/bindings-proximal-hpp' into 'pinocchio-3x'
	[bindings/python] proximal.hpp : add missing "self" argument

	See merge request jucarpen/pinocchio!598

2024-01-23  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'topic/install-init-py' into 'pinocchio-3x'
	[bindings/python] install original __init__.py

	See merge request jucarpen/pinocchio!599

2024-01-23  Justin Carpentier  <justin.carpentier@inria.fr>

	python/algo: expose ADMMContactSolverTpl

	algo/contact: add ADMM solver

	python/algo: add ContactSolverBasePythonVisitor

	python: cholesky decomposition is now copiable

	cmake: fix patch action for OpenMP

	algo/pgs: fix input/output name and add internal working variable

2024-01-22  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'bug_fix/sdf_parser' into 'pinocchio-3x'
	Bug fix of SDF headers path

	See merge request jucarpen/pinocchio!600

2024-01-22  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2135 from stack-of-tasks/dependabot/github_actions/actions/cache-4
	build(deps): bump actions/cache from 3 to 4

2024-01-22  Megane Millan  <megane.millan@inria.fr>

	Changed path of SDF parser headers

	Revert "Add the right path for sdf headers"
	This reverts commit 5307f9dddbe811198b1cc6c15fc098d6f011cae6.

	Add the right path for sdf headers

2024-01-22  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump actions/cache from 3 to 4
	Bumps [actions/cache](https://github.com/actions/cache) from 3 to 4.
	- [Release notes](https://github.com/actions/cache/releases)
	- [Changelog](https://github.com/actions/cache/blob/main/RELEASES.md)
	- [Commits](https://github.com/actions/cache/compare/v3...v4)

	---
	updated-dependencies:
	- dependency-name: actions/cache
	  dependency-type: direct:production
	  update-type: version-update:semver-major
	...

2024-01-21  Justin Carpentier  <justin.carpentier@inria.fr>

	algo: add dedicated file for ContactSolverBaseTpl

	algo: add default copy constructor for ContactCholeskyDecompositionTpl

	algo: add explicit for ContactCholeskyDecompositionTpl constructor

	python: use StdVectorPythonVisitor from eigenpy directly

2024-01-19  Justin Carpentier  <justin.carpentier@inria.fr>

	python/core: expose missing types

	geometry/parallel: extend API

	core: add typedef VectorXb

	python/geometry: expose newly introduced computeCollisionsInParallel

	geometry/parallel: add new signature for batch of trajectories for computeCollisionsInParallel

	cmake: fix search strategy for OpenMP on Mac

	python/spatial: add __array__(Self, np.dtype) converters

2024-01-16  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2132 from jorisv/topic/fix_cppad_boost_pre_177
	Fix build with Boost < 1.77

2024-01-15  Joris Vaillant  <joris.vaillant@inria.fr>

	cppad: Fix unit tests and example

	changelog: Add entry

	cppad: Fix build with Boost < 1.77

2024-01-12  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2129 from jorisv/topic/fix_ci_ccache
	Fix ccache

2024-01-12  Joris Vaillant  <joris.vaillant@inria.fr>

	python: clean __init__.py

	python: clean __init__.py

	python: Restore DllDirectory state after importing Pinocchio

2024-01-11  Joris Vaillant  <joris.vaillant@inria.fr>

	ci: Revert ROS verbose output and fix cache setup

	ci: Try to debug ROS CI

	ci: Add PATH to all unit tests and examples on windows

	ci: Fix a typo

	ci: Add verbose tests output to debug ros ci

	ci: Merge Windows build

	cmake: Setup back environment PYTHONPATH when running python parser test

	cmake: Fix ; escaping

2024-01-10  Joris Vaillant  <joris.vaillant@inria.fr>

	cmake: Modify the PATH to allow python_parser test to run

	cmake: Use a generator expression to bind dll directory

	ci: Define PINOCCHIO_WINDOWS_DLL_PATH when running tests

	python: Add code to manage dll in non standard directory

	cmake: Fix binding output path on Windows

2024-01-09  Joris Vaillant  <joris.vaillant@inria.fr>

	ci: Build Python interface in Windows build

	[ci] Deactivate ctest verbose

	ci: Use ccache in Windows build

	ci: Use the right environment

	ci: Add Python version in cache key

	ci: Fix ccache env variable and use Ninja in Linux/MacOS build

2024-01-07  Justin Carpentier  <justin.carpentier@inria.fr>

	test/serialization: extend test + fix

	test/serialization: test with bvh

2024-01-06  Justin Carpentier  <justin.carpentier@inria.fr>

	serialization: add missing include

	serialization: fix save/load for GeometryObject *

	serialization: remove useless regististration

	python: fix arg name

	debug

	algo/collision: enhance output message

2024-01-05  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/collision: enhance exception message

2024-01-05  ManifoldFR  <wilson.jallet@polytechnique.org>

	[bindings/python] install original __init__.py
	+ useful for some language servers which can't parse through __init__.pyc

	[bindings/python] proximal.hpp : add missing "self" argument

2023-12-30  Justin Carpentier  <justin.carpentier@inria.fr>

	python: remove default constructor

	test/constraints: enhance testing of contact-models

	test/constraints: add new variant test

	algo/constraints: fix type

	constraints: start refactoring the code

	core/visitor: add missing includes

	bench: add timings for Delassus operations

	example: add example of display for fcl::Octree

	example/close-loop: :lipstick:

	test/constraints: add missing KP and KD values

	bench: :lipstick:

	algo/broadphase: use BoundingVolumeGuess for GJK

2023-12-29  Justin Carpentier  <justin.carpentier@inria.fr>

	test/broadphase: fix update issue on geom_data.oMg
	They were not initialized

	cmake: set minimal version of cmake

	cmake: add missing PYTHON_BUILD_GET_TARGET

	cmake: sync submodule

2023-12-22  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2127 from jcarpent/topic/cmake
	Sync submodule cmake

	cmake: sync submodule

	Merge pull request #2126 from jcarpent/topic/iit
	Fix malloc issue in CRBA

	changelog: update

	test/crba: add malloc test for debug mode

	algo/crba: add missing noalias()

2023-12-18  Justin Carpentier  <justin.carpentier@inria.fr>

	core: add Blank structure

	joints: add calc(jdata,*,v)

2023-12-14  DE MATTEIS Ludovic  <ludovic.de-matteis@inria.fr>

	Merge branch 'topic/fix_python_12_compat' into 'pinocchio-3x'
	bindings: Fix python 12 compatibility

	See merge request jucarpen/pinocchio!595

2023-12-14  Joris Vaillant  <joris.vaillant@inria.fr>

	bindings: Fix python 12 compatibility
	This is a backport of the following pinocchio2 [pull request](https://github.com/stack-of-tasks/pinocchio/pull/1996)

2023-12-14  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2119 from jorisv/topic/add_geometry_material
	Add material to GeometryObject

2023-12-13  Joris Vaillant  <joris.vaillant@inria.fr>

	tests: fix bindings_build_geom_from_urdf_memorycheck test

	binding: apply review

	examples: add GeometryPhongMaterial example

	changelog: update entries

	python: use new material API in meshcat_visualizer

	core: find a way to modify variant member from Python

	core: find a better way, but return by ref is not working

	core: replace phong material by a variant

	python: First working version of materials

	python: bind GeometryObject material

	core: add material parameter in the second GeometryObject constructor

	core: add mesh materials

2023-12-11  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2117 from stack-of-tasks/dependabot-branch
	ci: dependabot target devel

2023-12-11  Guilhem Saurel  <guilhem.saurel@laas.fr>

	ci: dependabot target devel

2023-12-07  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/fix_debug_build' into 'pinocchio-3x'
	Fix build issues in debug mode and in the unit tests

	See merge request jucarpen/pinocchio!594

2023-12-07  Joris Vaillant  <joris.vaillant@inria.fr>

	bindings: use the right define to disable comparison

	bindings: Fix reachable workspace binding build with custom scalar

2023-12-06  Joris Vaillant  <joris.vaillant@inria.fr>

	casadi: fix build issues in debug mode and in the unit tests

2023-12-06  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/fix_definition_export' into 'pinocchio-3x'
	Fix definition export

	See merge request jucarpen/pinocchio!593

2023-12-06  Joris Vaillant  <joris.vaillant@inria.fr>

	cmake: PKG_CONFIG_APPEND_CFLAGS take one argument, then list must be turned into string when calling it

	cmake: rename WITH_QHULL into WITH_QHULL_SUPPORT

	cmake: Fix definition export

2023-12-06  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/fix_stub_gen' into 'pinocchio-3x'
	Fix stub generation when using custom scalar type

	See merge request jucarpen/pinocchio!592

2023-12-06  Joris Vaillant  <joris.vaillant@inria.fr>

	[cmake] Fix stub generation when using custom scalar type

2023-12-04  Guilhem Saurel  <guilhem.saurel@laas.fr>

	CMake: export CppAD finder (#2112)
	* CMake: export CppAD finder
	
	* CMake: fetch submodule if not available
	
	* add changelog entry
	
	* CMake: stop exporting CppAD & cppadcodegen

2023-12-04  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2111 from stack-of-tasks/dependabot/github_actions/conda-incubator/setup-miniconda-3
	build(deps): bump conda-incubator/setup-miniconda from 2 to 3

2023-12-04  Guilhem Saurel  <guilhem.saurel@laas.fr>

	fix for python 2 (#2110)
	* fix for python 2
	
	* add changelog entry
	
	* typo

2023-12-04  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump conda-incubator/setup-miniconda from 2 to 3
	Bumps [conda-incubator/setup-miniconda](https://github.com/conda-incubator/setup-miniconda) from 2 to 3.
	- [Release notes](https://github.com/conda-incubator/setup-miniconda/releases)
	- [Changelog](https://github.com/conda-incubator/setup-miniconda/blob/main/CHANGELOG.md)
	- [Commits](https://github.com/conda-incubator/setup-miniconda/compare/v2...v3)

	---
	updated-dependencies:
	- dependency-name: conda-incubator/setup-miniconda
	  dependency-type: direct:production
	  update-type: version-update:semver-major
	...

2023-11-29  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2097 from jcarpent/topic/ci/ros
	Add iron and humble in the CI

2023-11-29  Wolfgang Merkt  <wxmerkt@users.noreply.github.com>

	[CI] Use colcon apart from noetic; remove Melodic conditional dependencies

2023-11-29  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2103 from ambyld/fix-floating-point-import
	Add direct boost is_floating_point import

2023-11-29  EtienneAr  <etienne.arlaud@gmail.com>

	Add auto collisions in reachable-workspace-with-collisions example

2023-11-29  Justin Carpentier  <justin.carpentier@inria.fr>

	python: expose serialization of Geometry{Model,Object}

	changelog: update

2023-11-29  Andrew Bylard  <andrew.bylard@dexterity.ai>

	add direct boost is_floating_point import

2023-11-28  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2102 from jcarpent/topic/python
	Use bp::ssize_t for recent version of Windows compiler

	changelog: fix

	python: use bp::ssize_t

	Merge pull request #2101 from jcarpent/topic/python
	Add missing include for Windows

2023-11-28  Wolfgang Merkt  <wxmerkt@users.noreply.github.com>

	package.xml: Add ros_environment dependency

2023-11-28  Justin Carpentier  <justin.carpentier@inria.fr>

	changelog: update

	python: add missing include

	Merge pull request #2100 from jcarpent/topic/cmake
	Sync submodule cmake

	Merge branch 'devel' into topic/cmake

2023-11-27  Joris Vaillant  <joris.vaillant@inria.fr>

	release: Update CHANGELOG.md for 2.6.21

	release: Update package.xml version to 2.6.21

2023-11-27  Justin Carpentier  <justin.carpentier@inria.fr>

	test/serialization: test GeometryModel

	serialization: serialize GeometryModel

	serialization: add {save,load}_construct_data for GeometryObject

	cmake: sync submodule

2023-11-27  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'collision_reach_ws' into 'pinocchio-3x'
	Reachable Workspace with collisions support

	See merge request jucarpen/pinocchio!590

2023-11-27  MILLAN Megane  <megane.millan@inria.fr>

	Reachable Workspace with collisions support

2023-11-27  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge branch 'devel' into topic/ci/ros

	test/serialization: add test for serialization of structures related to GeometryObjects

	serialization: add serialization of GeometryObject

	serialization: add serialization of ModelItem

	test/serialization: fix init for JointModelUniversalTpl

	python: remove deprecated EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION

	Merge pull request #2099 from stack-of-tasks/dependabot/github_actions/ros-industrial/industrial_ci-3ed9846c96ed1e0bb36193e8e250632eaac980d0
	build(deps): bump ros-industrial/industrial_ci from 9f963f67ebb889792175776c5ee00134d7bb569b to 3ed9846c96ed1e0bb36193e8e250632eaac980d0

	Merge branch 'devel' into dependabot/github_actions/ros-industrial/industrial_ci-3ed9846c96ed1e0bb36193e8e250632eaac980d0

2023-11-27  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump ros-industrial/industrial_ci
	Bumps [ros-industrial/industrial_ci](https://github.com/ros-industrial/industrial_ci) from 9f963f67ebb889792175776c5ee00134d7bb569b to 3ed9846c96ed1e0bb36193e8e250632eaac980d0.
	- [Commits](https://github.com/ros-industrial/industrial_ci/compare/9f963f67ebb889792175776c5ee00134d7bb569b...3ed9846c96ed1e0bb36193e8e250632eaac980d0)

	---
	updated-dependencies:
	- dependency-name: ros-industrial/industrial_ci
	  dependency-type: direct:production
	...

2023-11-26  Justin Carpentier  <justin.carpentier@inria.fr>

	mutlibody/geometry: fix GeometryObject::operator==

	utils: add helper function compare_shared_ptr

	test/serialization: add empty_contructor helper

	multibody: switch field order in ModelItem

	multibody: add ModelItem::operator==

	geom: remove deprecated field GeometryObject::fcl

	Merge pull request #2098 from sea-bass/meshcat-frame-viz
	Add frame visualization to Meshcat visualizer

	readme: add Sebastian Castro as contributor

	changelog: update

	ci/ros: update commit id

2023-11-25  Sebastian Castro  <sebas.a.castro@gmail.com>

	Update frames in FK if needed

	Separate initialization and update of frames

	Remove trailing whitespace

2023-11-25  Sebastian Castro  <4603398+sea-bass@users.noreply.github.com>

	Merge branch 'devel' into meshcat-frame-viz

2023-11-25  Sebastian Castro  <sebas.a.castro@gmail.com>

	Add frame visualization to Meshcat visualizer

2023-11-25  Justin Carpentier  <justin.carpentier@inria.fr>

	ci/ros: add iron and humble

2023-11-24  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2096 from jcarpent/topic/cmake
	Sync CMake module

2023-11-24  Joris Vaillant  <joris.vaillant@inria.fr>

	cmake: use jrl-umi3218/jrl-cmakemodules

2023-11-24  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

2023-11-23  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2095 from jorisv/topic/memory_check_in_jrlcmake
	Use `ADD_PYTHON_MEMORYCHECK_UNIT_TEST` from jrlcmakemodules

2023-11-23  Joris Vaillant  <joris.vaillant@inria.fr>

	ci: run check-changelog on label change

	cmake: update modules

2023-11-23  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2094 from jcarpent/topic/fix
	Fix missing term for centroidal dynamics derivatives

	algo: fix

	changelog: update

	test/centroidal: enhance test of dAg/dt

	algo/centroidal: fix

	ci/ros: remove melodic support

2023-11-22  Joris Vaillant  <joris.vaillant@inria.fr>

	cmake: use jrlcmakemodules `ADD_PYTHON_MEMORYCHECK_UNIT_TEST` macro

2023-11-22  Justin Carpentier  <justin.carpentier@inria.fr>

	ci/ros: remove support of melodic

	algo/centroidal: fix missing term for centroidal dynamics derivatives

2023-11-18  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2090 from jorisv/topic/add_changelog
	Add changelog

2023-11-17  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'reach-ws' into 'pinocchio-3x'
	Add reachable Reachable Workspace algorithm

	See merge request jucarpen/pinocchio!587

2023-11-17  MILLAN Megane  <megane.millan@inria.fr>

	Add reachable Reachable Workspace algorithm

2023-11-17  Joris Vaillant  <joris.vaillant@inria.fr>

	changelog: replace * by -

	changelog: Add full changelog at the end

	changelog: turn nickname into link

	changelog: add old releases in CHANGELOG.md

	ci: add Check changelog CI workflow

	changelog: add CHANGELOG.md

2023-11-17  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: add Joris Vaillant

2023-11-16  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2087 from zongmianli/devel
	Fixed outdated Panda3D examples

2023-11-16  zong  <23478844+zongmianli@users.noreply.github.com>
	    Joris Vaillant  <joris.vaillant@gmail.com>

	Removed uncessary imports

2023-11-16  Zongmian Li  <zongmian.li@gmail.com>

	fixed outdated Panda3D examples

2023-11-16  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2086 from jcarpent/topic/fcl-update
	Update minimal version of hpp-fcl to 2.0.0

2023-11-16  Justin Carpentier  <justin.carpentier@inria.fr>
	    Joris Vaillant  <joris.vaillant@gmail.com>

	test: add missing comment

2023-11-15  Justin Carpentier  <justin.carpentier@inria.fr>

	python: remove LooseVersion for Python > 3.12

	fcl: remove missing #endif

	fcl: remove outdated code

	fcl: set minimal version to 2.0.0

	cmake: sync submodule

2023-11-13  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2083 from stephane-caron/feature/inverse-dynamics-example
	Add inverse dynamics examples

2023-11-13  Stéphane Caron  <stephane.caron@normalesup.org>

	Make the two examples closer to each other

	Add Python inverse-dynamics example

	Add ID example

2023-11-13  Joris Vaillant  <joris.vaillant@inria.fr>

	Merge pull request #2082 from stack-of-tasks/topic/urdf_memory_leak
	Topic/urdf memory leak

	cmake: Only run memory checks when memory check tool is valgrind

	python: fix spelling

2023-11-13  Joris Vaillant  <joris.vaillant@gmail.com>
	    Justin Carpentier  <justin.carpentier@inria.fr>

	Update unittest/python/CMakeLists.txt

2023-11-10  Joris Vaillant  <joris.vaillant@inria.fr>

	python: don't add new code issue

	python: don't use  that had been introduced in Python2.7...

	cmake: add test to detect memory leak

2023-11-10  MILLAN Megane  <megane.millan@inria.fr>

	Merge branch 'topic/fix_openmp_sources' into 'pinocchio-3x'
	cmake: attach right source to hpp-fcl dependency

	See merge request jucarpen/pinocchio!589

2023-11-10  Joris Vaillant  <joris.vaillant@inria.fr>

	cmake: attach right source to hpp-fcl dependency

	Try to output failed tests errors

2023-11-09  Joris Vaillant  <joris.vaillant@inria.fr>

	ci: setup ctest verbose output

	binding: Fix memory leak in buildGeomFromUrdf and buildGeomFromUrdfString

2023-11-01  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2073 from stack-of-tasks/topic/check_xyzquat_conversion
	Topic/check xyzquat conversion

2023-10-31  Joris Vaillant  <joris.vaillant@inria.fr>

	python: apply review

	python: Throw an exception in XYZQUATToSE3 if called with wrong size argument

	Add SDF sources if required

2023-10-30  VAILLANT Joris  <joris.vaillant@inria.fr>

	Merge branch 'topic/move_headers' into 'pinocchio-3x'
	Move headers

	See merge request jucarpen/pinocchio!588

2023-10-30  VAILLANT Joris  <joris.vaillant@inria.fr>

	Move headers

2023-10-25  Joris Vaillant  <joris.vaillant@gmail.com>
	    Guilhem Saurel  <guilhem.saurel@laas.fr>
	    Joris Vaillant  <joris.vaillant@navya.tech>
	    Guilhem Saurel  <guilhem.saurel@laas.fr>

	Topic/move headers (#2070)
	* Move all headers
	
	* [WIP] Patch CMakeLists.txt to use the new hierarchy
	
	Header installation is broken
	
	* [WIP] First step to have a working installation
	
	* Fix last installation issues
	
	* Use REPLACE instead of REGEX REPLACE
	
	* Fix doxygen
	
	* [cmake] Set back include/pinocchio/parsers/python.hpp
	
	* [cmake] Remove the deprecated warning
	
	* [cmake] Don't use GLOB/GLOB_RECURSE to find sources
	
	* [cmake] Remove optional header from the main sources list
	
	* Python remove useless include
	
	* Update CMakeLists.txt
	
	
	* cmake: Rename private headers into generated headers
	
	---------

2023-10-19  Joris Vaillant  <joris.vaillant@navya.tech>

	[cmake] Remove broadphase binding when FCL is not enabled

2023-10-10  Guilhem Saurel  <guilhem.saurel@laas.fr>

	Merge pull request #2064 from stack-of-tasks/pre-commit-ci-update-config
	[pre-commit.ci] pre-commit autoupdate

2023-10-09  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>

	[pre-commit.ci] pre-commit autoupdate
	updates:
	- [github.com/pre-commit/pre-commit-hooks: v4.4.0 → v4.5.0](https://github.com/pre-commit/pre-commit-hooks/compare/v4.4.0...v4.5.0)

2023-09-18  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2055 from nim65s/devel
	CMake: require >= 3.10

2023-09-16  Guilhem Saurel  <guilhem.saurel@laas.fr>

	CMake >= 3.10 → all policies <= 71 are NEW by default

	CMake: require >= 3.10
	ref. https://github.com/jrl-umi3218/jrl-cmakemodules/issues/338
	and fix deprecation warning about CMake 3.5 from CMake 3.27

2023-09-11  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2051 from stack-of-tasks/dependabot/github_actions/ros-industrial/industrial_ci-9e8b4aaec69f7cade96eda5cfcb3e7da57b99c6e
	build(deps): bump ros-industrial/industrial_ci from 9f963f67ebb889792175776c5ee00134d7bb569b to 9e8b4aaec69f7cade96eda5cfcb3e7da57b99c6e

2023-09-11  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump ros-industrial/industrial_ci
	Bumps [ros-industrial/industrial_ci](https://github.com/ros-industrial/industrial_ci) from 9f963f67ebb889792175776c5ee00134d7bb569b to 9e8b4aaec69f7cade96eda5cfcb3e7da57b99c6e.
	- [Commits](https://github.com/ros-industrial/industrial_ci/compare/9f963f67ebb889792175776c5ee00134d7bb569b...9e8b4aaec69f7cade96eda5cfcb3e7da57b99c6e)

	---
	updated-dependencies:
	- dependency-name: ros-industrial/industrial_ci
	  dependency-type: direct:production
	...

2023-09-11  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2052 from stack-of-tasks/dependabot/github_actions/actions/checkout-4
	build(deps): bump actions/checkout from 3 to 4

2023-09-11  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump actions/checkout from 3 to 4
	Bumps [actions/checkout](https://github.com/actions/checkout) from 3 to 4.
	- [Release notes](https://github.com/actions/checkout/releases)
	- [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md)
	- [Commits](https://github.com/actions/checkout/compare/v3...v4)

	---
	updated-dependencies:
	- dependency-name: actions/checkout
	  dependency-type: direct:production
	  update-type: version-update:semver-major
	...

2023-08-31  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2047 from cmastalli/topic/bugfix-so-cast
	Casting 1e-2 in SO log function

2023-08-31  Carlos Mastalli  <carlos.mastalli@gmail.com>

	[bugfix] Casting 1e-2 in SO log function

2023-08-29  Justin Carpentier  <justin.carpentier@inria.fr>

	python/constraints: delete outdated methos

	core: reorder include

	visitor: move typedef to common place

2023-08-28  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2043 from cmastalli/topic/root-joint
	parsers/sample: Renamed freeflyer_joint to root_joint

2023-08-28  Carlos Mastalli  <carlos.mastalli@gmail.com>

	parsers/sample: Renamed freeflyer_joint to root_joint

2023-08-23  Justin Carpentier  <justin.carpentier@inria.fr>

	warnings: remove useless typedes

	test/constraints: check results consistency multiple calls

	constraints: don't forget to reset to Zero()

	constraints: major refactoring WIP

2023-08-22  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2040 from duburcqa/crbaMinimal
	Fix Ycrb[0] not re-initialized in crbaMinimal.

	test/algo: check consistency double call minimal::crba

2023-08-22  Alexis Duburcq  <alexis.duburcq@wandercraft.eu>

	Fix Ycrb[0] not re-initialized in crbaMinimal.

2023-08-22  Justin Carpentier  <justin.carpentier@inria.fr>

	constraints: move Jacobian computations to RigidConstraintModelTpl

2023-08-11  Justin Carpentier  <justin.carpentier@inria.fr>

	test: fix warning

2023-08-10  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/contact: remove reference to WORLD reference_frame

	algo/contact: check reference to be only LOCAL or LWA

	algo/contact: add calc method to RigidConstraintModelTpl

	algo/contact: add comments

	core: fix issue when using Casadi types

2023-08-08  Justin Carpentier  <justin.carpentier@inria.fr>

	release: Update package.xml version to 2.6.20

	Merge pull request #2029 from jcarpent/topic/release
	Sync submodule cmake

	cmake: sync submodule

2023-08-03  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: fix linkage issues

2023-08-02  Justin Carpentier  <justin.carpentier@inria.fr>

	test/casadi: update

	test/casadi: add explog

	test: move test to the right folder

2023-07-25  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2013 from stack-of-tasks/dependabot/github_actions/ros-industrial/industrial_ci-9f963f67ebb889792175776c5ee00134d7bb569b
	build(deps): bump ros-industrial/industrial_ci from afbf77f39db26785371161d5691ab435b31bb3ba to 9f963f67ebb889792175776c5ee00134d7bb569b

2023-07-24  Justin Carpentier  <justin.carpentier@inria.fr>

	ci/conda: set Eigen version

	Merge branch 'devel' into dependabot/github_actions/ros-industrial/industrial_ci-9f963f67ebb889792175776c5ee00134d7bb569b

2023-07-17  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump ros-industrial/industrial_ci
	Bumps [ros-industrial/industrial_ci](https://github.com/ros-industrial/industrial_ci) from afbf77f39db26785371161d5691ab435b31bb3ba to 9f963f67ebb889792175776c5ee00134d7bb569b.
	- [Commits](https://github.com/ros-industrial/industrial_ci/compare/afbf77f39db26785371161d5691ab435b31bb3ba...9f963f67ebb889792175776c5ee00134d7bb569b)

	---
	updated-dependencies:
	- dependency-name: ros-industrial/industrial_ci
	  dependency-type: direct:production
	...

2023-07-13  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1882 from cmastalli/topic/enable-copy
	Enabled copy and deepcopy

	ci/conda: fix advanced testing on Ubuntu

2023-07-12  Justin Carpentier  <justin.carpentier@inria.fr>

	test/python: test copy and deepcopy

	python/utils: fix __copy__ and __deepcopy__ methods

2023-07-12  Carlos Mastalli  <c.mastalli@hw.ac.uk>

	[python] Enabled copy and deepcopy

2023-07-11  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'topic/remove-small-extern-template' into 'pinocchio-3x'
	[algorithm] remove template instantiation for contact-info

	See merge request jucarpen/pinocchio!584

2023-07-10  ManifoldFR  <wilson.jallet@polytechnique.org>

	[algorithm] remove template instantiation for contact-info

	[visualize] fix passing of arguments to VideoContext

2023-07-10  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'topic/fix-log-casadi' into 'pinocchio-3x'
	autodiff: fix NaN when val < 0

	See merge request jucarpen/pinocchio!582

2023-07-10  CARPENTIER Justin  <justin.carpentier@inria.fr>

	python/test: remove useless print

	test/casadi: move test block and remove std::cout

2023-07-10  Ludovic De Matteis  <ldematteis@laas.fr>

	autodiff: Add unittest on log3 derivatives NaN

2023-07-10  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2007 from stack-of-tasks/dependabot/github_actions/ros-industrial/industrial_ci-1e0c5aff1147d50d58bf4185a55ff564c9b6e027
	build(deps): bump ros-industrial/industrial_ci from afbf77f39db26785371161d5691ab435b31bb3ba to 1e0c5aff1147d50d58bf4185a55ff564c9b6e027

2023-07-06  Ajay Sathya  <sajaysathya@gmail.com>

	EFPA and cABA-OSIM both succeed on all tests

2023-07-05  Ajay Sathya  <sajaysathya@gmail.com>

	EFPA now works for 3D constraints

	[wip] added the advanced tests

2023-07-04  Ajay Sathya  <sajaysathya@gmail.com>

	Added basic tests for Delassus

	minor

2023-07-03  Ludovic De Matteis  <ldematteis@laas.fr>

	autodiff: fix NaN when val < 0

2023-07-03  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump ros-industrial/industrial_ci
	Bumps [ros-industrial/industrial_ci](https://github.com/ros-industrial/industrial_ci) from afbf77f39db26785371161d5691ab435b31bb3ba to 1e0c5aff1147d50d58bf4185a55ff564c9b6e027.
	- [Commits](https://github.com/ros-industrial/industrial_ci/compare/afbf77f39db26785371161d5691ab435b31bb3ba...1e0c5aff1147d50d58bf4185a55ff564c9b6e027)

	---
	updated-dependencies:
	- dependency-name: ros-industrial/industrial_ci
	  dependency-type: direct:production
	...

2023-06-30  ManifoldFR  <wilson.jallet@polytechnique.org>

	[python/visualize] meshcat: pass zmq_url argument

2023-06-28  Ajay Sathya  <sajaysathya@gmail.com>

	PV-OSIM now works for 4 contacts test-case

2023-06-27  Ajay Sathya  <sajaysathya@gmail.com>

	performance improvement for Omega computation and option to use PV/EFPA for Delassus computation

2023-06-26  Ajay Sathya  <sajaysathya@gmail.com>

	minor

2023-06-25  Ajay Sathya  <sajaysathya@gmail.com>

	early version cABA_osim works

2023-06-22  ManifoldFR  <wilson.jallet@polytechnique.org>

	Fix constrained dynamics not compiling with Scalar = casadi

2023-06-21  Justin Carpentier  <justin.carpentier@inria.fr>

	test/contact: test ContactCholeskyDecomposition::updateDamping

	python/algo: expose DelassusCholeskyExpression::updateDamping

	algo/contact: add updateDamping helper to DelassusCholeskyExpression

	serialization: serialize missing quantities in Data

	python/deprecated: remove GeometryObject

	python: expose Delassus inverse algo

	algo: add Delassus inverse algo

	readme: add Stéphane Caron as contributor

	readme: fix typos

	core: add Dynamics const value (as in Eigen)

	cmake: sync submodule

	cmake: sync submodule

2023-06-21  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'wjallet/topic/contact-baumgarte-matrix' into 'pinocchio-3x'
	Contact dynamics: Set Baumgarte corrector parameters to be vectors

	See merge request jucarpen/pinocchio!579

2023-06-20  ManifoldFR  <wilson.jallet@polytechnique.org>

	[multibody] joint-universal: remove calls to normalize()

	[unittest] all-joints: more informative message on cast test

2023-06-20  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #2000 from jcarpent/topic/cppad
	Fix support of recent versions of Boost for CppAD and CppADCodeGen

	cppadcg: remove useless lines

	example/codegen: fix compilation issue

	ci/conda: remove useless lines

	ci/conda: use conda

	cppadcg: fix missing isfinite

	cppadcg: fix support of Boost >= 1.78

	cppad: fix support of Boost >= 1.78

2023-06-19  Justin Carpentier  <justin.carpentier@inria.fr>

	release: Update package.xml version to 2.6.19

	Merge pull request #1996 from jcarpent/topic/release
	Enhance compatibility with new Python versions

2023-06-18  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

	cmake: add build python target to python target

	data: fix doc

	python: fox compatibility with Python >= 3.12

2023-06-08  ManifoldFR  <wilson.jallet@polytechnique.org>

	[python/algorithm] expose ContactCholesky's getInverseMassMatrix

2023-06-05  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1988 from stack-of-tasks/dependabot/github_actions/ros-industrial/industrial_ci-afbf77f39db26785371161d5691ab435b31bb3ba
	build(deps): bump ros-industrial/industrial_ci from 4b78602d67127a63dce62926769d9ec4e2ce72e4 to afbf77f39db26785371161d5691ab435b31bb3ba

2023-06-05  ManifoldFR  <wilson.jallet@polytechnique.org>

	meshcat_visualizer: fix minus sign in Plane width spec

	meshcat_visualizer: setBackgroundColor can take custom top/bottom colors

	meshcat_visualizer: use GeometryObject meshScale property for Plane

	meshcat_visualizer: fix "white" preset

2023-06-05  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump ros-industrial/industrial_ci
	Bumps [ros-industrial/industrial_ci](https://github.com/ros-industrial/industrial_ci) from 4b78602d67127a63dce62926769d9ec4e2ce72e4 to afbf77f39db26785371161d5691ab435b31bb3ba.
	- [Commits](https://github.com/ros-industrial/industrial_ci/compare/4b78602d67127a63dce62926769d9ec4e2ce72e4...afbf77f39db26785371161d5691ab435b31bb3ba)

	---
	updated-dependencies:
	- dependency-name: ros-industrial/industrial_ci
	  dependency-type: direct:production
	...

2023-06-03  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1987 from jcarpent/topic/ci
	Add support for ccache on Conda build

2023-06-03  Drewbot  <contact@drewhamilton.net>

	Documentation  (#1986)
	* Update 2-invgeom.md
	
	robot.initDisplay(loadModel=True) is deprecated
	robot.initViewer(loadModel=True) preferred.
	
	* Update a-rigid-bodies.md
	
	Fix broken LaTeX formatting for "using quaternions" title. Fixed grammar, "a SO(3) object" should be "an SO(3) object"
	
	* Update 1-directgeom.md
	
	Newer package names available from http://robotpkg.openrobots.org/robotpkg/index.html
	
	This is what I used with a fresh install yesterday and everything is working.
	
	* Update 1-directgeom.md
	
	Use @ for matrix multiplication. Previous version does not run in 3.10.
	
	* Update 1-directgeom.md
	
	skew now in main pinocchio namespace. cross deprecated in current version of pin, np.cross preferred.
	
	* Update 1-directgeom.md
	
	semicolons not particularly pythonic
	
	* Update 1-directgeom.md
	
	More semicolons cleaned
	
	* Update 1-directgeom.md
	
	* Update 1-directgeom.md
	
	Using robot_description is probably a bit more future-proof. The current version does not work as the actual path is /opt/openrobots/share/example-robot-data/robots/ur_description/urdf/ur5_gripper.urdf
	
	* Update 1-directgeom.md
	
	package robotpkg-ur5-description does not exist and robot_wrapper.py does not work out of the box with local path to example-robot-data, throwing an error: '''ValueError: Mesh package://example-robot-data/robots/ur_description/meshes/ur5/collision/base.stl could not be found.'''

2023-06-03  Justin Carpentier  <justin.carpentier@inria.fr>

	examples/meshcat: one more fix

	ci/conda: fix CMAKE_BUILD_TYPE

	examples: fix Meshcat examples

	ci/conda: fix naming

	python/meshcat: raise

	core: fix compilation warning

	ci/conda: fix usage of ccache

	Merge pull request #1984 from jcarpent/topic/cmake
	Enhance CMake packaging for Windows

	python/meshcat: fix logic and import issue

	python: fix meshcat import

	cmake: fix missing include

	cmake: sync submodule

	cmake: remove useless line

	cmake: sync submodule

	license: update years

	cmake: fix compatibility issues for cmake < 3.19

2023-06-01  ManifoldFR  <wilson.jallet@polytechnique.org>

	cmake: sync submodule
	bindings/python: add python cmake module to listfile

2023-06-01  CARPENTIER Justin  <justin.carpentier@inria.fr>

	gitlab: fix eigenpy compilation issue

2023-06-01  ManifoldFR  <wilson.jallet@polytechnique.org>

	[algorithm] set precision 0 in isZero() checks

	[algorithm] fix recursive header include
	...of constrained-dynamics.hpp into itself

	contact: make gains BaumgarteCorrectorParameters into vectors
	+ now supports different values per axis for Kp/Kd

2023-05-29  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'meshcat_zoom' into 'pinocchio-3x'
	fix camera zoom in meshcat visualizer

	See merge request jucarpen/pinocchio!578

2023-05-29  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1976 from stack-of-tasks/dependabot/github_actions/ros-industrial/industrial_ci-afbf77f39db26785371161d5691ab435b31bb3ba
	build(deps): bump ros-industrial/industrial_ci from 4b78602d67127a63dce62926769d9ec4e2ce72e4 to afbf77f39db26785371161d5691ab435b31bb3ba

2023-05-29  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump ros-industrial/industrial_ci
	Bumps [ros-industrial/industrial_ci](https://github.com/ros-industrial/industrial_ci) from 4b78602d67127a63dce62926769d9ec4e2ce72e4 to afbf77f39db26785371161d5691ab435b31bb3ba.
	- [Commits](https://github.com/ros-industrial/industrial_ci/compare/4b78602d67127a63dce62926769d9ec4e2ce72e4...afbf77f39db26785371161d5691ab435b31bb3ba)

	---
	updated-dependencies:
	- dependency-name: ros-industrial/industrial_ci
	  dependency-type: direct:production
	...

2023-05-26  Fabian Schramm  <55981657+fabinsch@users.noreply.github.com>

	fix camera zoom in meshcat visualizer

2023-05-24  Stéphane Caron  <stephane.caron@normalesup.org>

	Issue templates (#1971)
	* Add bug report issue template
	
	* Add feature request issue template

2023-05-23  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'wjallet/baumgarte-cast' into 'pinocchio-3x'
	[algorithm] Add cast() function to BaumgarteCorrectorParameters

	See merge request jucarpen/pinocchio!577

2023-05-16  ManifoldFR  <wilson.jallet@polytechnique.org>

	algorithm/contact-info: fix use of static_cast

	[algorithm/contact-info] add template instantiation for
	...BaumgarteCorrectorParameters, RigidConstraintModel, RigidConstraintData

	[python/algorithm] Expose cast() and cast-constructor for BaumgarteCorrectorParameters

	[algorithm] add cast() function to BaumgarteCorrectorParameters
	+ utilize new cast() for "corrector" member of RigidConstraintModel

2023-05-12  Stéphane Caron  <stephane@scaron.info>
	    Justin Carpentier  <justin.carpentier@inria.fr>
	    Justin Carpentier  <justin.carpentier@inria.fr>
	    Wolfgang Merkt  <wxmerkt@users.noreply.github.com>
	    Justin Carpentier  <justin.carpentier@inria.fr>
	    Wolfgang Merkt  <wxmerkt@users.noreply.github.com>

	Fix IK example in the documentation (#1963)
	* Revert 7d04090afa0fdbf2c10ce55d6e305620d61a3213
	
	This was not the proper fix to the IK example
	
	* Python IK example: error and Jacobian in same frames
	
	* C++ IK example: error and Jacobian in same frames
	
	* C++ IK example: add Jlog6
	
	* Fix signs in Jacobian and velocity calculations
	
	* [minor] Reduce diff to master
	
	* Update documentation to new code layout
	
	* Update examples/inverse-kinematics.cpp
	
	
	* Update examples/inverse-kinematics.cpp
	
	
	* python: fix example for Python 2
	
	
	---------

2023-05-12  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1966 from nim65s/py3
	CMake: an example require python 3

2023-05-12  Guilhem Saurel  <guilhem.saurel@laas.fr>

	CMake: an example require python 3
	so don't activate it for python 2

	```
	$ rg ' @ ' -tpy
	examples/static-contact-dynamics.py
	100:ls = np.linalg.pinv(Jc__feet_bl_T) @ g_bl  # This is (3)
	131:tau = g_j - Jc__feet_j_T @ ls
	```

2023-05-11  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1949 from nim65s/cxx14
	require C++14 for Boost >= 1.81

2023-05-11  Guilhem Saurel  <guilhem.saurel@laas.fr>

	CMake: C++11 is only required for urdfdom >= 0.42

	CMake: require C++14 for boost < 1.81
	ref. https://github.com/humanoid-path-planner/hpp-fcl/pull/410

2023-05-10  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1957 from stephane-caron/fix/a_urdf
	The insatiable English teacher PR 🧙

2023-05-10  Stéphane Caron  <stephane.caron@normalesup.org>

	[doc] Correct "a URDF" (not "an URDF", U is [ju])

2023-05-03  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1946 from stephane-caron/feature/add_motion_to_homogeneous
	Add Motion::toHomogeneousMatrix

2023-05-02  Stéphane Caron  <stephane.caron@normalesup.org>

	Add Motion::toHomogeneousMatrix

2023-04-29  Justin Carpentier  <justin.carpentier@inria.fr>

	release: Update package.xml version to 2.6.18

	test/python: reduce range

	readme: add table of contents + add link to discussions

	Merge pull request #1942 from jcarpent/topic/eigenpy
	Fix other np.matrix issues

2023-04-28  Justin Carpentier  <justin.carpentier@inria.fr>

	python: fix other np.matrix issues

	Merge pull request #1941 from jcarpent/topic/eigenpy
	Remove support of np.matrix

	python: remove support np.matrix

	cmake: sync submodule

	python: remove support of np.matrix

2023-04-23  Justin Carpentier  <justin.carpentier@inria.fr>

	joints: add missing methods to JointModelUniversalTpl

	joints: add missing operation for JointModelUniversalTpl

	tests: fix test wrt new JointModelUniversalTpl

	python: remove support of np.matrix

2023-04-17  Stéphane Caron  <stephane.caron@normalesup.org>
	    Justin Carpentier  <justin.carpentier@inria.fr>

	Define operational frames in the documentation (#1929)
	* Define operational frames in the documentation
	
	* doc: update frame doc
	
	---------

2023-04-17  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1930 from fabinsch/cheatsheet-frames
	doc: more information about frames on cheatsheet

2023-04-17  Fabian Schramm  <55981657+fabinsch@users.noreply.github.com>

	doc: more information about frames on cheatsheet

2023-04-14  Justin Carpentier  <justin.carpentier@inria.fr>

	python/meshcat: fix missing elif

2023-04-13  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1920 from fabinsch/update-doc-fixed-frame
	update doc for fixed joint

2023-04-13  Fabian Schramm  <55981657+fabinsch@users.noreply.github.com>

	ci: install cmake from conda-forge instead main

2023-04-13  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: fix linkage for python_parser

2023-04-13  Fabian Schramm  <55981657+fabinsch@users.noreply.github.com>

	doc: fix trailing-whitespace

2023-04-13  Justin Carpentier  <justin.carpentier@inria.fr>

	python: fix doc

2023-04-13  Fabian Schramm  <55981657+fabinsch@users.noreply.github.com>

	update doc for fixed joint treated as frame

2023-04-12  Justin Carpentier  <justin.carpentier@inria.fr>

	python/meshcat: add loading of OcTree

2023-04-05  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

2023-04-03  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1914 from jcarpent/cmake
	Sync submodule cmake

	ci: remove outdated 18.04

	cmake: sync submodule

2023-04-03  Stéphane Caron  <stephane.caron@normalesup.org>

	Remove more empty sections from the docs (#1912)
	* Remove empty subsections in math
	
	* Clean up empty files from e-implementation
	
	* Move the remainder of e-implementation to an overview subsection
	
	* Remove related projects as this is already in the README
	
	* Rename f-benchmarks into e-benchmarks

2023-04-03  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1911 from stephane-caron/feature/update_model_after_urdf
	Python example: update joint placements after loading a URDF

2023-04-03  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'pinocchio-3x' into 'pinocchio-3x'
	New Universal Joint

	See merge request jucarpen/pinocchio!575

2023-04-03  Wilson Jallet  <wilson.jallet@polytechnique.org>

	Merge branch 'wj/stubs-depend-on-pywrap' into 'pinocchio-3x'
	[cmake] Make stubs target depend on pywrap

	See merge request jucarpen/pinocchio!576

2023-04-03  Stéphane Caron  <stephane.caron@normalesup.org>

	Add model update example to the doc

	Python example: update model after loading it

2023-03-31  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1908 from stack-of-tasks/topic/rpath
	fix INSTALL_RPATH on ROS & OSX

2023-03-31  Guilhem Saurel  <guilhem.saurel@laas.fr>

	fix INSTALL_RPATH on ROS & OSX

2023-03-29  ManifoldFR  <wilson.jallet@polytechnique.org>

	bindings/cmake: have python stubs target depend on pywrap target

	cmake : sync submodule

2023-03-22  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1899 from traversaro/patch-2
	Document that joints need to be added in depth-first order

2023-03-22  Silvio Traversaro  <silvio.traversaro@iit.it>

	Document that joints need to be added in depth-first order

2023-03-22  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1898 from fabinsch/update-doc
	update doc

2023-03-22  Fabian Schramm  <55981657+fabinsch@users.noreply.github.com>

	doc: change from relativ to absolute paths
	- currently, all the materials linked with relative paths are not properly accessible from [PyPi](https://pypi.org/project/pin/)

2023-03-20  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: switch citation ordering

2023-03-15  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1892 from Danfoa/devel
	Update documentation of `JointModel.shortname` in python bindings

2023-03-15  Pep Martí Saumell  <38432035+PepMS@users.noreply.github.com>

	add static-contact-dynamics example (#1891)
	* add static-contact-dynamics example
	
	* change variable name
	
	* fix codacy issues
	
	* remove example-robot-data dependency

2023-03-14  Daniel Ordonez-Apraez  <daniels.ordonez@gmail.com>

	Update documentation of JointModel.shortname() in python bindings

2023-03-13  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1890 from stack-of-tasks/dependabot/github_actions/ros-industrial/industrial_ci-4b78602d67127a63dce62926769d9ec4e2ce72e4
	build(deps): bump ros-industrial/industrial_ci from 6a8f546cbd31fbd5c9f77e3409265c8b39abc3d6 to 4b78602d67127a63dce62926769d9ec4e2ce72e4

2023-03-13  Megane Millan  <mmillan@mmillanpc.paris.inria.fr>

	Remove motion-universal from serialization

	Use sperical-motion for simplicity

2023-03-13  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Change Copyright

	Change Coppyright

2023-03-13  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump ros-industrial/industrial_ci
	Bumps [ros-industrial/industrial_ci](https://github.com/ros-industrial/industrial_ci) from 6a8f546cbd31fbd5c9f77e3409265c8b39abc3d6 to 4b78602d67127a63dce62926769d9ec4e2ce72e4.
	- [Release notes](https://github.com/ros-industrial/industrial_ci/releases)
	- [Commits](https://github.com/ros-industrial/industrial_ci/compare/6a8f546cbd31fbd5c9f77e3409265c8b39abc3d6...4b78602d67127a63dce62926769d9ec4e2ce72e4)

	---
	updated-dependencies:
	- dependency-name: ros-industrial/industrial_ci
	  dependency-type: direct:production
	...

2023-03-08  Megane Millan  <mmillan@mmillanpc.paris.inria.fr>

	expose universal joint in python

	Fix assert

	Added universal joint with its unit test

	Added Universal Joint to JointCollection

2023-02-28  Justin Carpentier  <justin.carpentier@inria.fr>

	python: more fix

	python: fix potential alignement issue

	Merge pull request #1878 from stephane-caron/fix/remove_empty_examples
	Remove empty examples

2023-02-28  Stéphane Caron  <stephane.caron@normalesup.org>

	Remove empty examples
	Also fix link to reduced-model example which was not included.

2023-02-25  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: fix badge address

2023-02-24  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/contact: fix triangular ordering

	core: fix var name change

	casadi: start implementing copy for Eigen::Tensor
	This is not yet done and more work need to be done

	python/casadi: deactivate tensor exposition for now

	python/casadi: fix issue with recent version of eigenpy
	.derived() method is a protected member of TensorBase<D>

	python/autodiff: skip some algorithms

	python/casadi: fix template specialization

	sdf: use std::make_shared

	autodiff: fix compatibility issue with autodiff types in TriangularMatrixMatrixProduct

	merge: fix merging issue

	Merge tag 'v2.6.16' into topic/merging-v2.6.16
	Release of version 2.6.16.

	merge: fix merging issue

	Merge tag 'v2.6.15' into topic/merging-v2.6.16
	Release of version 2.6.15.

	Merge tag 'v2.6.14' into topic/merging-v2.6.16
	Release of version 2.6.14.

	merge: fix merging issue

	cmake: remove duplicate

	Merge tag 'v2.6.13' into topic/merging-v2.6.16
	Release of version 2.6.13.

	Merge tag 'v2.6.12' into topic/merging-v2.6.16
	Release of version 2.6.12.

	core: remove duplicate constructor

	cmake: fix linkage in tests

	joints: add missing methods

	Merge tag 'v2.6.11' into topic/merging-v2.6.16
	Release of version 2.6.11.

	Merge tag 'v2.6.10' into topic/merging-v2.6.16
	Release of version 2.6.10.

	merge: fix merging issues

	Merge tag 'v2.6.9' into topic/merging-v2.6.16
	Release of version 2.6.9.

	python/meschat: add reset and fix static_objects creation

	cmake: deactivate MPFR bindings by default

2023-02-22  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: move documentation closer to the top

	readme: fix doc logo

	readme: add documentation shield

	Merge pull request #1875 from stephane-caron/fix/ik_example
	Fix IK example

2023-02-22  Stéphane Caron  <stephane.caron@normalesup.org>

	Update target of IK example
	The previous target was unfeasible, so CLIK would never converge. It
	converges with this one.

2023-02-19  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1869 from duburcqa/stubs
	Fix some Python bindings signatures and add stub generation.

2023-02-19  Alexis Duburcq  <alexis.duburcq@wandercraft.eu>

	Fix Python bindings signatures and add stub generation.

2023-02-18  Justin Carpentier  <justin.carpentier@inria.fr>

	core/model: fix documentation

	python/model: add more doc

	readme: add Shubham Singh contributions

2023-02-17  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1868 from cmastalli/topic/pybind11-force
	Support force in pybind11

2023-02-16  Carlos Mastalli  <c.mastalli@hw.ac.uk>

	[python] Support force in pybind11

2023-02-15  Justin Carpentier  <justin.carpentier@inria.fr>

	release: Update package.xml version to 2.6.17

2023-02-12  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1865 from duburcqa/patch-3
	Fix support of AVX2.

2023-02-12  Alexis DUBURCQ  <alexis.duburcq@gmail.com>

	Fix support of AVX2.

2023-02-10  Justin Carpentier  <justin.carpentier@inria.fr>

	constraints: add computeContactComplementarity

	python: fix bindings

	contact: refactor the code to make it more generic

	Merge pull request #1863 from jcarpent/topic/cmake
	Sync submodule CMake

	cmake: sync submodule

2023-02-09  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: remove system

	cmake: sync submodule

2023-02-07  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1860 from jcarpent/topic/so
	Second-order RNEA derivatives

2023-02-06  Justin Carpentier  <justin.carpentier@inria.fr>

	serialization: remove std::cout

	core: simplify testing of Eigen::Tensor

	core: clean data and rename field

	bench/derivatives: add possibility to change the Tensor layout

	algo/rnea-so: large timings improvement
	Passing from 200us to 120us for simple humanoids

	algo/rnea-so: fix doc

	casadi: use Dense Index

	algo/rnea-so: avoid recomputing twice the value

	algo/rnea-so: change type naming

	all: change name

	algorithm: fix guard and rename file

2023-02-06  shubhamsingh91  <shubham.singh091@gmail.com>

	adding new data types to serialize function, minor changes to dataTpl

	added the unit-test for rnea-derivatives-SO

	added new separate unit-test

	aligning unit-test with pin-devel

	aligning with Pinocchio-devel

	removing atlas from models

	changes to data.hxx

	cleanup

	cleanup

	added RNEA SO derivatives to benchmark

	minor changes to data and RNEASO header

	added RNEA SO derivative unit-test

	added some models for testing

	added RNEA SO derivatives, added to multibody/data, added tensor utils

2023-02-06  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1845 from ManifoldFR/devel
	[python/visualize] Extend visualizer features and implement them for MeshcatVisualizer

2023-02-04  ManifoldFR  <wilson.jallet@polytechnique.org>

	python/meshcat_visualizer : pass no arguments to meshcat's get_image when none specified
	+ allows backwards compatibility with upstream meshcat

2023-02-03  ManifoldFR  <wilson.jallet@polytechnique.org>

	python/base_visualizer : fix use of f-strings and type hint
	(for Python 2)

	python/meshcat_visualizer : strip away type hints

	python/meshcat_visualizer : remove unused import

2023-02-03  ManifoldFR  <wilson.jallet@polytechnique.org>

	python/base_visualizer : fix unused import

	python/base_visualizer : remove pathlib dependency
	+ use os.path module instead

2023-02-03  Justin Carpentier  <justin.carpentier@inria.fr>

	python/viewer: fix method naming

2023-02-03  ManifoldFR  <wilson.jallet@polytechnique.org>

	restore name q_trajectory

	python/visualize : restore returning raw images in play() method (optionally)
	+ restore "capture" arg
	+ video context creation method sends warning when imageio unavailable

	python/visualize : remove type hints

	python/meshcat : run through black formatter
	+ also format examples/meshcat-viewer.py

2023-02-03  ManifoldFR  <wilson.jallet@polytechnique.org>

	python/meshcat : remove assert statements
	examples/meshcat-viewer : fix trailing whitespace

	python/visualize : fix inconsistent function signatures

2023-02-03  ManifoldFR  <wilson.jallet@polytechnique.org>

	python/meshcat : handle static objects

	python/meshcat: add color arg to drawFrameVelocities

	meshcat : fix type hint for _draw_vectors_from_frame
	+ previous version of Python doesn't support subscripting "list" type to replace typing.List

	meshcat : implement addGeometryObject convenience function
	+ adds a visual GeometryObject

	visualize : add video recording API
	+ add VideoContext context and convenience function create_video_ctx

	examples : change meshcat-viewer example to solo8
	+ test displaying simple traj with foot frame velocity vector

	viz: add drawFrameVelocities to API
	+ implement for meshcat

	visualize: add setCameraZoom, setCameraPose
	+ add disableCameraControl, enableCameraControl from RoboMeshcat

2023-02-03  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1858 from stephane-caron/feature/Jlog3_doc
	Add documentation to Jlog3

2023-02-02  Stéphane Caron  <stephane.caron@normalesup.org>

	Add documentation to Jlog3

2023-02-02  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1857 from stephane-caron/fix/Jlog6_doc
	Fix Jlog6 documentation

2023-02-02  Stéphane Caron  <stephane.caron@normalesup.org>

	Fix Jlog6 documentation
	Sorry for the typo (^_^")

2023-02-02  Justin Carpentier  <justin.carpentier@inria.fr>

	release: Update package.xml version to 2.6.16

	Merge pull request #1855 from jcarpent/topic/python
	Fix issue with Python 3.6

2023-02-01  Justin Carpentier  <justin.carpentier@inria.fr>

	python: fix issue with Python 3.6

	Merge pull request #1853 from jcarpent/topic/python
	Enforce testing of Python bindings

2023-01-31  Justin Carpentier  <justin.carpentier@inria.fr>

	test: fix linter

	python/serialization: extend StreamBuffer

	core: fix warning

	algo: add missing check_expression_if_real for input checks

	cmake: fix Python component search

	casadi: fix indent

	math: fix namespace

	parsers: fix copyright

	core: fix indent

	example: use Meshcat and replace deprecated signatures

	python: expose exposeContactSolvers

	algo: comment input argument check

	algo: fix compilation warning

	python/context: add typedef for CoulombFrictionConeVector

	python: expose PGS solver

	algo: add PGS solver

	context: main context should also include alternative context

	context: add typedef for Cones

	python: correct indent

	python: fix std::vector of cone exposition

	core: move code to the right place

	python/constraints: fix naming and expose computeRadialProjection

	constraint: add computeRadialProjection to CoulombFrictionConeTpl

	python: expose extending API of DelassusCholeskyExpression

	constraints: extend DelassusCholeskyExpression

	constraints: fix missing const

	python: expose CoulombFrictionCone

	constraints: add first draft of CoulombFrictionCone

	python: expose computeLargestEigenvector

	cmake: add algorithm/constraints dir

	math: add computation of largest eigen values

	python: expose DelassusCholeskyExpression::solve

	python: expose DelassusCholeskyExpression

	contact: clean DelassusCholeskyExpression API

	math: add triangular matrix multiplication helpers

	cmake: fix logic for cpp2pybind11 test

	constraint: add DelassusInverseCholeskyExpression + rename

	constraint: add updateDamping to Cholesky

	python/meshcat: add Plane and Halfspace visualisation

	python/meshcat: add DAE and Cone loader

	python/meshcat: rename

	python/meshcat: rename methods

	test/python: enforce testing

	release: Update package.xml version to 2.6.15

2023-01-30  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1851 from jcarpent/topic/python
	Fix issue with old version of Boost and eigenpy >= 2.9.0

	python: add more fix

	python: add more fix

	python: fix issue with old version of Boost

2023-01-27  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1847 from jcarpent/topic/ci
	Fix issue with recent change on master branch for ROS-CI

	ci/ros: fix issue with recent change on master branch

	Merge pull request #1846 from nim65s/topic/no-urdf
	remove useless header

2023-01-26  ManifoldFR  <wilson.jallet@polytechnique.org>

	python/meshcat : handle hppfcl.Plane objects

2023-01-26  Guilhem Saurel  <guilhem.saurel@laas.fr>

	remove useless header
	to fix build with -DBUILD_WITH_URDF_SUPPORT=OFF

2023-01-25  ManifoldFR  <wilson.jallet@polytechnique.org>

	python/meshcat : handle static objects

	python: add example with solo12 and meshcat + heightfield

	python/meshcat: add color arg to drawFrameVelocities

2023-01-25  Stéphane Caron  <stephane.caron@normalesup.org>
	    Justin Carpentier  <justin.carpentier@inria.fr>

	Documentation for Jlog6 (#1842)
	* [minor] Fix double-dot typo
	
	* Add documentation for Jlog6
	
	* Add missing defs and proposal to refactor Jlog6 cheatsheet
	
	* Fix double-parenthesis typo
	
	* Fix from/to sets of Jlog6 in documentation
	
	* doc/spatial: fix missing elements

2023-01-24  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'wj/meshcat-features' into 'pinocchio-3x'
	Extend visualizer features and implement for MeshcatVisualizer

	See merge request jucarpen/pinocchio!574

2023-01-16  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1775 from duburcqa/patch-2
	Error when integrating SE3 with the same vector given as input and output

	Merge pull request #1836 from stephane-caron/feature/doc_get_joint_jacobian
	More documentation for getJointJacobian

2023-01-16  Stéphane Caron  <stephane.caron@normalesup.org>

	More documentation for getJointJacobian

2023-01-16  Justin Carpentier  <justin.carpentier@inria.fr>

	test: fix

	ci/ros: output on failure

	test: adjust tolerance for given joint type

	test: restore previous values

	liegroups: enhance testign
	The precision should be lowered with Pinocchio 3x

	liegroups: fix constructor

	test: add todo

2023-01-16  Alexis Duburcq  <alexis.duburcq@wandercraft.eu>

	Error when integrating SE3 with the same vector given as input and output

2023-01-13  Justin Carpentier  <justin.carpentier@inria.fr>

	release: Update package.xml version to 2.6.14

	Merge pull request #1832 from jcarpent/topic/python
	Fix registration of ptr to Python

2023-01-13  ManifoldFR  <wilson.jallet@polytechnique.org>

	examples/anymal-simulation : fix loadANYmal() function not existing in example-robot-data

	meshcat : fix type hint for _draw_vectors_from_frame
	+ previous version of Python doesn't support subscripting "list" type to replace typing.List

2023-01-13  Justin Carpentier  <justin.carpentier@inria.fr>

	python: fix registration of ptr to Python

2023-01-12  Justin Carpentier  <justin.carpentier@inria.fr>

	release: Update package.xml version to 2.6.13

2023-01-12  ManifoldFR  <wilson.jallet@polytechnique.org>

	meshcat : implement addGeometryObject convenience function
	+ adds a visual GeometryObject

	visualize : add video recording API
	+ add VideoContext context and convenience function create_video_ctx

2023-01-12  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

2023-01-12  ManifoldFR  <wilson.jallet@polytechnique.org>

	examples : change meshcat-viewer example to solo8
	+ test displaying simple traj with foot frame velocity vector

	viz: add drawFrameVelocities to API
	+ implement for meshcat

	cmake fix: use full Python Development component
	+ because Development.Embed required for test-cpp-python_parser

	visualize: add setCameraZoom, setCameraPose
	+ add disableCameraControl, enableCameraControl from RoboMeshcat

	visualize: add setBackgroundColor, setCameraTarget...
	+ add visualizer methods for setting the camera target, position,
	  environment background color
	+ base class raises NotImplementedError w/o implementation
	+ implement for MeshcatVisualizer, add camera presets

2023-01-03  Florent Lamiraux  <florent@laas.fr>
	    Justin Carpentier  <justin.carpentier@inria.fr>

	Allow to use std::shared_ptr (#1822)
	* Allow to use std::shared_ptr for hpp-fcl >= 2.0.0
	
	* all: fix usage of make_shared

2022-12-26  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1821 from jcarpent/topic/python
	Fix Python issues

	python: fix logic

	python: fix issues with Python 3

2022-12-19  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'qll/visualize-ellipsoids' into 'pinocchio-3x'
	Qll/visualize ellipsoids

	See merge request jucarpen/pinocchio!572

2022-12-15  Justin Carpentier  <justin.carpentier@inria.fr>

	Sync submodule cmake (#1811)
	* cmake: sync submodule
	
	* cmake: sync submodule

2022-12-12  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1809 from stack-of-tasks/dependabot/github_actions/goanpeca/setup-miniconda-2
	build(deps): bump goanpeca/setup-miniconda from 1 to 2

2022-12-12  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump goanpeca/setup-miniconda from 1 to 2
	Bumps [goanpeca/setup-miniconda](https://github.com/goanpeca/setup-miniconda) from 1 to 2.
	- [Release notes](https://github.com/goanpeca/setup-miniconda/releases)
	- [Changelog](https://github.com/goanpeca/setup-miniconda/blob/main/CHANGELOG.md)
	- [Commits](https://github.com/goanpeca/setup-miniconda/compare/v1...v2)

	---
	updated-dependencies:
	- dependency-name: goanpeca/setup-miniconda
	  dependency-type: direct:production
	  update-type: version-update:semver-major
	...

2022-12-05  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1802 from stack-of-tasks/dependabot/github_actions/goanpeca/setup-miniconda-2
	build(deps): bump goanpeca/setup-miniconda from 1 to 2

2022-12-05  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump goanpeca/setup-miniconda from 1 to 2
	Bumps [goanpeca/setup-miniconda](https://github.com/goanpeca/setup-miniconda) from 1 to 2.
	- [Release notes](https://github.com/goanpeca/setup-miniconda/releases)
	- [Changelog](https://github.com/goanpeca/setup-miniconda/blob/main/CHANGELOG.md)
	- [Commits](https://github.com/goanpeca/setup-miniconda/compare/v1...v2)

	---
	updated-dependencies:
	- dependency-name: goanpeca/setup-miniconda
	  dependency-type: direct:production
	  update-type: version-update:semver-major
	...

2022-12-02  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

	cmake: fix packaging

2022-12-01  quentinldc  <quentin.le-lidec@inria.fr>

	fixing exposition and doc of appendModel

	adding ellipsoids to meshcat visualizer

2022-11-29  Guilhem Saurel  <guilhem.saurel@laas.fr>

	Merge pull request #1801 from stack-of-tasks/pre-commit-ci-update-config
	[pre-commit.ci] pre-commit autoupdate

2022-11-29  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>

	[pre-commit.ci] pre-commit autoupdate
	updates:
	- [github.com/pre-commit/pre-commit-hooks: v4.3.0 → v4.4.0](https://github.com/pre-commit/pre-commit-hooks/compare/v4.3.0...v4.4.0)

2022-11-28  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1799 from stack-of-tasks/dependabot/github_actions/goanpeca/setup-miniconda-2
	build(deps): bump goanpeca/setup-miniconda from 1 to 2

2022-11-28  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump goanpeca/setup-miniconda from 1 to 2
	Bumps [goanpeca/setup-miniconda](https://github.com/goanpeca/setup-miniconda) from 1 to 2.
	- [Release notes](https://github.com/goanpeca/setup-miniconda/releases)
	- [Changelog](https://github.com/goanpeca/setup-miniconda/blob/main/CHANGELOG.md)
	- [Commits](https://github.com/goanpeca/setup-miniconda/compare/v1...v2)

	---
	updated-dependencies:
	- dependency-name: goanpeca/setup-miniconda
	  dependency-type: direct:production
	  update-type: version-update:semver-major
	...

2022-11-24  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1797 from EtienneAr/supportedInertia
	Follow-up : Supported inertia by frame

2022-11-24  EtienneAr  <etienne.arlaud@gmail.com>

	Remove dependency to urdfdom in test

	Fix error for when : frame.previousFrame equals frame id (occurs with reduced models)

2022-11-23  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1796 from EtienneAr/supportedInertia
	Add helper functions for computing supported inertia and force by frames

2022-11-23  EtienneAr  <etienne.arlaud@gmail.com>

	Fix compilation error for ROS Melodic pipeline

	Minor comment fix

	Minor operation order improvment

	Add missing consts

	Merge inertia functions and rename

	Add computeFrameSupportInertia<InBody/WithSubtree> and computeFrameSupportedForce with test

2022-11-21  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1793 from stack-of-tasks/dependabot/github_actions/goanpeca/setup-miniconda-2
	build(deps): bump goanpeca/setup-miniconda from 1 to 2

2022-11-21  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump goanpeca/setup-miniconda from 1 to 2
	Bumps [goanpeca/setup-miniconda](https://github.com/goanpeca/setup-miniconda) from 1 to 2.
	- [Release notes](https://github.com/goanpeca/setup-miniconda/releases)
	- [Changelog](https://github.com/goanpeca/setup-miniconda/blob/main/CHANGELOG.md)
	- [Commits](https://github.com/goanpeca/setup-miniconda/compare/v1...v2)

	---
	updated-dependencies:
	- dependency-name: goanpeca/setup-miniconda
	  dependency-type: direct:production
	  update-type: version-update:semver-major
	...

2022-11-19  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1792 from jcarpent/topic/boost-1.78
	Fix issue with Boost 1.78 on OSX systems

	cmake: sync submodule

	serialization: fix issue with Boost 1.78 and APPLE systems

2022-11-17  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1791 from jmirabel/fix-append-geometry-model
	Skip collision pairs between geom on same joint in appendGeometryModel

2022-11-16  Joseph Mirabel  <jmirabel@eurekarobotics.com>

	appendGeometryModel skip collision pairs between geom on same joint

2022-11-14  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1790 from stack-of-tasks/dependabot/github_actions/goanpeca/setup-miniconda-2
	build(deps): bump goanpeca/setup-miniconda from 1 to 2

2022-11-14  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump goanpeca/setup-miniconda from 1 to 2
	Bumps [goanpeca/setup-miniconda](https://github.com/goanpeca/setup-miniconda) from 1 to 2.
	- [Release notes](https://github.com/goanpeca/setup-miniconda/releases)
	- [Changelog](https://github.com/goanpeca/setup-miniconda/blob/main/CHANGELOG.md)
	- [Commits](https://github.com/goanpeca/setup-miniconda/compare/v1...v2)

	---
	updated-dependencies:
	- dependency-name: goanpeca/setup-miniconda
	  dependency-type: direct:production
	  update-type: version-update:semver-major
	...

2022-11-06  Justin Carpentier  <justin.carpentier@inria.fr>

	release: Update package.xml version to 2.6.12

	Merge pull request #1784 from jcarpent/topic/python
	Fix issue with clang

	python: fix issue with clang

2022-11-01  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1782 from jcarpent/topic/cmake
	Fix packaging issues + sync submodule CMake

	cmake: sync submodule

	cmake: fix handling of BUILD_WITH_LIBPYTHON

	Merge pull request #1781 from wxmerkt/topic/check-link-and-joint-name-uniqueness
	Elevate check for ambiguous input argument to an exception

	ci/conda: fix compiler versions

2022-10-29  Justin Carpentier  <justin.carpentier@inria.fr>

	ci/conda: show list of installed packages

	ci/conda: use conda compilers

	model: enhance input check for getFrameId

2022-10-28  Wolfgang Merkt  <w.merkt@gmail.com>

	Model::getFrameId: Turn assert to input argument check, addresses #1771

	[unittest] Add test for #1771 to URDF testcase

2022-10-25  Justin Carpentier  <justin.carpentier@inria.fr>

	release: Update package.xml version to 2.6.11

	cmake: fix logic

	Merge pull request #1777 from jcarpent/topic/cmake
	Enhance cmake packaging

	cmake: fix logic for testing cpp2pybind11

	cmake: fix example check

	cmake: sync submodule

2022-10-24  Nick Roma  <54879724+nikoandpiko@users.noreply.github.com>
	    Justin Carpentier  <justin.carpentier@inria.fr>

	Updates README (#1776)
	* Updates README
	
	* readme: fix list

2022-10-18  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1769 from whtqh/heaty-meshcat-cone-fixed
	pinocchio/visualize: Add support for cone shape in meshcat dispaly

2022-10-17  heaty  <heatywang@tencent.com>

	Set the small end as the +z direction

	Add cone shape in meshcat dispaly

2022-10-16  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1770 from wxmerkt/topic/add-ros-binary-build-badges-to-readme
	Add status of ROS builds to README

	readme: fix linter issue

2022-10-16  Wolfgang Merkt  <w.merkt@gmail.com>

	Add status of ROS builds to README

2022-10-10  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1764 from wxmerkt/topic/remove-some-warnings
	Address remaining warnings + speed-up build for BUILD_TESTING=OFF

2022-10-09  Wolfgang Merkt  <w.merkt@gmail.com>

	[multibody] LieGroupBase Return *this in deleted function

	Address review comment

	[unittest] Only build cpp2pybind11 if BUILD_TESTING=ON

	[multibody] LieGroupGeneric: Add copy constructor for LieGroupGeneric

	[multibody] LieGroupBase: Delete copy assignment operator

	[multibody] VectorSpaceOperationTpl: Add copy assignment operator

	[python] ignore -Wself-assign-overloaded
	bp::self -= bp::self triggers this

	Update cmake submodule to avoid pragma redefine warnings

2022-10-05  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1756 from fabinsch/configuration-limits
	Configuration limits for joints and model

2022-10-04  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'add_cppad_jit_rnea_unittest' into 'pinocchio-3x'
	add cpp jit rnea unittest

	See merge request jucarpen/pinocchio!570

2022-09-30  Fabian Schramm  <55981657+fabinsch@users.noreply.github.com>

	multibody/model: add helper functions to get hasConfigurationLimit and hasConfigurationLimitInTangent for a model

	multibody/joint: add hasConfigurationLimitInTangent function to all joints

	unify naming to hasConfigurationLimit

2022-09-30  Fabian Schramm  <55981657+fabinsch@users.noreply.github.com>
	    Justin Carpentier  <justin.carpentier@inria.fr>

	Update bindings/python/multibody/joint/joint-derived.hpp

	Update bindings/python/multibody/joint/joint.hpp

	Update bindings/python/multibody/model.hpp

2022-09-30  Fabian Schramm  <55981657+fabinsch@users.noreply.github.com>

	[multibody] composite/mimic joint add hasConfigurationLimit

2022-09-29  Fabian Schramm  <55981657+fabinsch@users.noreply.github.com>

	unittest: test configuration limit functionality

	multibody/model: add configurationLimit vector
	- vector stacks the boolean vector of configurations limits of each joint in the model
	- expose to python

	multibody/joint: add hasConfigurationLimit function to all joints
	- every joint return a vector of boolean of size nq describing if each of the DOF has bounds or not
	- expose to python

2022-09-28  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1753 from stephane-caron/devel
	Add @note to difference documentation

2022-09-28  Stéphane Caron  <stephane.caron@normalesup.org>

	Add note to difference function

2022-09-26  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1750 from jcarpent/topic/cmake
	Sync submodule cmake

	cmake: sync submodule

2022-09-15  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1748 from fabinsch/urdf-fix-rel-path
	URDF: fix loading relative mesh path in urdf

2022-09-15  fabinsch  <fabi.schramm@gmail.com>

	unittest/urdf: check relative mesh loading
	- cannot check for mesh path anymore
	Now we have
	~/pinocchio/models/./simple_humanoid_description/box.stl
	instead of
	~/pinocchio/models/simple_humanoid_description/box.stl
	which is not a problem for loading the mesh.
	- check if name of mesh is the same

	parser/utils: fix handling of relative mesh path

2022-09-14  Justin Carpentier  <justin.carpentier@inria.fr>

	release: Update package.xml version to 2.6.10

	Merge pull request #1744 from jcarpent/topic/cmake
	Sync submodule CMake

2022-09-13  Justin Carpentier  <justin.carpentier@inria.fr>

	ci: conda list

	cmake: sync submodule

2022-09-07  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1742 from fabinsch/fix-urdf-rel-path
	Fix relative path in urdf

2022-09-07  fabinsch  <fabi.schramm@gmail.com>

	unittest: load urdf with relative mesh path

	parser/utils: fix check for relative path

	parser/utils: handle relative path

2022-08-25  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1738 from jcarpent/topic/cmake
	Fix relocalable

	cmake: fix packaging for recolability

	Merge pull request #1736 from Jiayuan-Gu/patch-1
	Expose `removeGeometryObject` in python binding

	cmake: sync submodule

2022-08-21  Jiayuan Gu  <17827258+Jiayuan-Gu@users.noreply.github.com>

	Expose `removeGeometryObject` in python binding

2022-08-16  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1734 from nim65s/devel
	fix syntax for python 2

2022-08-16  Guilhem Saurel  <guilhem.saurel@laas.fr>

	fix syntax for python 2

2022-08-16  Wolfgang Merkt  <wxmerkt@users.noreply.github.com>

	package.xml: Change license to BSD-2 to match COPYING.LESSER

2022-08-12  Justin Carpentier  <justin.carpentier@inria.fr>

	release: Update package.xml version to 2.6.9

2022-08-11  Justin Carpentier  <justin.carpentier@inria.fr>

	Sync submodule CMake (#1732)
	* cmake: sync submodule
	
	* cmake: sync submodule

2022-08-11  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1681 from stack-of-tasks/topic/ros2-release
	ROS2 release support

2022-08-11  Wolfgang Merkt  <wxmerkt@users.noreply.github.com>

	[CI] Attempt to fix testing with colcon

2022-08-06  Justin Carpentier  <justin.carpentier@inria.fr>

	examples: set non blocking mode for matplotlib

	algo: fix merge

	cmake: remove useless lines for test-cpp-python_parser

	models: remove useless line

	cmake: update pybind11 version

	cmake: use find_package for GMP and MPFR

	cmake: sync submodule

	cmake: move meshcat-viewer to the right slot

	cmake: look for the Python Embed interpreter

	cmake: fix ADD_PINOCCHIO_UNIT_TEST
	handling of extra PACKAGES was not done

	cmake: do not look for Python, eigenpy does the job

	cmake: sync submodule

	liegroups: fix aliasing

	test: tiny fix
	This test was producing weird behavior on Conda

2022-08-05  Justin Carpentier  <justin.carpentier@inria.fr>

	test: remove compilation warnings

	Merge tag 'v2.6.8' into topic/merging-v2.6.8
	Release of version 2.6.8.

	python: remove double exposition of CollisionGeometryPtr

	test/casadi: remove compilation warning

	cmake: update hpp-fcl minimal version

	parsers: HPP-FCL always >= 2.

	Merge tag 'v2.6.7' into topic/merging-v2.6.7
	Release of version 2.6.7.

	examples: further missing fixes

	algo: fix compiler warnings

	cmake: fix description

	Merge tag 'v2.6.6' into topic/merging-v2.6.6
	Release of version 2.6.6.

	bench: fix function name in std::cout

	example: fix function name

	example: remove deprecated warning

	test/casadi: fix warning

2022-08-04  Justin Carpentier  <justin.carpentier@inria.fr>

	spatial: add missing copy constructor for MotionRef

	spatial: delete {Force,Motion}Dense copy constructor

2022-08-02  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1723 from jcarpent/topic/test
	Fix weird test failure on Conda

	macros: fix C++14 detection

	cmake: sync submodule

	test: tiny fix
	This test was producing weird behavior on Conda

	Merge pull request #1720 from nim65s/devel
	CMake: update to eigenpy 2.7.10

2022-08-01  Guilhem Saurel  <guilhem.saurel@laas.fr>

	ci: fix python executable in packaging unittest

2022-07-27  Guilhem Saurel  <guilhem.saurel@laas.fr>

	CMake: update to eigenpy 2.7.10

	sync submodule

2022-07-20  Justin Carpentier  <justin.carpentier@inria.fr>

	python/meshcat: handle HeightFieldAABB

2022-07-19  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1719 from wxmerkt/topic/ros2-integration
	ROS2/Colcon integration

2022-07-18  Wolfgang Merkt  <w.merkt@gmail.com>

	Update cmake submodule

	Colcon integration: AMENT_PREFIX_PATH and PYTHONPATH

2022-07-16  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1718 from nim65s/topic/modernize-headers
	cmake: modernize header-only lib

2022-07-15  Guilhem Saurel  <guilhem.saurel@laas.fr>

	cmake: modernize header-only lib

2022-07-15  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1716 from nim65s/topic/relocatable
	cmake: relocatable package for recent CMake versions

2022-07-15  Guilhem Saurel  <guilhem.saurel@laas.fr>

	CMake: set BUILD_WITH_LIBPYTHON option

	rename into MODERNIZE_TARGET_LINK_LIBRARIES

	sync submodule

2022-07-14  Guilhem Saurel  <guilhem.saurel@laas.fr>

	modernize if available

	cmake: relocatable package for recent CMake versions

2022-07-14  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1712 from fabinsch/header_only_target
	Add header only target

2022-07-14  fabinsch  <fabi.schramm@gmail.com>

	update CMakeLists

2022-07-13  fabinsch  <55981657+fabinsch@users.noreply.github.com>
	    Justin Carpentier  <justin.carpentier@inria.fr>

	src/CMakeLists.txt: pinocchio_headers as INTERFACE

2022-07-13  fabinsch  <fabi.schramm@gmail.com>

	workflows/linux: add pinocchio_headers packaging test

	add packaging unittest for pinocchio_headers

	src/CMakeLists: add header only target

2022-07-09  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1709 from nim65s/topic/utils-python
	cmake/utils: no need for python here

2022-07-08  Guilhem Saurel  <guilhem.saurel@laas.fr>

	cmake/utils: no need for python here

2022-07-05  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1705 from fabinsch/add_cheat_sheet
	add cheat sheet to doc

2022-07-04  fabinsch  <fabi.schramm@gmail.com>

	update readme: include cheat sheet and add contributer

	update cheat sheet

2022-07-04  ABonnefoy  <aurelie.bonnefoy@ens-rennes.fr>

	init cheat sheet

2022-07-03  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1702 from Toefinder/devel
	SO3 diff impl use quaternion instead of rotation matrix

	liegroups: simplify operations for SO3

	spatial/explog: import quaternion::log3 from pinocchio-3x

	test: restore tolerance value

2022-07-03  Le Quang Anh  <43576719+Toefinder@users.noreply.github.com>

	SO3 diff_impl: use quat instead of matrix
	For implementation of difference between two SO3 values, it is more
	accurate to use quaternion multiplication instead of the corresponding
	rotation matrix form.

	However, with the new diff_impl, integrate(q0, difference(q0,q1)) is less
	similar to the expected result q1. This is probably because the current
	implementation of integrate also suffers from floating point error. The
	threshold for the integrate_difference_test needs to be changed slightly
	to accommodate the new implementation of difference.

2022-07-03  Le Quang Anh  <43576719+Toefinder@users.noreply.github.com>

	Add test for distance very close SO3 values
	The current distance function does not give a positive distance for two
	SO3 values that are very close to each other (about 3e-17).

2022-07-01  fabinsch  <fabi.schramm@gmail.com>

	change input a-> x = (q,v,a) and add loop to generate different inputs

2022-07-01  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1698 from fabinsch/add_append_model_example
	Add python example appending Urdf and another model

2022-06-30  fabinsch  <fabi.schramm@gmail.com>

	algo/model.hxx: appendModel without frames

	examples/python: append urdf model and other model

2022-06-29  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1699 from jcarpent/topic/geometry
	Fix geometry color default value

	cmake: sync submodule

	models: sync example-robot-data

	geometry: change default meshColor

2022-06-28  fabinsch  <fabi.schramm@gmail.com>

	unittest/cppadcg: add crba test using same functions as CodeGenBase

	benchmark/cppad-jit: cleanup

2022-06-28  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>
	    pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>
	    Guilhem Saurel  <guilhem.saurel@laas.fr>

	[pre-commit.ci] pre-commit autoupdate (#1695)
	* [pre-commit.ci] pre-commit autoupdate
	
	updates:
	- [github.com/pre-commit/pre-commit-hooks: v4.2.0 → v4.3.0](https://github.com/pre-commit/pre-commit-hooks/compare/v4.2.0...v4.3.0)
	
	* pre-commit: autoupdate devel branch

2022-06-28  fabinsch  <fabi.schramm@gmail.com>

	benchmark/cppad-jit: add crba jit and codegen

2022-06-27  fabinsch  <fabi.schramm@gmail.com>

	benchmark/cppad-jit: add codegen comparison

	add benchmark for cppad-jit

	unittest/cppad: joint-space inertia matrix jit

2022-06-27  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1693 from jcarpent/topic/bug
	Fix bug in appendModel

2022-06-27  fabinsch  <fabi.schramm@gmail.com>

	CMakeList: require cppad >= 20220624

	unittest/cppad: add rnea jit

2022-06-27  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/models: fix bug when universe is renamed

	python: fix doc

2022-06-27  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>
	    dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump actions/cache from 2 to 3 (#1691)
	Bumps [actions/cache](https://github.com/actions/cache) from 2 to 3.
	- [Release notes](https://github.com/actions/cache/releases)
	- [Changelog](https://github.com/actions/cache/blob/main/RELEASES.md)
	- [Commits](https://github.com/actions/cache/compare/v2...v3)
	
	---
	updated-dependencies:
	- dependency-name: actions/cache
	  dependency-type: direct:production
	  update-type: version-update:semver-major
	...
	
	Signed-off-by: dependabot[bot] <support@github.com>

2022-06-27  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>
	    dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump actions/checkout from 2 to 3 (#1692)
	Bumps [actions/checkout](https://github.com/actions/checkout) from 2 to 3.
	- [Release notes](https://github.com/actions/checkout/releases)
	- [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md)
	- [Commits](https://github.com/actions/checkout/compare/v2...v3)
	
	---
	updated-dependencies:
	- dependency-name: actions/checkout
	  dependency-type: direct:production
	  update-type: version-update:semver-major
	...
	
	Signed-off-by: dependabot[bot] <support@github.com>

2022-06-24  Justin Carpentier  <justin.carpentier@inria.fr>

	broadphase: add check

	macro: add PINOCCHIO_THROW_PRETTY

	broadphase: to not use init guess yet

	broadphase: potential buf
	Should be fix

	broadphase: reintroduce gjk_initial_guess

	broadphase: comment gjk_initial_guess

	broadphase: use the newly introduced GJK variant for proximity queries

	algo/geometry: add new signature for computeCollision

	geom: add possibility to sync distance_upper_bound when setting the security margin

2022-06-16  Wolfgang Merkt  <wxmerkt@users.noreply.github.com>

	[CI] Rolling uses colcon

	[CI] Add Rolling config

2022-06-14  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>
	    pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>
	    Guilhem Saurel  <guilhem.saurel@laas.fr>

	[pre-commit.ci] pre-commit autoupdate (#1679)
	* [pre-commit.ci] pre-commit autoupdate
	
	updates:
	- [github.com/pre-commit/pre-commit-hooks: v4.2.0 → v4.3.0](https://github.com/pre-commit/pre-commit-hooks/compare/v4.2.0...v4.3.0)
	
	* pre-commit: autoupdate devel branch

2022-06-13  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1677 from stack-of-tasks/dependabot/github_actions/actions/cache-3
	build(deps): bump actions/cache from 2 to 3

	Merge pull request #1678 from stack-of-tasks/dependabot/github_actions/actions/checkout-3
	build(deps): bump actions/checkout from 2 to 3

2022-06-13  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump actions/checkout from 2 to 3
	Bumps [actions/checkout](https://github.com/actions/checkout) from 2 to 3.
	- [Release notes](https://github.com/actions/checkout/releases)
	- [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md)
	- [Commits](https://github.com/actions/checkout/compare/v2...v3)

	---
	updated-dependencies:
	- dependency-name: actions/checkout
	  dependency-type: direct:production
	  update-type: version-update:semver-major
	...

2022-06-13  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump actions/cache from 2 to 3
	Bumps [actions/cache](https://github.com/actions/cache) from 2 to 3.
	- [Release notes](https://github.com/actions/cache/releases)
	- [Changelog](https://github.com/actions/cache/blob/main/RELEASES.md)
	- [Commits](https://github.com/actions/cache/compare/v2...v3)

	---
	updated-dependencies:
	- dependency-name: actions/cache
	  dependency-type: direct:production
	  update-type: version-update:semver-major
	...

2022-06-07  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1674 from nim65s/topic/pybind
	update to pybind11 v2.9.2

2022-06-07  Guilhem Saurel  <guilhem.saurel@laas.fr>

	update to pybind11 v2.9.2
	to remove the following warning with CMake 3.22:

	-- pybind11 v2.8.0
	CMake Warning (dev) at /usr/share/cmake/Modules/CMakeDependentOption.cmake:89 (message):
	  Policy CMP0127 is not set: cmake_dependent_option() supports full Condition
	  Syntax.  Run "cmake --help-policy CMP0127" for policy details.  Use the
	  cmake_policy command to set the policy and suppress this warning.
	Call Stack (most recent call first):
	  build/_deps/pybind11-src/CMakeLists.txt:101 (cmake_dependent_option)
	This warning is for project developers.  Use -Wno-dev to suppress it.

2022-06-06  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1671 from jcarpent/topic/submodules
	Sync example-robot-data

	Merge pull request #1670 from stack-of-tasks/dependabot/github_actions/actions/cache-3
	build(deps): bump actions/cache from 2 to 3

	Merge pull request #1669 from stack-of-tasks/dependabot/github_actions/actions/checkout-3
	build(deps): bump actions/checkout from 2 to 3

	models: sync example-robot-data

2022-06-06  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump actions/cache from 2 to 3
	Bumps [actions/cache](https://github.com/actions/cache) from 2 to 3.
	- [Release notes](https://github.com/actions/cache/releases)
	- [Changelog](https://github.com/actions/cache/blob/main/RELEASES.md)
	- [Commits](https://github.com/actions/cache/compare/v2...v3)

	---
	updated-dependencies:
	- dependency-name: actions/cache
	  dependency-type: direct:production
	  update-type: version-update:semver-major
	...

2022-06-06  dependabot[bot]  <49699333+dependabot[bot]@users.noreply.github.com>

	build(deps): bump actions/checkout from 2 to 3
	Bumps [actions/checkout](https://github.com/actions/checkout) from 2 to 3.
	- [Release notes](https://github.com/actions/checkout/releases)
	- [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md)
	- [Commits](https://github.com/actions/checkout/compare/v2...v3)

	---
	updated-dependencies:
	- dependency-name: actions/checkout
	  dependency-type: direct:production
	  update-type: version-update:semver-major
	...

2022-06-06  Justin Carpentier  <justin.carpentier@inria.fr>

	release: Update package.xml version to 2.6.8

2022-06-05  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1668 from jcarpent/topic/ci
	Enable ubuntu 22.04 on CI

	Merge pull request #1659 from turrisxyz/Dependabot-GitHub-Actions
	Included githubactions in the dependabot config

	algo: fix PINOCCHIO_DEPRECATED position

	ci/ccache: fix

	cmake: sync submodule

	ci: use ccache for building casadi

	ci: fix install of numpy

	ci: enable ubuntu 22.04

2022-06-02  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'ocp_quadrotor_example' into 'pinocchio-3x'
	New example: OCP using casadi feature and a quadcopter

	See merge request jucarpen/pinocchio!567

2022-06-02  Josep Marti  <jmarti@iri.upc.edu>

	New example: OCP using casadi feature and a quadcopter

2022-06-01  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1667 from danielcostanzi18/master
	Fix method play() of rviz_visualizer

	python: fix import

2022-06-01  Daniel Costanzi  <daniel.costanzi@pal-robotics.com>

	removed duplicate of method play(), now only method sleep() is overridden

	added new method sleep()

2022-06-01  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1665 from jcarpent/topic/coriolis
	Extend current Coriolis computations to account for Cristoffel symbol of first kind

	rviz: fix import order
	By this way, rviz is not strictly dependent of python_qt_binding.

2022-06-01  Daniel Costanzi  <daniel.costanzi@pal-robotics.com>

	method play() overridden, Qtest.qWait() used for the delay between one display to another instead of time.sleep()

2022-05-31  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

	algo: enhance Coriolis algos to compute the matrix related to Christoffel symbol of first kind

	python: expose missing quantities

	core: add field B to Data for Coriolis computations

2022-05-25  nathannaveen  <42319948+nathannaveen@users.noreply.github.com>

	chore: Included githubactions in the dependabot config
	This should help with keeping the GitHub actions updated on new releases. This will also help with keeping it secure.

	Dependabot helps in keeping the supply chain secure https://docs.github.com/en/code-security/dependabot

	GitHub actions up to date https://docs.github.com/en/code-security/dependabot/working-with-dependabot/keeping-your-actions-up-to-date-with-dependabot

	https://github.com/ossf/scorecard/blob/main/docs/checks.md#dependency-update-tool

2022-05-24  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1658 from stack-of-tasks/pre-commit-ci-update-config
	[pre-commit.ci] pre-commit autoupdate

2022-05-23  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>

	[pre-commit.ci] pre-commit autoupdate
	updates:
	- [github.com/pre-commit/pre-commit-hooks: v4.1.0 → v4.2.0](https://github.com/pre-commit/pre-commit-hooks/compare/v4.1.0...v4.2.0)

2022-05-23  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'dev/jcarpent/fix-mpfr' into 'pinocchio-3x'
	Fix use of MPFR in Python

	See merge request jucarpen/pinocchio!566

2022-05-23  Justin Carpentier  <justin.carpentier@inria.fr>

	example: fix multiprecision example

2022-05-23  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'helical-joint-cfg-unittests' into 'pinocchio-3x'
	[unittest/joint-configurations] add helical joint to buildAllJointsModel

	See merge request jucarpen/pinocchio!565

2022-05-23  fabinsch  <55981657+fabinsch@users.noreply.github.com>

	[unittest/cppadcg] joint-configurations: add option to delete codegenerated libs

2022-05-23  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'add-cpp-autodiff-rnea-example' into 'pinocchio-3x'
	rnea cpp autodiff example

	See merge request jucarpen/pinocchio!564

2022-05-23  CARPENTIER Justin  <justin.carpentier@inria.fr>

	naming: compile_options -> compile_flags

2022-05-23  fabinsch  <55981657+fabinsch@users.noreply.github.com>

	code-generator-base: add compile options to compileLib

2022-05-22  Justin Carpentier  <justin.carpentier@inria.fr>

	python/mpfr: fix getitem for ::boost::multiprecision::number

	python: add forward declaration

	python: fix copyright

	python/mpfr: move inline functions to cpp

	python: remove useless include

	python/mpfr: fix missing cast

	python/cmake: enables extra compilation units for scalar types

2022-05-20  fabinsch  <55981657+fabinsch@users.noreply.github.com>

	add and adapt CMakeLists files

	[autodiff/example] add cpp-rnea

	[unittest/joint-configurations] add helical joint to buildAllJointsModel
	- add helical and helicalUnaligned

2022-05-20  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'add-pycppad-example' into 'pinocchio-3x'
	add rnea autodiff example

	See merge request jucarpen/pinocchio!563

2022-05-20  SCHRAMM Fabian  <fabian-constantin.schramm@inria.fr>

	add rnea autodiff example

2022-05-20  fabinsch  <55981657+fabinsch@users.noreply.github.com>

	[codegen/rnea-py-example] simplify function output

2022-05-19  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'cppadcg-py-rnea' into 'pinocchio-3x'
	Add codegen python example

	See merge request jucarpen/pinocchio!562

2022-05-19  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'fix-cppad-cppadcg-unittests' into 'pinocchio-3x'
	Fix cppad joints unittest and cppadcg rnea example

	See merge request jucarpen/pinocchio!561

2022-05-19  fabinsch  <55981657+fabinsch@users.noreply.github.com>

	[codegen/CMakeLists] CPPADCG_FOUND -> cppadcg_FOUND

	[codegen/CMakeLists] add python example
	do the same as for the other python examples

	CMakeLists: make sure CODEGEN support includes AUTODIFF support

	[codengen] add python rnea example

2022-05-18  fabinsch  <55981657+fabinsch@users.noreply.github.com>

	[unittest] codegen/rnea fix includes
	necessary to have #include "pinocchio/codegen/cppadcg.hpp" as a first line

	[unittest] cppad/joints initialize HelicalUnaligned

2022-05-17  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: fix name for test-cpp-cppad

	test/cppadcg: fix include path

	cppadcg: add missing specialization for isfinite

	codegen: move isfinite to the right CppAD namespace

	test: move cppadcg to a dedicated folder

	cmake: only apply PYCPPAD_EXCLUDE_EIGEN_NUMTRAITS_SPECIALIZATION for python bindings

	Merge pull request #1653 from stack-of-tasks/pre-commit-ci-update-config
	[pre-commit.ci] pre-commit autoupdate

2022-05-16  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>

	[pre-commit.ci] pre-commit autoupdate
	updates:
	- [github.com/pre-commit/pre-commit-hooks: v4.1.0 → v4.2.0](https://github.com/pre-commit/pre-commit-hooks/compare/v4.1.0...v4.2.0)

2022-05-13  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'codegen-example' into 'pinocchio-3x'
	examples/codegen: create a codegen example using rnea

	See merge request jucarpen/pinocchio!560

2022-05-13  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[codegen-rnea] remove copyright

2022-05-13  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'topic/JMinv' into 'pinocchio-3x'
	add JMinv function in contact-cholesky

	See merge request jucarpen/pinocchio!557

2022-05-13  Rohan Budhiraja  <proyan@users.noreply.github.com>

	contact-cholesky: add missing MALLOC_ALLOWED

2022-05-13  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'topic/cppadcg' into 'pinocchio-3x'
	pinocchio.cppadcg support

	See merge request jucarpen/pinocchio!558

2022-05-13  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1652 from Toefinder/fix-integrate-SO2
	Fix integrate method for SO2

2022-05-13  Rohan Budhiraja  <proyan@users.noreply.github.com>

	examples/codegen: create a codegen example using rnea

2022-05-13  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: fix cmake version for policy enforcing

	ci: use OpenMP from conda

	cmake: set CMP0074 policy to NEW

	cmake: use complete OpenMP lib path

	cmake: add message for OpenMP_CXX_LIBRARIES

	cmake: fix LINK_PYTHON_INTERFACE_TO_OPENMP name

2022-05-12  Justin Carpentier  <justin.carpentier@inria.fr>

	ci: remove cxx=11

	core: simplify casting and handle cppadcg types

	ci: fix OpenMP linkage on OSX with conda

2022-05-12  Le Quang Anh  <43576719+Toefinder@users.noreply.github.com>

	Fix integrate method for SO2
	When the same vector reference is given to the integrate method as both
	for input and for storing the output, the result is incorrectly
	calculated due to inplace changes. This problem is fixed in this commit.

2022-05-12  Justin Carpentier  <justin.carpentier@inria.fr>

	core: fix other cast for JointModelHelicalUnaligned

	core: remose useless specialization

	core: use helper in JointModelHelical

	core: add ScalarCast helper

	cppadcg: fix cast specialization

2022-05-12  Rohan Budhiraja  <proyan@users.noreply.github.com>

	src/codegen, src/autodiff: add more type support for constant_pi::get

2022-05-12  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'timings_eigen' into 'pinocchio-3x'
	benchmark/timings-eigen: add all storage products

	See merge request jucarpen/pinocchio!555

2022-05-12  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[]cppadcg/__init__: 2022 copyright years

	[joint-helical] revert mistaken commented out code

2022-05-12  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'topic/sdf-geometry' into 'pinocchio-3x'
	sdf/geometry.cpp: deal with loading geometry for fixed joints

	See merge request jucarpen/pinocchio!559

2022-05-10  Rohan Budhiraja  <proyan@users.noreply.github.com>

	sdf/geometry.cpp: deal with loading geometry for fixed joints

	cppad.hpp, cppadcg.hpp: define constant_pi getter for c++11 with std::integral_constant

	bindings/python: cppadcg link with cppad_library

	src/symmetric3: 0 -> Scalar(0)

	cppadcg: src : double-> Scalar()

	codegen/cppadcg: cast double -> CppADCg<double> type

	src/algorithm : double -> Scalar()

	bindings: double -> Scalar

	bindings/algorithm: 0 -> Scalar(0)

	bindings/python/CMakeLists: activate pinocchio.cppadcg compilation

	bindings: cppadcg.__init__

	context/cppadcg: create context::cppadcg header

	unittest/contact-cholesky: check JMinv

	contact-cholesky: get JMinv

2022-05-10  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1648 from stack-of-tasks/pre-commit-ci-update-config
	[pre-commit.ci] pre-commit autoupdate

2022-05-09  pre-commit-ci[bot]  <66853113+pre-commit-ci[bot]@users.noreply.github.com>

	[pre-commit.ci] pre-commit autoupdate
	updates:
	- [github.com/pre-commit/pre-commit-hooks: v4.1.0 → v4.2.0](https://github.com/pre-commit/pre-commit-hooks/compare/v4.1.0...v4.2.0)

2022-05-09  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'topic/joint-config' into 'pinocchio-3x'
	Handle referenceConfiguration update in appendModel

	See merge request jucarpen/pinocchio!556

2022-05-05  Rohan Budhiraja  <proyan@users.noreply.github.com>

	unittest/model: test referenceconfig for appendModel

	multibody/model.hxx: fix == operator

	algo/model.hxx: add referenceconfig in appendModel

2022-05-03  Justin Carpentier  <justin.carpentier@inria.fr>

	release: Update package.xml version to 2.6.7

2022-04-26  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1640 from jcarpent/topic/pickle
	Fix pickling for Boost >= 1.7.4

	Merge pull request #1637 from nim65s/devel
	follow up on hpp-fcl v2

	codacity: fix

	test: add test for pickling with complex URDF model

	python: fix pickling of Pinocchio data structure

2022-04-25  Guilhem Saurel  <guilhem.saurel@laas.fr>

	bindings: register boost::shared_ptr for CollisionGeometry

	ci: update hpp-fcl on conda

2022-04-21  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1636 from jcarpent/topic/examples
	Add example of collision with a point cloud

2022-04-20  Justin Carpentier  <justin.carpentier@inria.fr>

	example: fix

	example: add codacity comments

2022-04-20  Rohan Budhiraja  <proyan@users.noreply.github.com>

	benchmark/timings-eigen: add all storage products

2022-04-20  Justin Carpentier  <justin.carpentier@inria.fr>

	python: fix lib name

	examples: add example of collision with a point cloud

	python/meshcat: update support of hpp-fcl

2022-04-19  fabinsch  <55981657+fabinsch@users.noreply.github.com>

	[template-instantiation] rename make_ref

2022-04-19  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'template-instantiation' into 'pinocchio-3x'
	Template instantiation pinocchio-3x

	See merge request jucarpen/pinocchio!554

2022-04-19  SCHRAMM Fabian  <fabian-constantin.schramm@inria.fr>

	Template instantiation pinocchio-3x

2022-04-19  Justin Carpentier  <justin.carpentier@inria.fr>

	sdf: fix useless var + copyright

2022-04-17  Rohan Budhiraja  <rohan.budhiraja@inria.fr>

	Merge branch 'casadi_fix' into 'pinocchio-3x'
	different bugs that are failing the ci

	See merge request jucarpen/pinocchio!553

2022-04-16  Rohan Budhiraja  <proyan@users.noreply.github.com>

	benchmark timings-const-dyn-deriv: use frame.parentJoint

2022-04-15  Rohan Budhiraja  <proyan@users.noreply.github.com>

	unittest/contact-cholesky: fix sigabrt

	CMakeLists: create dirs autodiff/multibody/joint

	unittest: contact-dyn-deriv: 5 tests fail in cassie. expect them for ci

	[unittest][contact-dyn-derivs] fix dac_dq with contact_acc_error, remove kp>0 test for contact6d lwa; remove redundant loop_closure kinematic test

	autodiff/joint-helical: fix copyright

	algo/prox: replace double -> context::Scalar

	[unittest/sdf]: unused var

	[broadphase]: fix missing return statemebt

	unittest/contact-cholesky: remove print

	unittest: fix signature

	joint-helical: use context scalar for typedefs

	broadphase-manager: copy assignment op

	cppad.hpp: include joint-helical

	joint-helical: add cast specialization for cppad<scalar> to scalar

2022-04-15  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'sdf_update' into 'pinocchio-3x'
	sdf: collision parsing can enter into an indef loop for multiple parents. use...

	See merge request jucarpen/pinocchio!548

2022-04-15  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'baumgarte_fix' into 'pinocchio-3x'
	Baumgarte fix

	See merge request jucarpen/pinocchio!549

2022-04-15  Justin Carpentier  <justin.carpentier@inria.fr>

	python: fix issues with const reference as input argument

	python: fix doc

	python: extend exposition of GeometryObject

2022-04-14  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: set PROJECT_COMPATIBILITY_VERSION

2022-04-13  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[constrained-dyn-deriv] fix for kd lwa 6d

	unittest/contact-dyn-deriv: define global kp kd for easy setting

	[const-dyn-deriv] fix lwa 6d with kp=0, kd=0

	[constrained-dyn-deriv] activate kd corrector

	[constrainted-dyn-deriv] fix (kp kd local_world_aligned 3d)

	unittest: contact-dyn-deriv: test acc for kp, kd

	constrained-dyn-deriv: fix for kd local 3d d/dv

	constrained-dyn-derivs: fix kd local 3d term

	[constrained-dyn-deriv] fix kp for local contact_3d

	[constrained-dynamics-algo] add missing rot derivs for local 3d

2022-04-13  Justin Carpentier  <justin.carpentier@inria.fr>

	test: add missing call to computeLocalAABB

	cmake: sync submodule

2022-04-13  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'versioning' into 'pinocchio-3x'
	[package]: pinocchio-3x should be higher than pinocchio/devel and pinocchio-3preview

	See merge request jucarpen/pinocchio!547

2022-04-13  Rohan Budhiraja  <rohan.budhiraja@inria.fr>

	[package]: pinocchio-3x should be higher than pinocchio/devel and pinocchio-3preview

2022-04-13  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'fix-helical-joint' into 'pinocchio-3x'
	Minor fix helical-joint

	See merge request jucarpen/pinocchio!550

2022-04-13  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'topic/example-robot-data-4' into 'pinocchio-3x'
	sync submodule

	See merge request jucarpen/pinocchio!551

2022-04-13  Justin Carpentier  <justin.carpentier@inria.fr>

	python/casadi: fix missing get_pytype

2022-04-11  Guilhem Saurel  <guilhem.saurel@laas.fr>

	sync submodule

2022-04-08  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1631 from wxmerkt/topic/support-hpp-fcl-v2-in-pinocchio-v2
	Make Pinocchio v2 compatible with HPP-FCL v2

2022-04-08  fabinsch  <55981657+fabinsch@users.noreply.github.com>

	helical-joint: remove copy constructor, fix unittest all-joints
	Use the default copy constructor instead. In all-joints unittest the init method for HelicalJointUnaligned was missing.

2022-04-08  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

	collision: Add support for hpp-fcl v2 in Pinocchio v2

	cmake: sync submodule

	Merge pull request #1630 from wxmerkt/topic/fix-multiline-comment-warning
	Avoid triggering multi-line comment in Latex formula

2022-04-07  Wolfgang Merkt  <w.merkt@gmail.com>

	Fix typos

	Add copy operator to GeometryData

2022-04-07  Justin Carpentier  <justin.carpentier@inria.fr>

	ci: set conda hpp-fcl version

2022-04-06  Wolfgang Merkt  <w.merkt@gmail.com>

	Avoid triggering multi-line comment in Latex formula

2022-04-06  Justin Carpentier  <justin.carpentier@inria.fr>

	python: fix downcast of BroadPhaseManagerPool to GeometryPool

	core: fix when hpp-fcl is missing

	cmake: set default hpp-fcl version to 2.0.0

	Merge pull request #1629 from nim65s/devel
	add dummy .pre-commit-config.yaml

2022-04-05  Guilhem Saurel  <guilhem.saurel@laas.fr>

	add dummy .pre-commit-config.yaml

2022-04-01  Rohan Budhiraja  <proyan@users.noreply.github.com>

	sdf: collision parsing can enter into an indef loop for multiple parents. use model.joints tree instead of graph

2022-04-01  Justin Carpentier  <justin.carpentier@inria.fr>

	python: add cast to base class for Broadphase pools

2022-03-29  Justin Carpentier  <justin.carpentier@inria.fr>

	constraint: add explicit keyword

	geometry: add default constructor

	geometry: add explicit keyword

	parallel: add suffix InParallel to all batches

	joints: change pitch name

	python/utils: update std-vector exposition

2022-03-28  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'helical-joint' into 'pinocchio-3x'
	helical-joint + helical-joint-unaligned

	See merge request jucarpen/pinocchio!541

2022-03-28  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'pragma' into 'pinocchio-3x'
	[bindings] pragma error in gcc

	See merge request jucarpen/pinocchio!545

2022-03-28  Justin Carpentier  <justin.carpentier@inria.fr>

	test: enforce testing of memory issues for pool

	python/constraints: simplify exposition + add updateDamping

	constrints: add updateDamping method to ConstraintCholesky

	broadphase: add more check

	Revert "python: expose operator{==,!=} for std::vector"
	This reverts commit 6710dd4758791b3eee1ac444945e7f507aece7f6.

	core: add operator{==,!=} to Compute{Collision,Distance}

	core: add operator{==,!=} to pinocchio::CollisionObject

	python: expose operator{==,!=} for std::vector

	python/broadphase: add getModel

2022-03-22  Justin Carpentier  <justin.carpentier@inria.fr>

	release: Update package.xml version to 2.6.6

2022-03-22  Wolfgang Merkt  <wxmerkt@users.noreply.github.com>

	Support HPP-FCL for ROS binaries & introduce ROS2 ament integration (#1622)
	* package.xml: Activate dependency on hpp-fcl
	
	hpp-fcl v1.8.1 is now available for ROS Noetic, and will be available
	for ROS Melodic shortly. We can thus build the ROS binaries with HPP-FCL
	support - provided that the BUILD_WITH_COLLISION_SUPPORT flag is toggled
	to ON as a patch.
	
	* package.xml: Remove unnecessary dependency on ament_cmake
	
	* Ament index integration
	
	* package.xml: Add clang dependency for buildfarm

2022-03-22  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'gitlab-ci' into 'pinocchio-3x'
	Gitlab ci

	See merge request jucarpen/pinocchio!546

2022-03-22  Rohan Budhiraja  <rohan.budhiraja@inria.fr>

	Gitlab ci

2022-03-21  Justin Carpentier  <justin.carpentier@inria.fr>

	python: add copy constructor and method to std::vector

	cmake: fix issue for detecting OpenMP with CMake >= 3.20.0

	algo/parallel: use static schedule

	python: fix when URDF is missing

	python: fix when URDF is missing

	python: fix when URDF is missing

2022-03-20  Justin Carpentier  <justin.carpentier@inria.fr>

	python: allow assignment of Model::jointPlacements

	throw: fix

	pool/geometry: add sync method

	pool/geometry: init oMg with Identity
	This is needed by the broadphase during the update phase

	pool/geometry: also copy oMg field

	python/geometry: use AddressVisitor

	python: add AddressVisitor

	geometry: add copy constructor to GeometryModel

2022-03-19  Justin Carpentier  <justin.carpentier@inria.fr>

	python/broadphase: expose getGeometryModel as readable model

2022-03-18  Justin Carpentier  <justin.carpentier@inria.fr>

	geometry: fix clone for GeometryObject

	python/geometry: expose clone method for GeometryModel

	pool: fix

	python: sync Pool with new API

	pool: duplicate models for efficiency

	test: add missing include

	geometry: add clone method to GeometryModel

2022-03-17  Justin Carpentier  <justin.carpentier@inria.fr>

	multibody: add dedicated files for geometry objects

	test: dispatch tests in appropriate files

	geometry: add clone method to GeometryObject
	Also refactor the operator{==,!=} accordingly

2022-03-16  fabinsch  <55981657+fabinsch@users.noreply.github.com>

	bindings: add joint-helical [unaligned]

	joint-helical-unaligned copy constructor

	helical-joint: fix casting and classname()

	helical-joint copy constructor + explicit constructor with pitch

	unittest: helical-joint pitch->h

	helical-joint-unaligned remove redundancy pitch, only keep linearRate

2022-03-16  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[bindings] pragma error in gcc

2022-03-15  Justin Carpentier  <justin.carpentier@inria.fr>

	meshcat: fix reload method

2022-03-15  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'gitlab-ci' into 'pinocchio-3x'
	[gitlab-ci] install hpp-fcl from devel

	See merge request jucarpen/pinocchio!544

2022-03-15  Rohan Budhiraja  <rohan.budhiraja@inria.fr>

	[gitlab-ci] install hpp-fcl from devel

2022-03-15  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'hpp-fcl' into 'pinocchio-3x'
	hpp-fcl changed boost::shared_ptr -> std::shared_ptr

	See merge request jucarpen/pinocchio!543

2022-03-15  Rohan Budhiraja  <rohan.budhiraja@inria.fr>

	hpp-fcl changed boost::shared_ptr -> std::shared_ptr

2022-03-15  Justin Carpentier  <justin.carpentier@inria.fr>

	broadphase: expose getCollisionObjectStatus

	broadphase: account for degenerated geometries

	broadphase: fix check against minus infty

2022-03-15  fabinsch  <55981657+fabinsch@users.noreply.github.com>

	helical-joint remove redundancy pitch, only keep linearRate

2022-03-15  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'sdf-parser' into 'pinocchio-3x'
	[sdf][examples] urdf.addJointAndBody expects previouslink_M_joint, and not...

	See merge request jucarpen/pinocchio!540

2022-03-15  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'topic/bindings' into 'pinocchio-3x'
	Remove double specific exports from non-double bindings

	See merge request jucarpen/pinocchio!538

2022-03-15  Rohan Budhiraja  <rohan.budhiraja@inria.fr>

	Remove double specific exports from non-double bindings

2022-03-15  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'casadi-test' into 'pinocchio-3x'
	[casadi-algo] add relative library path for dlopen

	See merge request jucarpen/pinocchio!539

2022-03-15  fabinsch  <55981657+fabinsch@users.noreply.github.com>

	unittest: init method for helical (unaligned)

	joint-helical fix methods

	joint-helical-unaligned fix methods

	bindings/aba: correct torque veloctiy explaination

	output size dynamic for ConstraintForceSetOp, not ideal

	fix output size LhsMultiplicationOp joint-helical + unaligned

	joint-helical model make pitch public

	joint-helical-unaligned axis and pitch public

	joint-helical-unaligned remove cast type

	joint-helical-unaligned add constructur for axis

	joint-helical add default constructors

	fix serialization JointMotionSubspaceHelical

	serialization/helical: add model, data, motion, subspace

	serialization: add pitch to helical transform, motionm, subspace

	unittest/helical: test_suite for helical unaligned

	joint-helical.hpp: typedef Hy, Hz

	unittest/helical: add tests for helical unaligned and main algos

	multibody/joint: start joint-helical-unaligned.hpp

	multibody/joint: add helical unaligned in fwd, joint collection, joints

	joint/helical: fix LhsMultiplicationOp axis

	joint/helical: fix matrix_impl of MotionSubspace

	joint/helical: avoid temp variable

	joint/helical: fix se3ActionInverse

	joint/helical: avoid using tmp variable

	unittest/helical: spatial and vsPXRX remove comments

	unittest/helical: add aba, crba, jacobian tests

	unittest/helical-joint: change order to prismatic, revolute for comparison

	joint-helical.hpp: add missing line LhsMultiplicationOp method

	src/serialization: add helical joint

	multibody/joint: helical joint fix and add methods

	unittest/helical: add tests for main algos, WIP

	unittest/helical: add tests for transform and motion

	multibody/joint: add helical in fwd

	multobody/joint: add helical in joint collection

	multibody/joint: create helical, WIP, overparametrized

2022-03-14  Justin Carpentier  <justin.carpentier@inria.fr>

	broadphase: always computeAABB

2022-03-10  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[unittest/sdf] add closed loop check for parallel.sdf using buildModelFromXML

2022-03-07  Justin Carpentier  <justin.carpentier@inria.fr>

	test/constrained: fix derivatives test

	algo/constraints: fix derivatives computations

	algo/constraints: fix variable name and remove useless

	algo/constraints: remove useless noalias()

	algo: fix indents

	python: fix bindings

2022-03-07  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[unittest/sdf] add sdf parsing for parallel.sdf using buildModelFromXML

	[sdf][parser] add buildFromxml signature

	[sdf] add buildModelFromXML signature

	[sdf][model] move duplicated code to parseContactInformation

	[unittest][sdf] comparison of sdf v1.5 for 3 link chain

	[sdf][examples] urdf.addJointAndBody expects previouslink_M_joint, and not previousJoint_M_joint as input. Add example to compare with 3 link model

	[casadi-algo] add relative library path for dlopen. see https://stackoverflow.com/questions/17715774/c-linux-dlopen-cant-find-so-library

	[unittest][CMakeLists] remove duplicate def of casadi macro

2022-03-06  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/constraints: avoid memory allocation and change var naming for clarity

2022-03-05  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/constraints: add more space

	algo/constraints: avoid memory allocation and store intermediate results
	Easier for debugging and testing

	algo: fix indentation

	test/constraints: fix testing

	test/loops: fix testing of closed loops

	algo/constraint: fix missing cross term

2022-03-03  Justin Carpentier  <justin.carpentier@inria.fr>

	python/data: expose contact intermediate quantities

	constraints: add absolute convergence criteria

	constraint: update ProximalSettingsTpl API

	constraints: fix indents

	contraints: add DelassusExpression extraction for Cholesky decomposition

	test: fix indents

	python/inertia: throw when the inertia is not symmetric

	python/joints: expose createData

	python/joints: extend to JointData extract

	python/joints: add extract to JointModel generic

	broadphase: fix CallBack collide method

	broadphase: add getBroadPhaseManagers to TreeBroadPhaseManagerTpl

2022-03-02  Justin Carpentier  <justin.carpentier@inria.fr>

	broadphase: exclude inactive geometries from the BroadphaseManager
	They are not contributing to the collision tree.

	python: fix exposition of Broadphase in the main module

	python/geometry: expose CollisionObject

	python/broadphase: fix method name

2022-03-01  Justin Carpentier  <justin.carpentier@inria.fr>

	core: fix windows issue

	bench: add bench for {Tree}BroadPhaseManagerPool

	bench: fix warnings

	parallel: use schedule(dynamic)
	Because the jobs may end earlier

2022-02-28  Justin Carpentier  <justin.carpentier@inria.fr>

	parallel: add schedule(static)

2022-02-27  Justin Carpentier  <justin.carpentier@inria.fr>

	parallel: filter pairs in computeCollisions

	collision: restore bad merging

2022-02-26  Justin Carpentier  <justin.carpentier@inria.fr>

	broadphase: fix logic

	broadphase: fix bug

	broadphase: fix TreeBased broadphase module

	python: fix doc

	pool: enhance stopAtFirstCollisionInBatch feature

	python: add missing include

	python/broadphase: fix pool exposition

	broadphase: change BroadPhaseManagerPoolBase name

	python: fix Frame exposition

	python: enhance exposition of BroadPhaseManagerPool

	python: update parallel bindings with new API

	parallel: add stopAtFirstCollisionInBatch option

	test: add testing of TreeBroadPhaseManagerPoolTpl

	parallel: define common setup for all cases

2022-02-25  Justin Carpentier  <justin.carpentier@inria.fr>

	pool: extend BroadPhaseManagerPoolBaseTpl to account for all derived types

	core: enhance broadphase

	python: simplify exposition

	python: expose TreeBroadPhaseManagerTpl

	python: add BroadPhaseManagerBasePythonVisitor

	broadphase: add missing update

	python: update bindings of CollisionCallBackBase

	python/broadphase: extend to BroadPhaseManagerBase

	broadphase: fix bug

	doc: fix

	broadphase: add TreeBroadPhaseManagerTpl

	broadphase: extend CollisionCallBack for Tree collisions check

	broadphase: fix bug

	broadphase: derived from BroadPhaseManagerTpl

	algo: use BroadPhaseManagerBase in collision algos

	broadphase: introduce BroadPhaseManagerBase

	test: fix deprecated signature of GeometryObject

2022-02-24  Justin Carpentier  <justin.carpentier@inria.fr>

	python/contact: fix exposition of BaumgarteCorrectorParameters

	python: expose Symmetric3 for all scalar types

	python: fix Symmetric3 exposition

2022-02-24  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'pinocchio-3x-merge' into 'pinocchio-3x'
	Merge pinocchio-3x-merge to pinocchio-3x

	See merge request jucarpen/pinocchio!530

2022-02-24  Justin Carpentier  <justin.carpentier@inria.fr>

	test: add test for BroadPhaseManagerPool

	broadphase: use filters to select appropriate geometries to consider

	multibody: introduce GeometryObjectFilterBase and its variants

	multibody: introduce InstanceFilter

2022-02-23  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/broadphase: fix bugs

	broadphase: simplify BroadPhaseManagerTpl

2022-02-22  Justin Carpentier  <justin.carpentier@inria.fr>

	core: introduce CollisionObjects and use it for Broadphase

	multibody: split definition and implementation

2022-02-21  Justin Carpentier  <justin.carpentier@inria.fr>

	python: expose getCollisionObjectInflation

	broadphase: account for inflation of AABBs

	python: fix arg

	broadphase: set derived update method

	broadphase: fix bug

2022-02-18  Justin Carpentier  <justin.carpentier@inria.fr>

	python: expose missing method

	python/broadphase: enhance support of base methods

2022-02-18  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[bindings][explog] fix remaining warnings

	multibody/liegroup/vector-space: fix copy assignment oerator

	unittest/constrained-dyn: fix warning

	src/multibody: add missing copy constructors or copy assignment operators

	multibody/geometry: parent-> parentJoint

	bindings/sdf: add missing parent_guidance arg

	unittest, bindings, src: fix warnings

	[unittest/constrained-dyn-derivs] suppress warnings deprecated forwarddynamics

2022-02-17  Justin Carpentier  <justin.carpentier@inria.fr>

	test/pool: enforce testing of BroadPhaseManagerPoolTpl

	broadphase: remove bad check
	Not working when the size >= 2

	broadphase: enforce check

	algo/broadphase: do not update AABB. SHould be done manually by the user.

	python/broadphase: extend API expose

2022-02-17  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[src/spatial] add user-defined copy constructors for motion, se3, symmetric3

2022-02-17  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

	test/broadphase: enforce simple testing

	broadphase: add access to collision_objects

2022-02-17  Rohan Budhiraja  <proyan@users.noreply.github.com>

	parsers/sdf: fix unused warnings

	constrained-dyn-deriv + impulse-dyn-deriv: remove unused variables and typedefs

	[multibody/fwd]: remove deprecated warnings for frame

	constrained-dyn-deriv + impulse-dyn-deriv: remove unused variables and typedefs

2022-02-17  Justin Carpentier  <justin.carpentier@inria.fr>

	core: fix warning

	cmake: fix argument to macro

	cmake: sync submodule

2022-02-17  Rohan Budhiraja  <proyan@users.noreply.github.com>

	sdf/geometry: fix loading of multiple meshes

2022-02-16  Justin Carpentier  <justin.carpentier@inria.fr>

	python/broadphase: expose further methods for BroadPhaseManager

2022-02-16  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[template-instantiation][algorithm/kinematics] fix function declarations

	[template-instantiation][algorithm/jacobian] fix function declarations

	spatial/symmetric3: fix operator <<

	src/context: fix typo

	[multibody/pool] fwd: double-> context::Scalar

	[fwd] double-> conext::Scalar, 0 -> context::Options

	[CMakeLists][gitlab] turn CMAKE_VERBOSE_MAKEFILE false for gitlab output

2022-02-16  Rohan Budhiraja  <rohan.budhiraja@inria.fr>

	Merge branch 'pinocchio-3x-merge' into 'pinocchio-3x-merge'
	kinematic.cpp and kinematics.txx simplify VectorXs

	See merge request jucarpen/pinocchio!535

2022-02-16  Fabian  <fabian.schramm@tum.de>

	replace DataTpl with Matrix6xs

	context: define Matrix6xs

	add jacobian.txx

	add souce jacobian.cpp

	remove comment

	replace specific model vectors by VectorXs

	define context::VectorXs

2022-02-16  Rohan Budhiraja  <rohan.budhiraja@inria.fr>

	Merge branch 'symmetric3-bindings' into 'pinocchio-3x-merge'
	Symmetric3 python bindings

	See merge request jucarpen/pinocchio!534

2022-02-16  SCHRAMM Fabian  <fabian-constantin.schramm@inria.fr>

	Symmetric3 python bindings

2022-02-16  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[CMakeLists][gitlab] turn CMAKE_VERBOSE_MAKEFILE false for gitlab output

	[example][cassie-sim] change example to find out half-standing pose for cassie.

	[pinocchio-3x-merge] handle reviews. minor fixes

	[algo][geometry] remove duplicated code

	[benchmark][parallel] fix geometrypool api

	unittest/pybind11: missing target include dir

	[gitlab-ci]debug: output standard output to file make.log

	[gitlab-ci] install eigenpy, hpp-fcl, sdformat12 using conda.

	[unittest][contact-dyn-derivs] add kinematics derivatives test for cassie robot (check daq_dq).

	[unittest][constraint-dyn-derivs] add test for kinematic fd check for loop closure constraint

	[gitlab-ci] suppress make output except errors. Otherwise leads to log size errors. refer: https://www.gnu.org/software/automake/manual/html_node/Tricks-For-Silencing-Make.html

	[multibody/model-item] reorder initialization

	src/multibody: Options = 0 -> context::Options

	src/multibody: double -> context::Scalar

	context: move to src/context.hpp.

	kinematics.txx: double, 0 -> context::Scalar, context Options

	unittest: contact-dyn-deriv: don't run sdf test without sdf

	test gitlab-ci

	unittest: contact-dyn-deriv: don't run sdf test without sdf

	test gitlab-ci

	[test] .gitlab: use local container registry with conda

	[unittest] add proximal test for closed loop

	gitlab test

	[gitlab][ci] from rainboard.laas

	[src/CMakeLists] start to separate library generation in separate function

	[CMakeLists] introduce ENABLE_TEMPLATE_INSTANTIATION

	[unittest/contact-dyn-derivs] use cassie.sdf

	[algo/kinematics.hpp] include template declarations

	[src/multibody/fwd] use context::scalar to define typedefs

	[src/fwd] define basic context types: Scalar and Options. TODO: Move to context/generic.hpp

	[algo/kinematics] template instantiation cpp

	[algo/kinematics] add txx file for template instantiation

	[sdf] parse fixed joint + required axis information for revolute and prismatic joints. Throw if sdf not upto standard

	bindings/shortcut: add geometry types for default option

	[sdf/model] throw if joint's parent is not defined

	autodiff/casadi-algo: contactmodel-> constraintmodel

	[casadi] fix api change

	[algo/constrained-dyn-derivs] specify scalar type for non double types

	[cppad/log.hxx] log6_impl specialization for CppAD

	[examples/CMakelists] fix name for example target

	[bindings/python/spatial] gcc requires that pragma not be declared within an enumeration. See https://gcc.gnu.org/bugzilla/show_bug.cgi?id=78657

	python/f_rnea: removefrivolous file

	[minor fixes] log3_quat -> log3 and frame.parent -> frame.parentJoint

	[src/algo/contact-dyn-derivs] algo/contact: fix derivatives

	[unittest/contact-dynamics-derivatives] minor fix

	[unittest][contact-dynamics-derivatives] remove stdout statements

	[rebase] fix merge issues from pinocchio-3x rebase

	[benchmark] constrained-dyn-derivs: remove duplicate file

	[unittest][sdf] add test for sdf without rootlink. change to cassie.sdf

	[constraint-dynamics] fix iterate number from swap bugy

	[parser/sdf] deal with relative frames

	[src/parsers/sdf]: handle cases where links have multiple parents. use parent guidance

	[sdf/parsers] add parentGuidance for links with multiple parents

	[bindings/sdf] add argument for parent_guidance when parsing sdf in python bindings

	[sdf/geometry] remove customization for ball joint non-parsing

	[sdf] parse use_parent_model_frame, and change axis accordingly

	[bindings/parsers] expose default rootLinkName="".

	[sdf] default root link finder in buildModel and buildGeom

	[model.hxx] findRootLink introduce.

	sdf/model.hxx: set default value for maxconfig etc

	[bindings][sdf] buildGeom api fix

	sdf/geometry: buildGeom, move rootLinkName towards the end for optional argument

	bindings/geometry-object: add bindings for deprecated signature

	fcl/geometry-object: add deprecated constructor

	[model-item] doc fix

	[examples] fix API change for GeometryObject in examples

	[bindings/frame]: add deprecated bindings for parent and previousFrame

	urdf/model.hxx: parent->parentJoint

	multibody/frame: customize copy constructor and copy assignment operator

	multibody/frame: add reference for deprecated Frame.parent and Frame.previousFrame

	unittest/python/bindings_frame: frame.parent -> parentJoint

	multibody/tree -> multibody/model-item

	replace frame.parent -> frame.parentJoint, new api

	multibody/model: change frame.parent->parentJOint, new api

	urdf, sdf: change frame parent->parentJoint, new API

	[multibody/fcl]: switch placement arg in constructor as well

	multibody/fcl: fix constructor, and switch parentFrame+parentJoint arguments

	[multibody/fcl]: change joint+frame order in constructor to match frame api

	[multibody/frame]: parent -> parentJoint; prevousFrame-> parentFrame

	[multiobdy/tree]: fix constructor

	[multibody/tree] add constructors

	multibody/frame: use ModelItem::name etc for frame kinematic info

	multibody/frame: use modelitem and traits for scalar/options typedefs

	multibody/fcl: use ModelItem::name, placement etc in GeometryOBject

	multibody/fcl: use def of traits for scalar and options in GeometryObject

	multibody/tree: Add notion of ModelItem, which contains info about a kinematic model element

	[urdf/model] replace exact axis checking with isApprox with eigen dummy-precision.

	[urdf/model.hxx] use eigen::Unit vectors

	[unittest/sdf] compare sdf parsed model with urdf parsed model

	[sdf/model.hxx] fix the relative placements between pMjp and cMj based on the urdf addJoint setup.

	model/simple_humanoid.sdf: create simple_humanoid sdf from urdf

	[unittest/sdf] compare sdf model with urdf model

	[sdf]: take root link name from the user to start parsing of children

	sdf/model.hxx: set robot name from sdf

	sdf/models.hxx: fix issue with inertia lever arm.

	[bindings][sdf] use root link information to parse model and geom model

	[unittest/sdf] add test to compare sdf against urdf.

	models/cassie: not needed, cassie is in example_robot_data now

	sdf/model.hxx: add all joints, and always create 6d loop constraint at link origin. Divide inertia into the two joints.

	[spatial/symmetric3] add scalar *= operator

	[sdf/model.hxx] add comments on logic flow during parsing.

	[CMakeLists] SEARCH_FOR_SDF REQUIRED when option is ON

	[cmake][sdf] sdformat all version search

	[sdfparser/geometry.hxx] replace ignition::Vector4 by ignition::Color for compatibility with sdf versions

	models/example-robot-data: submodule update

	[unittest/contact-dynamics-derivatives] add cassie unittest with sdf parser

	unittest/impulse-dynamics-derivatives: use prox settings signature; use random joint1_placement in fd tests, related to #1540

	algo/impulse-dynamics: prox settings signature

	[algo/impulse-dynamics-derivatives] add proximal settings to signature; use contactFOrceContribution from constrained dynamics; add joint1_placement contribution; fixes #1540

	[constrained-dynamics-derivatives] separate out contactforcecontribution for impulse dynamics signature

	[bindings] add prox_settings to impulse-dynamics signature.

2022-02-16  Justin Carpentier  <justin.carpentier@inria.fr>

	core: change initial iteration value for prox algo
	Fixes a bug in the derivatives computation

2022-02-16  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[parser][sdf] sdf fix for no first joint

	[unittest]sdf: fix unittest

	[unittest][sdf] add unittest to check cassie loading

	[explog] missing typedefs

	[constrained-dyn-derivs] fix misplaced derivs

	[robotwrapper][sdf] fix updated API

	[constraint-dyn-derivs]: bindings: expose with prox settings

	gitignore

	[merge] contact->constraint

	[merge][fix] add missing parts from original merge. constraint dynamics derivatives now use proximal settings. contact->constraint

	[merge][bindings] remove overload operators. contact-> constraint

	[constraint-dynamics] use API change. merge constraint-dynamics-derivative files together

	[merge][fix]: removed duplicated files

	[sdf] macro fixes

	[unittest] increase precision for classic-acc and liegroups [examples] fix rigidconstraintmodel api

	[sdf][model] add ContactDetails struct to store contacts in SdfGraph

	[sdf][geometry] don't need contact_models in args anymore

	[src/parsers] missing signature in sdf parser

	[unittest]rigidconstraintmodel: fix constructor

	[bindings] stdvector fix template

	name fix: RigidContact -> RigidConstraint

	ci debug: heap allocatino fails in contact-dynamics-derivs

	[unittest][casadi] set timout property to 3000s

	ci debug: change order of derivative tests

	[unittest][contact-dynamics-derivatives] remove loop_j2 tests

	[contact-dynamics-derivatives] add 3d and 6d local check files

	[contact-dynamics-derivatives] break into 3 files

	[cmake]debug: only build examples

2022-02-16  Rohan Budhiraja  <12423606+proyan@users.noreply.github.com>

	Update windows-conda-v142.yml
	Verbose output to check CI error

2022-02-16  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[data.hpp] disable eigen tensor warning in windows systems

	[workflows] dont use pycppad for windows environment

	[workflows] separate linux and windows environments

	[CMakeLists] set 11 as the minimum standard for pinocchio3

	[CMakeLists] use minimal cxx standard for urdf and sdf cases

	[import cppad] move to context/cppad.hpp

2022-02-16  Justin Carpentier  <justin.carpentier@inria.fr>

	ci/conda: fix dependencies for Windows

2022-02-16  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[ci][conda-env] add pycppad as dependency

	[cppad][__init__] need to import pycppad to define AD type first

	[cppad][getScalarType] define function for cppad context

	[conversions] fix casting issue for cppad

	[bindings][shortcuts] remove list as default value. static pylint warning: dangerous-default-value (W0102)

2022-02-16  Rohan Budhiraja  <12423606+proyan@users.noreply.github.com>
	    Guilhem Saurel  <guilhem.saurel@laas.fr>

	Update bindings/python/pinocchio/robot_wrapper.py
	BUILDFromSDF is static

2022-02-16  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[sdf][geometry] fix issue with parsing non-existing geometry elements

	[bindings][geometry] missing const

	[robot_wrapper] add BuildWithSDF method

	[bindings][shortcuts][sdf] add shortcut for buildmodelfromsdf

	[bindings][sdf][buildModel] directly use JointModel instead of bp::object

	[sdf] use const model in buildGeom argument list

	[sdf][geometry] expose additional signatures

	[sdf][buildGEom] add signature for single pacakge path

	[unittest][constraint-dynamics] lower precision for casadi test

	[examples] propagate submodule name change in examples

	[unittest] 1) break casadi-algo-derivatives test into multiple files to avoid memory exhaustion in CI 2) refactor the casadi, codegen, cppadcg tests into separate folders

	aba-derivatives: reduce precision for certain OS failures

	[unittest] constrained-dynamics fix for some OS environments

	[casadi, codegen algo] fixes for CI, fix include

	[liegroup/special-euclidean/orthogonal] remove ambiguity in normalize for windows

2022-02-16  Wolfgang Merkt  <w.merkt@gmail.com>

	Work-around for #1463

2022-02-16  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[rebase] rebase on top of pinocchio-3x

2022-02-15  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/collision: fix var name

	algo/collision: remove useless var

	algo/collision: fix logic

	algo/collision: handle the case where the collision pair is inactive

	cmake: fix var name

2022-02-14  Justin Carpentier  <justin.carpentier@inria.fr>

	python: switch exposition order

	test/python: fix function name

	all: fix default python lib name

	python: fix types

	algo: remove useless variables

	core: comment useless variable

	core: fix merging issue

	Merge tag 'v2.6.5' into topic/merging-v2.6.5
	Release of version 2.6.5.

	release: Update package.xml version to 2.6.5

	python: fix types

2022-02-11  Justin Carpentier  <justin.carpentier@inria.fr>

	python: expose broadphase parallel algos

	python: expose broadphase algos

	python: expose BroadPhaseManagerPoolTpl

	python: expose BroadPhaseManagerTpl

	pool: fix warnings

	test/parallel: test BroadPhaseManagerPoolTpl computeCollisions

	parallel: add computeCollisions with BroadPhaseManagerPoolTpl

	parallel: fix warnings

	pool: add BroadPhaseManagerPoolTpl

	algo: fix parallel algo

	test: add broadphase test

	algo: add computeCollisions with BroadPhaseManagerTpl

	core: add CollisionCallBackBase

	core: add BroadPhaseManagerTpl

	algo: remove std::cout

	algo: split geometry algo into collision and distance

	core: remove useless typedef

	python/algo: fix esposition of computeCollisions

	test/explog: enforce testing of Jlog6

	test/geometry: test GeometryModel::collisionPairMapping

	doc: improve

	parser/srdf: simplify code by using collisionPairMapping

	python: expose GeometryModel::collisionPairMapping

	core/geometry: add GeometryModel::collisionPairMapping field

	core/geometry: add CollisionObjectData

	bench/pool: apply change

	python: import hppfcl at the beginning

	test/pool: apply change

	python/pool: apply change

	pool: use pointers (no copy) and simplify interface

2022-02-10  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'wjallet/mpfr-compile-error' into 'pinocchio-3x'
	[multiprecision] fix compiler error

	See merge request jucarpen/pinocchio!532

2022-02-07  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1606 from vnghia/devel
	allow `robot_wrapper` to share data with its `viz`

2022-02-07  Vo Van Nghia  <vanvnghia@gmail.com>

	rename `shared_data` to `share_data`

2022-02-06  Vo Van Nghia  <vanvnghia@gmail.com>

	allow robot_wrapper to share data with its viz

2022-02-04  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1604 from stack-of-tasks/jmirabel-patch-1
	Update README.md

2022-02-04  Joseph Mirabel  <jmirabel@eurekarobotics.com>

	Update README.md

2022-01-31  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1599 from jcarpent/topic/bug
	Fix bug in ABAChecker

	test/checker: fix test

	algo: fix bug in ABAChecker
	Related to #1598

	cmake: sync submodule

2022-01-21  ManifoldFR  <wilson.jallet@polytechnique.org>

	[multiprecision] fix compiler error
	* use right fmtflag instead of bool 'true' as compiler asks

2022-01-20  ManifoldFR  <wilson.jallet@polytechnique.org>

	Fix for XYZquat variant of log6
	+ fixes corner-case where quat.w() is negative -> cotan negative
	+ minor formatting fix

2022-01-20  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/contact: fix derivatives

	algo/contact: fix specific case

	test/contact: small fix

	algo/contact: fix

	algo/contact: fix iter

	python: use readwrite for std::vector exposition
	Allows to rewrite the quantity - much more efficient

	python/meshcat: handle HeightFieldOBBRSS

	python: serialize HeightField

2022-01-12  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1588 from florent-lamiraux/devel
	[multibody/geometry] Add method to remove an object.

2022-01-11  Florent Lamiraux  <florent@laas.fr>

	[multibody/geometry] Fix indentation.

	[multibody/geometry] Add method to remove an object.
	  Add a test to check object removal and correct collision pair handling.

2022-01-10  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1586 from proyan/devel
	[multibody/model] add joint arg validation

	core: fix format

2022-01-10  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[multibody/model] add joint arg validation

2022-01-06  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1585 from duburcqa/devel
	Missing `noalias`

	Merge pull request #1582 from wxmerkt/topic/eliminate-temporary-allocations-in-computeAllTerms
	[computeAllTerms] Add missing noalias to avoid temporary allocation

2022-01-06  Alexis Duburcq  <alexis.duburcq@wandercraft.eu>

	missing no alias

2022-01-06  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1583 from wxmerkt/topic/reduce-allocations-in-benchmarks
	[timings] Reduce allocations in finite-difference baselines

2022-01-04  Wolfgang Merkt  <w.merkt@gmail.com>

	[benchmarks] Use PINOCCHIO_ALIGNED_STD_VECTOR

	[timings-derivatives] Reduce temporary allocations in FD baselines
	Passing the already allocated output to pinocchio::integrate reduces
	temporary allocations, and thus runtime, of the finite-difference
	baselines considerably.

2022-01-04  Wolfgang Merkt  <w.merkt@gmail.com>

	[computeAllTerms] Add missing noalias to avoid temporary allocation
	This commit adds a missing noalias operator which resulted in tempory
	allocations when running computeAllTerms. Eliminating the temporary
	allocation results in a ~11% speed-up when performing computeAllTerms.

	Timings from timings.cpp, compiled with Clang++12:
	Before: 15.6495us
	After: 13.8686us

2021-12-08  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1572 from ManifoldFR/wjallet/devel-expose-dIntegrateTransport
	Expose dIntegrateTransport

2021-12-08  ManifoldFR  <wilson.jallet@polytechnique.org>

	Add unittest for dIntegrateTransport bindings

	[bindings/algorithm] expose dIntegrateTransport

2021-12-07  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1568 from proyan/devel
	Append "/share" to AMENT_PREFIX_PATH

2021-12-06  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[utils/file-explorer] append /share to AMENT_PREFIX_PATH

	cmake update

2021-12-06  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1567 from jcarpent/topic/doc
	Fix constrained dynamics formula

	readme: sync email and tutorials links

	doc: fix constrained dynamics formula
	Related to #1560

2021-12-06  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'wjallet/expose-dintegratetransport' into 'pinocchio-3x'
	Expose dIntegrateTransport

	See merge request jucarpen/pinocchio!531

2021-12-06  ManifoldFR  <wilson.jallet@polytechnique.org>

	[bindings/algorithm] expose dIntegrateTransport

2021-12-06  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1566 from olivier-stasse/devel-projects
	Add list of projects based on Pinocchio

	readme: fix section title

2021-12-05  Olivier Stasse  <olivier.stasse@laas.fr>

	2nd fix for the TriFingerSimulation

	Fix TriFinger link.

	Adding ocs2, trifinger, and casadi_kin_dyn.

2021-12-05  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1563 from olivier-stasse/devel-contributing
	Add CONTRIBUTING.md file for newcomers

2021-12-05  Olivier Stasse  <olivier.stasse@laas.fr>

	Add projects based on Pinocchio

2021-12-04  Olivier Stasse  <olivier.stasse@laas.fr>

	Fix format for CONTRIBUTING.md

2021-12-04  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1561 from olivier-stasse/devel
	Correct link to examples. Removed python subdirectory in the link as the directory does not exist anymore

2021-12-04  Olivier Stasse  <olivier.stasse@laas.fr>

	Add CONTRIBUTING.md file

	Correct link to examples. Removed python subdirectory which does not exist anymore.

2021-11-22  François BAILLY  <francois.bailly@inria.fr>

	Update README.md
	typo

2021-11-06  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1549 from EtienneAr/devel
	RVizVisualizer update

2021-11-05  EtienneAr  <48348317+EtienneAr@users.noreply.github.com>
	    Guilhem Saurel  <guilhem.saurel@laas.fr>

	Apply suggestions from nim65s

2021-11-05  EtienneAr  <earlaud@pl346-pro.paris.inria.fr-1>

	Move new argument place in initViewer

	Prevent viewer from crashing id display or clean are called before loadViewerModel

	Clean function follows the actual specs

	Minor name fix

	Fix ros init node fatal error when node is already started

2021-11-05  Justin Carpentier  <justin.carpentier@inria.fr>

	models: sync submodule

2021-11-04  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1546 from jcarpent/topic/python
	Fix warning issue in Python

	python: fix warning issue

2021-11-02  Justin Carpentier  <justin.carpentier@inria.fr>

	release: Update package.xml version to 2.6.4

	cmake: fix linkage issue to OpenMP

	cmake: sync submodule

	Merge pull request #1541 from wxmerkt/topic/turn-off-automatic-documentation-generation
	Turn off automatic documentation generation

	ci: add build of documentation

2021-10-30  Justin Carpentier  <justin.carpentier@inria.fr>

	ci: enable ccache

	cmake: fix python module

	ci: add support of ccache

	cmake: fix linkage for pybind11_add_module
	See https://github.com/pybind/pybind11/issues/3081 for further details

	Merge pull request #1542 from jcarpent/topic/cmake
	Sync submodule

	cmake: fix OpenMP linkage for tests

	cmake: fix namings

	cmake: homogenize

	cmake: sync submodule

2021-10-30  Wolfgang Merkt  <w.merkt@gmail.com>

	[pybind11] Remove unused variable converter

	[unittest] Add test_cpp2pybind11 to automatically executed tests
	It wasn't included in the test suite before

	[unittest] Update deprecated Boost header

	Turn off automatic documentation generation
	The documentation is generated automatically if Doxygen is installed,
	which takes a considerable amount of time. Most users are likely to use
	the online-hosted Doxygen by default and so setting the default for
	INSTALL_DOCUMENTATION to false should be fine (as is done in EigenPy).
	For distribution/binaries, we save ~36-77 MB of installed files.

2021-10-22  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1538 from jmirabel/python_geom_from_urdf_string
	[python] Simplify buildGeomFromUrdf and allow to build from string.

2021-10-22  Joseph Mirabel  <jmirabel@eurekarobotics.com>

	[python] buildGeomFromUrdf returns a GeometryModel*

2021-10-21  Joseph Mirabel  <jmirabel@eurekarobotics.com>

	[python] Simplify buildGeomFromUrdf and allow to build from string.

2021-10-21  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1536 from rubengrandia/fix/copy_supports_in_model_cast
	make copy of supports during model cast

2021-10-21  Ruben Grandia  <rubengrandia@gmail.com>

	make copy of supports during model cast

2021-10-15  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1519 from jmirabel/pybind11
	[python] Add pybind11 header.

2021-10-13  Joseph Mirabel  <jmirabel@eurekarobotics.com>

	[CMake] Use NOMINMAX compilation flag on Windows.

	[pybind11] Add pybind11-all.hpp

	[pybind11] Let CMake download pybind11

2021-10-10  Justin Carpentier  <justin.carpentier@inria.fr>

	python/geometry: expose Collision/Distance functors

	geometry: fix pointers references

2021-09-30  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1533 from jmirabel/devel
	[python] Fix BaseVisualizer constructor.

2021-09-28  Joseph Mirabel  <jmirabel@eurekarobotics.com>

	[python] Fix BaseVisualizer constructor.

2021-09-20  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'wjallet/fix-log3' into 'pinocchio-3x'
	[spatial | multibody] fix robustness of log3

	See merge request jucarpen/pinocchio!529

2021-09-18  Justin Carpentier  <justin.carpentier@inria.fr>

	python: set typing for buildModelsFromUrdf

	python/utils: enhance API exposed for std::vector

	python: remove redundant call

	python/algo: add list -> vector converter

2021-09-17  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1530 from jcarpent/topic/viewer
	Add support of Convex within MeshCat + improve GeometryObject bindings

2021-09-17  ManifoldFR  <wilson.jallet@polytechnique.org>

	Merge changes from pinocchio-3x

2021-09-17  Justin Carpentier  <justin.carpentier@inria.fr>

	python: shared memory between Python/C++

	core: fix default value of meshColor

	example: add plot ofa convex object

	python/viewer: fix viewing of ConvexMesh + minor optimization of the processing

	python: shared memory between Python/C++

	core: fix default value of meshColor

	example: add plot ofa convex object

	python/viewer: fix viewing of ConvexMesh + minor optimization of the processing

2021-09-14  Joseph Mirabel  <jmirabel@eurekarobotics.com>

	[python] Update pybind11 headers.

2021-09-09  Justin Carpentier  <justin.carpentier@inria.fr>

	python: add context for Pool

	pool: add forward declaration for Pools

	pool: fix compatibility issue with new StdVectorPythonVisitor signature

	Merge pull request #1510 from nim65s/devel
	badges: add PyPI

2021-09-08  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: disable SDF by default

	python: only export what is needed

	core: enhance performance
	Remove useless noalias and allocation of SE3 objects

	cmake: add stubs generation

	cmake: sync submodule

	readme: update CI status

	readme: change badge size

	ci: update name

	ci: update name

	ci: update name

	ci: upate name

	ci: update name

2021-09-08  Guilhem Saurel  <guilhem.saurel@laas.fr>

	CI badges

2021-09-05  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

2021-09-04  Justin Carpentier  <justin.carpentier@inria.fr>

	python/utils: remove useless print

2021-09-03  Justin Carpentier  <justin.carpentier@inria.fr>

	python: fix repr for {SE3,ProximalSettings}

	python/utils: add getCurrentScopeName

	python/multibody/joints: fix JointMimic names

	utils: add replace function

	core: fix CartesianAxis

	python: fix arg names

2021-09-01  Justin Carpentier  <justin.carpentier@inria.fr>

	python: fix bindings of computeContactDynamicsDerivatives

2021-08-31  Joseph Mirabel  <jmirabel@eurekarobotics.com>

	[python] Add pybind11 header.

2021-08-30  Justin Carpentier  <justin.carpentier@inria.fr>

	core/frame: add signature

2021-08-27  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/constraints: add missing include

	algo/derivatives: add further signatures

	algo/constraints: fix indent

	algo/constraints: handle iterative refinement in derivatives

	core: add variables for proximal derivatives

	algo/constraints: fix operation

	all: remove namespace optimized and introduce minimal namespace
	minimal namespace collects all the initial Featherstone algorithms

	algo/aba: add missing noalias()

	multibody/joints: add missing noalias()

	algo/constraints: fix indents and var name

2021-08-26  Justin Carpentier  <justin.carpentier@inria.fr>

	package: fix citation

2021-08-25  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1511 from jcarpent/topic/citation
	Add citation

	package: add bib citation

	package: add citation

2021-08-25  Guilhem Saurel  <guilhem.saurel@laas.fr>

	badges: remove travis

2021-08-25  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: remove useless badge

2021-08-25  Guilhem Saurel  <guilhem.saurel@laas.fr>

	badges: add PyPI

2021-08-25  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1509 from jcarpent/topic/travis
	Delete submodule travis

	submodule: remove travis

2021-08-24  CARPENTIER Justin  <justin.carpentier@inria.fr>

	Merge branch 'wjallet/casadi-stability-fixes' into 'pinocchio-3x'
	CasADi fixes

	See merge request jucarpen/pinocchio!528

2021-08-24  ManifoldFR  <wilson.jallet@polytechnique.org>

	[examples] Run simulation-pendulum-variational notebook

	Add example notebook: double pendulum variational
	simulation using Pinocchio + CasADi

	casadi example: update notebook
	* update .gitignore to ignore notebook ckpts

	[liegroup] fix silly mistake in SE3 integrate_impl

	small fixes

	[spatial] use quaternion::exp6 for the SE3 exp

	bump year in copyright header

	[liegroups] use quaternion::log3 in SO3::difference_impl

	[unittest/spatial] Add cpp unit test for quaternion::exp6

	[spatial] Define, expose exp6 with quaternion repr
	* also expose log3 for quaternions w/ rotation angle

	[unittest] add more singular configs in bindings_explog

	[spatial] log6: change comment for quaternion version

	[spatial] change quaternion log3, check for singularity in pi

	[spatial] [bindings] define & expose log6 using quaternions

	[unittest] rename bindings_log

	[bindings] update file headers

	[bindings] also expose exp3_quat

	[bindings/python/spatial] expose log3 for vec4

	[spatial] Fix Taylor expansion in quaternion::log3
	* also: expose quaternion::log3 at log3_quat (takes eigenpy.Quaternion objects)

	[multibody/liegroup] use actInv in call to log6

	[unittest/casadi] log6 tests

	[unittest/casadi] tests for exp6

	[unittest/casadi] more exp3 tests

	[unittest/casadi] fix formatting

	[unittest/casadi] add test for log3, exp3 and derivatives of log

	[visualize] remove warning reimport

	[visualize] captureImage() method
	* implemented for MeshcatVisualizer
	* also add `capture` option for play() method

	fig log

2021-08-24  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1502 from jcarpent/topic/meschat
	Allows the display of {COLLISION,VISUAL} in MeshCat

	python/meshcat: remove trailing white space

	python/meshcat: copy/past fix

	python/meshcat: allows the display of {COLLISION,VISUAL}

2021-08-23  Rohan Budhiraja  <12423606+proyan@users.noreply.github.com>

	Merge pull request #1490 from kozakromch/devel
	Update old function, remove mobile robot wrapper

2021-08-23  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1500 from jcarpent/topic/license
	Remove useless reference to L-GPL + remove of useless files

2021-08-23  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[doc][exercises][src/mobilerobot] remove deprecated calls

2021-08-23  Kozak Roman  <kozakromch@yandex.ru>
	    Rohan Budhiraja  <12423606+proyan@users.noreply.github.com>

	Apply suggestions from code review

2021-08-23  Justin Carpentier  <justin.carpentier@inria.fr>

	all: remove useless files
	These files are not tested neither maintained.
	They were there for development purposes.

	all: remove mentions to L-GPL license

	cmake: sync submodule

	Merge tag 'v2.6.3' into topic/merging-v2.6.3
	Release of version 2.6.3.

	example: fix multiprecision

	algo/constraints: add missing include

	algo/constraints: fix doc

	python: fix indent

	python/algo: expose getConstraintJacobian

	python: update RigidContactModel

	algo/constraints: add getConstraintsJacobian

	algo: add contact file to collect all things related to constraints

	test/constaints: add dedicated test for internal data of RigidContactModel

	algo: fix indent

	algo/constraints: provide model as input of RigidContactModel

	test/constraints: enhance derivatives testing

2021-08-22  Justin Carpentier  <justin.carpentier@inria.fr>

	example: fix simulation example

	test/constraints: fix missing model as input of RigidContactModel

	test/constraints: extend testing of OSIM and iOSIM testings

	test/constraints: update init of class RigidContactModelTpl

	python: fix list conversion of StdVec_StdString

2021-08-20  Kozak Roman  <kozakromch@yandex.ru>

	After review iter 01/ remove viz, integrate

2021-08-17  Justin Carpentier  <justin.carpentier@inria.fr>

	python: remove useless warning from gcc

	core: add PINOCCHIO_WITH_CXX20_SUPPORT

	all: fix compiler diagnostic

	python: fix signatures

	python: expose inverse operation for Inertia

	spatial/inertia: add inverse operation to InertiaTpl

	spatial/inertia: add matrix with input return argument

	spatial/inertia: avoid memory copy

	spatial: add inverse operation to Symmetric3Tpl

2021-08-13  Justin Carpentier  <justin.carpentier@inria.fr>

	python: export StdVec_Double

	python: use new signature of StdVectorPythonVisitor

	python/utils: fix entry type for StdVectorPythonVisitor

	python/context: add missing typedef

2021-08-12  Justin Carpentier  <justin.carpentier@inria.fr>

	python/spatial: expose {+=,-,-=} operator for Inertia

	spatial: add operator{-,-=} to class Inertia and related

	cmake: sync submodule

	core: use actInv to simplify the computations

	spatial: add missing static_cast

2021-08-12  Kozak Roman  <kozakromch@yandex.ru>

	use initFromURDF instead super.__init__

	return mobileRobot

2021-08-12  Justin Carpentier  <justin.carpentier@inria.fr>

	python: change inclusion order
	enum should be declared before any use as default argument when defining functions or methods

	python/joints: use context to expose the joints

	python: remove useless includes

	python: change the way to expose overloaded functions and methods
	Simpler and clearer

2021-08-11  Kozak Roman  <kozakromch@yandex.ru>

	Update old function, remove mobile robot wrapper

2021-08-10  Justin Carpentier  <justin.carpentier@inria.fr>

	spatial/explog: fix another DL for theta

	spatial/explog: fix sqrt

	spatial/explog: align tolerance with log3

	spatial/explog: fix approximation of cos(theta) when R=Id3

2021-08-09  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1489 from kozakromch/master
	fix reshape issues

2021-08-09  Kozak Roman  <kozakromch@yandex.ru>

	fix after review iter 001

2021-08-09  Justin Carpentier  <justin.carpentier@inria.fr>
	    Joseph Mirabel  <josephmirabel@gmail.com>

	doc: remove .T

2021-08-09  Kozak Roman  <kozakromch@yandex.ru>

	fix reshape issues

2021-08-09  Justin Carpentier  <justin.carpentier@inria.fr>

	math: add flexible precision method to TaylorSeriesExpansion

	spatial: add missing const_cast_derived

	core: fix cast

2021-08-08  Justin Carpentier  <justin.carpentier@inria.fr>

	python/mpfr: extend number API exposition
	And enforce numerical robustness

	readme: add pip install

2021-08-07  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1488 from EtienneAr/devel
	Add RVizVisualizer

	multiprecision: fix missing cast

2021-08-06  Etienne Arlaud  <earlaud@pl346-pro.paris.inria.fr-1>

	Minor comment change and undo fix indent

	Add name in README.md and correct indentation

	Fix README.md indentation

	Update READMEs

	Fix some static analysis

	RVizViewer fix : delete old geometries

2021-08-06  Justin Carpentier  <justin.carpentier@inria.fr>

	spatial: extended signatures of SE3 class

2021-08-06  Etienne Arlaud  <earlaud@pl346-pro.paris.inria.fr-1>

	RVizView support capsules

	Add a RVizViewer

2021-08-06  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1487 from nim65s/devel
	fix module name

2021-08-05  Guilhem Saurel  <guilhem.saurel@laas.fr>

	fix module name

2021-08-04  Justin Carpentier  <justin.carpentier@inria.fr>

	python/linalg: fix exposition of inv operation for Casadi types

	core: add missing include

	algo: add findCommonAncestor

	license: update years

	Merge pull request #1485 from jcarpent/topic/python
	Fix issue with Pool when FCL is missing

	cmake: sync submodule

	python: fix pool include and exposition
	Notably when FCL is not considered

2021-08-03  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1483 from stack-of-tasks/topic/ci
	ci: update ROS CI

	Merge pull request #1480 from ManifoldFR/devel
	[visualize] captureImage() method

	Merge pull request #1482 from nim65s/topic/rpath
	[CMake] set INSTALL_RPATH for python on linux

	python/mpfr: register ufunc for Boost MPFR

	python/contact: add cast feature to RigidContactModel

2021-08-03  Justin Carpentier  <justin.carpentier@inria.fr>
	    Wolfgang Merkt  <wxmerkt@users.noreply.github.com>

	ci/ros: remove useless UPSTREAM_WORKSPACE

2021-08-03  Justin Carpentier  <justin.carpentier@inria.fr>

	ci: update ROS CI
	from Crocoddyl ROS CI

	python/mpfr: expose cast to NumPy

	python/eigen: enhance helper functions

2021-08-03  Wilson  <ManifoldFR@users.noreply.github.com>

	Fix typo

2021-08-03  Justin Carpentier  <justin.carpentier@inria.fr>

	python/meshcat: mention minimal version of meshcat

2021-08-02  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[CMake] set INSTALL_RPATH for python on linux
	To avoid the need to set `LD_LIBRARY_PATH` when the
	`CMAKE_INSTALL_PREFIX` is not a standard one.

2021-08-02  ManifoldFR  <wilson.jallet@polytechnique.org>

	[visualize] remove warning reimport

	[visualize] captureImage() method
	* implemented for MeshcatVisualizer
	* also add `capture` option for play() method

2021-08-02  Justin Carpentier  <justin.carpentier@inria.fr>

	all: fix bad indents

	math: fix is_floating_point for Boost.Multiprecison types

	core: fix static_cast needed by MPFR

	python: add linalg namespace and expose inv function

	python: remove duplicate

	python/eigen: fix template value
	Use NumPy information

	python: add bindings of Boost.Multiprecision MPFR

	python: introduce PINOCCHIO_PYTHON_INTERFACE_MAIN_MODULE

	cmake: set minimal EigenPy version

2021-07-27  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1476 from the-raspberry-pi-guy/patch-1
	Change 'typedef' to 'using', add curly braces

	parser/urdf: fix arg

2021-07-27  Matt Timmons-Brown (Raspberry Pi Guy)  <theraspberrypiguy@gmail.com>
	    Justin Carpentier  <justin.carpentier@inria.fr>

	Revert to typedef for compatibility with C++98

2021-07-27  Justin Carpentier  <justin.carpentier@inria.fr>

	test: remove useless quantity

	python/pickle: fix compatibility issue
	Compilation issues with recent version of Boost

2021-07-27  Matt Timmons-Brown (Raspberry Pi Guy)  <theraspberrypiguy@gmail.com>

	Change 'typedef' to 'using', add curly braces

2021-07-26  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1474 from jcarpent/topic/centroidal
	Fix bug in Centroidal derivatives

	cmake: fix var name

	all: fix indents

	algo/centroidal: fix centroidal derivatives

	algo: fix centoidal derivatives computations w.r.t. q

	algo: fix doc

2021-07-17  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1472 from jcarpent/topic/python
	meshcat: fix loading of BVH model

2021-07-16  Justin Carpentier  <justin.carpentier@inria.fr>

	python/meshcat: mention the bug within MeshCat

	python/meshcat: fix scaling when loading a mesh

	parsers: add missing constness

	python/meshcat: isMesh should be a function

	python/meshcat: enforce scaling only for meshes

	python/meshcat: fix loading of BVH model
	BVH models should be loaded in a raw manner after checking if they are not related to a specific file

2021-07-11  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1467 from wxmerkt/topic/support-for-ros-devel-spaces
	Work-around for finding meshes of URDFs in ROS devel spaces #1463

2021-07-11  Wolfgang Merkt  <w.merkt@gmail.com>

	[file-explorer] Restore API + apply Windows support

2021-07-09  Wolfgang Merkt  <w.merkt@gmail.com>

	package.xml: Update version to 2.6.3 for next release

	Use C++98 style iterators

	Make file-explorer support Windows, add work-around for ROS paths

	Use boost::filesystem to make ROS package path look-up platform independent

	Work-around for #1463

2021-07-09  Justin Carpentier  <justin.carpentier@inria.fr>

	constraint: fix minimal mu value

	constraint: fix iteratives procedure

2021-07-07  Justin Carpentier  <justin.carpentier@inria.fr>

	merge with previous

	autodiff: fix compilation for OSX systems

	Merge pull request #1466 from stack-of-tasks/jmirabel-fix-msg-addFrame
	[minor] Fix error message in Model::addFrame

2021-07-07  Joseph Mirabel  <josephmirabel@gmail.com>

	[minor] Fix error message in Model::addFrame

2021-07-07  Rohan Budhiraja  <proyan@users.noreply.github.com>

	contact-dynamics-derivatives: fix for LWA contact3d

	[contact-dynamics-derivatives] fix for LWA with Contact 6D

2021-07-07  Justin Carpentier  <justin.carpentier@inria.fr>

	merge with previous

2021-07-06  Justin Carpentier  <justin.carpentier@inria.fr>

	merge with previous

	merge with previous

	all: fix merging issues with v2.6.2

	Merge tag 'v2.6.2' into topic/merging-v2.6.2
	Release of version 2.6.2.

2021-07-05  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

2021-07-01  Justin Carpentier  <justin.carpentier@inria.fr>

	examples: fix model path

	sdf: fix compilation issues when SDF is not present

2021-06-28  Justin Carpentier  <justin.carpentier@inria.fr>

	python: fix exposition of RowMajor types

2021-06-17  Rohan Budhiraja  <rohan.budhiraja@inria.fr>

	Merge branch 'topic/sdf' into 'pinocchio-3x'
	Topic/sdf

	See merge request jucarpen/pinocchio!525

2021-06-17  Justin Carpentier  <justin.carpentier@inria.fr>

	core: fix var name

2021-06-14  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1459 from nim65s/devel
	[Tests] add missing include

2021-06-12  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[Tests] add missing include
	fix:

	/src/pinocchio/unittest/liegroups.cpp:455:23: error: no template named 'vector' in namespace 'boost::mpl'
	  typedef boost::mpl::vector<  VectorSpaceOperationTpl<1,Scalar,Options>
	          ~~~~~~~~~~~~^
	/src/pinocchio/unittest/liegroups.cpp:479:23: error: no template named 'vector' in namespace 'boost::mpl'
	  typedef boost::mpl::vector<  VectorSpaceOperationTpl<1,Scalar,Options>
	          ~~~~~~~~~~~~^
	/src/pinocchio/unittest/liegroups.cpp:506:23: error: no template named 'vector' in namespace 'boost::mpl'
	  typedef boost::mpl::vector<  VectorSpaceOperationTpl<1,Scalar,Options>
	          ~~~~~~~~~~~~^
	/src/pinocchio/unittest/liegroups.cpp:530:23: error: no template named 'vector' in namespace 'boost::mpl'
	  typedef boost::mpl::vector<  VectorSpaceOperationTpl<1,Scalar,Options>
	          ~~~~~~~~~~~~^

2021-06-08  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: add Memmo tutorials

2021-06-07  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: restore definitions

	cmake: sync submodule

	Merge pull request #1458 from jcarpent/topic/fcl
	Fix serialization

	ros: update version

2021-06-07  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[contact-dynamics-derivatives][api] don't need mu for derivative. remove from api

	[bindings] expose data.ddq_dtau

	[bindings/context/generic] add ifndef generic

	[bindings][contact-cholesky] loop closure constraints expose

	[contact-dyn-derivatives] LWA not working. everything else ok. not optimal though

	[frames] add API for getFrame* w.r.t joint and placement

	[contact-cholesky] add loopclosure sparsity in contact cholesky

	[bindings][contact-chol] loopconstraints

	[contact-3d] loop closure fix. 8 tests left

	[contact-dyn-deriv] fix for (contact_6d, local, (0, c2)). 11 more to go

	[contact-dyn-deriv] local_world aligned fix

	[contact-dynamics-derivs] 12 errors remining

	[unittest/contact-dyn-deriv] add test for 3d, 6d, local, local_world_aligned combos with fd

	[contact-dynamics-derivatives] ddq/dq for LOCAL CONTACT6D case

	[algorithm/contact-cholesky] add contact cholesky getJoint1/2Sparsity getter

	[bindings/contact-cholesky] add binding for getJoint1Sparsity

2021-06-07  Rohan Budhiraja  <rohan.budhiraja@inria.fr>

	[bindings/contact-chol] expose getConstraintSparsityPattern

2021-06-07  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[bindings/multibody/data] expose of_augmented

	[algo/contact-dynamics-derivs] minor fix contact 6d implem

	[unittest/contact-dynamics-derivatives] add j1j2 constraints for checking.

	minor fix.

	[contact-dynamics-algorithm] fix contact_3d external force frame

	[bindings/contact-dynamics-derivs] expose

	[bindings/contact-dynamics-derivs] expose

	[algo/contact-dynaimcs-derivs] non-sparse implem of contact-dynamics-derivs with loop closure. doesn't work for contact 3d derv wrt dq and contact 6d dlambda/dq

	[unittest/contact-dynamics-derivatives] deriv of loop closure 3d and 6d

	[unittest/contact-dynamics-derivatives] add test for loop closure

	[binding/context/cppad] fix minor bug

	[benchmark/all-robots] move bench out of pinocchio

	[codegen/codegen-algo][autodiff/casadi-algo] fix eigen block bugs

	[src/casadi-algo] fix copyright

	[benchmark/timings contact dynamics] add tests for cg contact dyn jacobian

	[examples/simulation-closed-kinematic] bg display to white

	[unittest/casadi-algo] fix unittest for casadi-algo

	[casadi-algo] add AutoDiffBase class which does the compilation and library loading

	[autodiff/casadi-algo] compile generated source code

	[src/codegen] contactdyn jacobian implem

	[benchmark/timings-contact-dyn-all-robots][casadi-algo] add evalfunctoin benchmark for contactdyn

	[benchmark/contact-dynamics-all-robots] add condyn and condynderiv benches with casadi

	[autodiff/casadi-algo] add contactdynamicsderivatives casadi algo

	[unittest/casadi-algo-derivatives] add contactdynderivs test

	[algo/contact-dynamics-derivatives] static if checks

	[autodiff/casadi-algo] add contact dyn with jacobian

	[unittest/casadi-algo-derivs] add contact dynamics with jacobian

	g[unittest/casadi] aba deriv unittest

	[casadi-algo] add aba jacobian

	[unittest/casadi-algo-derivs] check implem of casadi-aba.evalFunction against aba

	[autodiff/casadi-algo] add casadi symbolic representation for aba algorithm

	[src/utils/timer2] add timer with clock_monotonic

	[src/utils/file-io] add csv exporter

	[src/codegen-algo] add lambda derivs for contact-dyn derivatives

	[benchmark][all-robots] use CLOCK_monotonic as timer. add code-gen for contact-dyn and derivs. add csv output

	[bindings][module] Xaxis, YAxis ZAxis

	[bindings][contact_info] add constructor for contact-model

	[cppadcg][contact-dynamics] CodeGenContactDynamics

	[cppadcg][contact-dynamics] test contact dynamics code generation

	[examples][talos-simulation] add arm contacts

	[benchmark][contactdynamics] all robots. print csv

	[examples][contact-dynamics] anymal simulation com

	[examples][contact-dynamics] talos com motion

	[parser][sdf] parse color info

	[submodule][cassie] color info

	[cassie-simulation] minor fixes

	[submodule] add cassie sdf submodule

	[CMakeLists] add sdf parser files to project source

	[cmake][sdf] add BUILD_WITH_SDF

	[cassie-simulation] com sinusoidal motion

	[data][bindings] add bindings for osim, dac_dq,dv,da

	example cassie-simulation

	[sdf][parser] fix joint placement for contacting joints

	[sdf][model][parser] add constraints to circle the loops

	[bindings][sdf] create binding for buildModel with root joint

	[sdf][parser][model] fix link placement, parse dynamics. TODO: joint axis is relative to parent

	minor fixesx

	[sdf][bindings][geom] add bindings for sdf geom parser

	[sdf][parsers][model] fix declarations

	[src][parsers][utils] sdf mesh pathnames begin with "model://"

	[sdf][parsers][model] move definitions to .cpp

	[sdf][parsers][geom] compile ready parsing of geometries and meshes

	[parsers][urdf] add getBodyFrame in UrdfVisitor

	[parser][sdf] introduce struct SdfGraph. Re-arrange parsing details

	[binding][sdf] add sdf python bindings

	[cmake] sdf parser

	[parser][urdf] add existFrame wrapper in urdfvisitor

	[parsers][sdf] preliminary implementation of the chain. TODO: check the joint placements and joint types

	[sdf][parser] prelim def of buildModel

	kinematic-derivatives: fix typedefs

2021-06-04  Justin Carpentier  <justin.carpentier@inria.fr>

	casadi: enhance max support

	examples: add example of simulation of contact dynamics

	casadi: enhance support of max operations
	The same should be done for min

	data: add primal_rhs_contact field

	python/contact: sync new signature for contactDynamics

	test/contact: sync new signature for contactDynamics

	algo/prox: fix default values

	algo/contact: add proximal features to contactDynamics

	python: fix init

2021-06-03  Justin Carpentier  <justin.carpentier@inria.fr>

	algo: add missing const

	algo: change var name

2021-06-01  Justin Carpentier  <justin.carpentier@inria.fr>

	algo: improve efficiency of RNEA derivatives

	algo: fix checking of gravity values

	cmake: add missing extensions

2021-05-28  Justin Carpentier  <justin.carpentier@inria.fr>

	python: fix Cylinder serialization

2021-05-26  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: update minimal version for hpp-fcl

	python: serialize basic shapes from FCL

2021-05-25  Justin Carpentier  <justin.carpentier@inria.fr>

	Fix bug for Boost 1.58 (#1454)
	* serialization: fix cast
	
	* core: fix template default arguments
	
	* serialization: fix make_nvp for when getting bool type
	
	* serialization: fix pointer to pointee
	
	* serialization: more fix
	
	* serialization: try simpler fix
	
	* algo: fix init of std::vector

2021-05-22  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1452 from jcarpent/topic/boost
	Enforce BOOST_MPL_LIMIT_LIST_SIZE

	ci/conda: fix bug with cxx >= 12

2021-05-19  Justin Carpentier  <justin.carpentier@inria.fr>

	python: fix include order

	core: enforce definition of BOOST_MPL_LIMIT_LIST_SIZE

2021-05-05  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/cholesky: enhance computations
	Still not optimal

	algo/cholesky: fix joint{1,2}_indexes_ee for CONTACT_3D

2021-04-30  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1444 from jcarpent/topic/ci
	Remove travis CI + minor CI updates

	ci: remove repetitive test

	ci: rename file

	ci: remove travis

	Merge pull request #1443 from jcarpent/topic/joints
	Enhance comparisons of Joint variants

2021-04-29  Justin Carpentier  <justin.carpentier@inria.fr>

	python/joints: fix method

	test: enforce tests

	core: remove bugs with setIndexes

	core: use JointModel name within JointModelComposite

	core: add missing methods + fix isEqual

	python/joints: small fix

	python: enhance exposition of Joints

	core: add hasSameIndexes to JointModelTpl

	core/visitors: fix types

	test: enhance testing of operator{==,!=} for JointGeneric

	core: fix JointDataGeneric::operator!=

	core: fix operator!= for JointData types

	core: add Unirary visitor on JointDataBase<Derived> objects

	multibody/joint-generic: fix comparison operators

	multibody: add hasSameIndexes method to JointModelBase

	mutibody: add isEqual methods for Joint{Model,Data}Tpl

	core: fix setIndexes for JointModelTpl

	doc: improvement

2021-04-28  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1442 from jcarpent/topic/reduced-model
	Fix bug in buildReducedModel + enhance Python bindings

	test: fix trayling white space

	test/algo: enforce testing of empty joint list for buildReducedModel

	algo/models: fix the case where the list of joints is empty

	python: update addFrame signature

	multibody: add option to addFrame append_inertia when adding a Frame

2021-04-27  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/model: fix issue when the list of joint to fix is empty

	test: add Python test for joints

	python: expose operator{==,!=} for joints

	test: rename Python test

	Merge pull request #1440 from francois-keith/devel
	Fix bug in urdf parsing (win32+debug)

2021-04-27  Francois Keith  <francois.keith@cea.fr>

	Fix bug in urdf parsing (win32+debug)
	Since model.frames is resized (maybe moved ?), the reference parent_frame is
	no longer valid. Copying it before this change prevent the bug

2021-04-26  Francois Keith  <francois.keith@cea.fr>

	Revert "example: try to debug test-cpp-urdf on Win32"
	This reverts commit a006cfd4e1fa5e9bf603f641c2bacf592d4dd774.

2021-04-25  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1439 from wxmerkt/topic/ros-ci
	Add ROS-CI using GitHub Actions based on Industrial-CI

2021-04-25  Wolfgang Merkt  <w.merkt@gmail.com>

	Add ROS-CI using GitHub Actions based on Industrial-CI

2021-04-21  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1438 from jmirabel/devel
	[Minor] Bugfix + API improvement in lie group.

2021-04-21  Joseph Mirabel  <jmirabel@eurekarobotics.com>

	[Minor] Bugfix + API improvement in lie group.

2021-04-18  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1437 from jcarpent/topic/serialization
	Enhance serialization 

	core: add missing explicit keyword

	python: expose new StaticBuffer and related functions

	test: add testing of StaticBuffer

	serialization: {save,load}ToBinary for StaticBuffer

	serialization: add notion of static buffer

	serialization: fix doc

2021-04-17  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1436 from jcarpent/topic/examples
	Update examples + improve doc

	cmake: fix example name

	all: remove tws

	examples: update README

	example: rename example

	example: also account for a cart-pole

	python: improve doc

	spatial: improve inertia doc

2021-04-15  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1434 from jcarpent/topic/geometry
	Enhance Pool at update level

	test/pool: test methods of GeometryPool

	python: expose new updates

	core: add update of model and data in Pools

	doc: minor fix

	Merge pull request #1433 from jcarpent/topic/python
	Simplify Model bindings

	python: fix expose of JointComposite

	example: try to debug test-cpp-urdf on Win32

	python: remove useless conversion

	python: fix urdf loading signatures

	python/model: simplify addJoint bindings

	python: remove JointModelVariant intermediates

	spatial: add missing noalias

2021-04-12  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1430 from jcarpent/topic/ci
	Extend CI coverage with OpenMP

	example: add parallel computation example in Python

	ci: enable OpenMP on conda

	ci: extend testing for Linux/OS X on Conda

	Merge pull request #1429 from jcarpent/topic/ci
	Add Mac OS X ci

	Merge pull request #1428 from jcarpent/topic/pypy
	Skip embeded Python for PyPy compiler

	ci: relax test for win-v142

	cmake: fix variable

	ci: fix conda

2021-04-11  Justin Carpentier  <justin.carpentier@inria.fr>

	ci: add macos

	ci: relax test for win-v142

	cmake: fix variable

	cmake: skip embeded Python for PyPy compiler

	readme: update content [skip-ci]
	Remove hiring + add new contributor

2021-04-10  Justin Carpentier  <justin.carpentier@inria.fr>

	ros: update version

	Merge pull request #1427 from ntorresalberto/RobotWrapper.reduceModel
	add Robot wrapper.reduceModel function and extend buildReducedModel for multiple GeometricModel

2021-04-10  Nicolas Torres  <nicolastorresalberto@gmail.com>

	fix some typos in buildReducedModel python docs

2021-04-10  Justin Carpentier  <justin.carpentier@inria.fr>

	test: add test for new sig buildReducedModel

	core: use Allocator to support aligned vectors

2021-04-10  Nicolas Torres  <nicolastorresalberto@gmail.com>

	RobotWrapper reduceModel -> buildReducedRobot

	add some changes requested in PR related to C++98 compliance

	revert formatting in build-reduced-model.py

	revert code formatting and add some requested changes in PR

	fix test-cpp-model

	partial fix test-cpp-model (no more timeout but still fails)

	add reduceModel to RobotWrapper and update python example

	add buildReducedModel for multiple GeometryModels

2021-04-09  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1420 from jcarpent/topic/collision
	Enhance collision support + serialization + parallelization

	ci: allow error

	ci: fix bug in windows with v142

2021-04-08  Justin Carpentier  <justin.carpentier@inria.fr>

	ci: comment ssh debug
	Seems to work now

	ci: show path

	ci: add SSH connection for debugging

	ci: trigger in all cases

	test: fix unused vars

	core: add missing explicit

	cmake: fix flags

	cmake: fix compatibility issue with Linux

	cmake: sync submodule

	cmake: change minimal version for hpp-fcl

	ci: fix linux

	models: update

	ci: test // computations

	ci: unset PATH

	ci: test on the CI explicitely

2021-04-07  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: add LINK_PYTHON_INTERFACE_TO_OPENM

	cmake: add missing COMPILE_OPTIONS

	all: fix variable init

	cmake: fix function

	core: fix typedef

	cmake: fix extension of filtered files

	cmake: fix missing FILTER option for LIST for old CMake versions

	fcl: fix issue of vanishing pointers

2021-04-06  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: fix ADD_PINOCCHIO_PARALLEL_UNIT_TEST

	example: fix model path

	core: fix typedef

	cmake: sync submodule

	python: add WITH_OPENMP

	cmake: fix filtering

	spatial: fix missing copy constructors

	python: expose // algos

	python: change var name

	python: expose pool

	bench: add bench of // algos

	python: fix arg name

	test: add test for ABA, RNEA and Collisions in //

	algo: add parallel computations algo for ABA, RNEA and Collisions

	cmake: add OpenMP support

	core: add {Model,Geometry}Pool

	utils: add OpenMP helpers

	core: remove useless assert

	python: fix doc

2021-04-05  Justin Carpentier  <justin.carpentier@inria.fr>

	models: fix model mesh path

	doc: fix Doxygen with new rules

	core: use pointers instead const ref
	This is mandatory for allowing copy

	test: fix model path

	core: sync change module name

	utils: fix cast

	core: fix missing copy constructor

	submodule: update models

2021-04-02  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1421 from nim65s/devel
	[CMake] add extension to fix CMP0115

	geometry: enable distance_upper_bound

	algo: simplify the call to functors

	geometry: introduce Compute{Collision,Distance}

2021-04-02  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[CMake] add extension to fix CMP0115
	fix:

	CMake Warning (dev) at unittest/CMakeLists.txt:10 (ADD_LIBRARY):
	  Policy CMP0115 is not set: Source file extensions must be explicit.  Run
	  "cmake --help-policy CMP0115" for policy details.  Use the cmake_policy
	  command to set the policy and suppress this warning.

2021-04-02  Justin Carpentier  <justin.carpentier@inria.fr>

	python: fix signatures

	doc: fix

2021-04-01  Justin Carpentier  <justin.carpentier@inria.fr>

	core/geometry: comment distance_upper_bound

	core/geometry: use result from computeCollision

	core/geometry: clean code

	core: add missing guard

	Merge pull request #1419 from jcarpent/topic/boost
	Fix missing include

	core: add missing explicit keywords

	core: remove useless var

	test/macros: fix compilation warnings

	test: remove output

	parsers: fix change

	test: remove useless variables

	test/geometry: enforce testing

	core: use functor for distance and collision request

	core: fix compilation warning

	algo: cosmetic

	algo: handle disableCollision feature

	python: expose disableCollision field

	core: formatting of disableCollision

	core: add disable_collision field to GeometryObject

	python: expose new constructor

	core: add new constructor for CollisionPair

	python: expose operator{==,!=} for GeometryData

	serialization: fix missing include

	serialization: add missing serialization of CollisionPair

	test/serialization: test GeometryData

	python: expose serialization of GeometryData

	core: add missing operator{==,!=} for GeometryData

	core: add missing empty constructor for GeometryData

	serialization: add serialization of GeometryData

	core: remove useless ref

	core: move include

	doc: add missing doc

	python: use namespace hpp::fcl

	doc: add missing param

	python: serialize BVHModel

	cmake: update minimal version of eigenpy

	cmake: update minimal version of hpp-fcl

	Merge pull request #1418 from jcarpent/topic/collision
	Add setGeometryCollisionStatus

	core: add missing inline

	core: fix return

	core: fix macro

	core: fix windows issue

	core: add TODO

	core: fix windows issue

	algo: for computation of local AABB

	python: expose computeBodyRadius

2021-03-31  Justin Carpentier  <justin.carpentier@inria.fr>

	python: expose setGeometryCollisionStatus

	test/geometry: test setGeometryCollisionStatus

	geometry: add setGeometryCollisionStatus

2021-03-30  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1415 from jcarpent/topic/frame
	Add Inertia info to Frame

	spatial: fix eps

	spatial: fix numerical robustness

	core: comment code which will be reintroduced later

2021-03-29  Justin Carpentier  <justin.carpentier@inria.fr>

	spatial: fix ill-posed Inertias

	core: add missing array()

	model: check in addFrame whether the mass distribution is valid

	spatial: add isValid method to check wether an inertia is valid or not

	doc: more precise doc of FrameTpl::inertia

	core: fix warning

	urdf: parse inertia information and store it within frames

	model: read inertia stored within the frame

	core: use enum for const value

	core: fix template

	python: expose new Frame::inertia

	serialization: handle new Frame::inertia

	core: add inertia info to Frame class

2021-03-27  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1409 from jcarpent/topic/serialization
	Enhance overall serialization + extend Geometry API

2021-03-25  Justin Carpentier  <justin.carpentier@inria.fr>

	geometry: fix matrix type

	python: fix doc

	python: small fix

	python: use at most StdVectorPythonVisitor

	python: add missing guards

	geometry: fix guards

	geometry: fix doc

	core: add missing typedef

	geometry: fix naming

	python: expose extended API of Geometry{Model,Data}

	geometry: fix naming

	geometry: rename pairId into pair_id

	geometry: add setSecurityMargins helper

	test/geometry: test extend API

	geometry: minor doc improvment

	geometry: remove useless ref

	geometry: extend current API with more helpers

	python/doc: update content

	python/serialization: comment capacity method

	python/serialization: fix buffer copy

	python/serialization: self return for prepare

	python/serialization: increase API coverage of boost::asio::streambuf

	serialization/eigen: remove citation
	The code changes largely since initial code

	serialization/eigen: enhance support + add Eigen::Map serialization

	python: fix submodules import

	python: fix namespace

	python: fix namespace

	python: fix typo

	python/serialization: add buffer_copy

	python: serialize to binary more fields

	serialization: eigen.hpp include by default

	python/serialization: add more load/save to binary stream

	python: enhance serialization support

	test: add load/save to binary stream

	serialization: add load/save to binary stream

	parsers: fix var name

	python: fix var name

	algo: fix deprecated elements

	python: remove deprecated fields

	collision: remove deprecated fields

2021-03-24  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1413 from jcarpent/topic/doc
	Improve doc

	python/doc: improve doc

2021-03-22  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: update examples

2021-03-16  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1405 from jmirabel/devel
	[Doc] Fix doc of Jlog6

2021-03-16  Joseph Mirabel  <jmirabel@laas.fr>

	[Doc] Fix doc of Jlog6

2021-03-09  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1402 from jmirabel/hessian_log3
	Add Hlog3

2021-03-09  Joseph Mirabel  <josephmirabel@gmail.com>
	    Justin Carpentier  <justin.carpentier@inria.fr>

	[Python][Doc] Fix args of Hlog3.

2021-03-09  Joseph Mirabel  <jmirabel@laas.fr>

	Add Hlog3

2021-03-08  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1401 from jmirabel/devel
	[Minor] gepetto-viewer -> gepetto-gui

2021-03-07  Joseph Mirabel  <jmirabel@laas.fr>

	[Minor] gepetto-viewer -> gepetto-gui

2021-03-03  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1399 from VladimirIvan/vi-capsule
	Meshcat capsule visualisation

2021-03-02  Vladimir  <v.ivan@ed.ac.uk>

	Codacity fixes

	Adds meshcat capsule visualisation
	# Conflicts:
	#	bindings/python/pinocchio/visualize/meshcat_visualizer.py

2021-02-21  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1398 from jcarpent/topic/viewer
	Enhance collision support + add more methods to viewers

2021-02-19  Justin Carpentier  <justin.carpentier@inria.fr>

	python: small fix

	viewer/meshcat: specialize clean and reload

	viewer/meshcat: add delete method

	python/viewer: add reload and clean to base class

	collision: catch exceptions

2021-02-16  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/aba: make dynamically consistant the output of ABA

	algo/aba: remove ref on indexes

	algo: fix guard

2021-02-10  Justin Carpentier  <justin.carpentier@inria.fr>

	spatial: fix log6 for automatic differentiation

	spatial: simplify log3

	python: fix issue with Eigen::Ref and casadi types

2021-02-09  Justin Carpentier  <justin.carpentier@inria.fr>

	test: sync with Pinocchio 2.5.6 and change in ABA

	test/python: remove deprecated signatures

	algo: add missing merged lines in cat

	Merge tag 'v2.5.6' into topic/merging-v2.5.6
	Release of version 2.5.6.

2021-02-08  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1389 from jcarpent/topic/viewer
	Viewer: makes viewers more flexible

	python/meshcat: enable loading of PointClouds with correct materials

2021-02-07  Justin Carpentier  <justin.carpentier@inria.fr>

	python/meshcat: allow loading of BVH models

	test: use central finite diff

	multibody: fix cast of Model

	algo: add more input check

2021-02-06  Justin Carpentier  <justin.carpentier@inria.fr>

	python/viewer: make optional the configuration vector for the display method

	python/doc: small fix

	python/viewer: enables the sharing of data with other instances

	spatial: enhance log3

	python: fix access to the angle value on log3

2021-02-04  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1387 from jmirabel/devel
	Fix buildReducedModel

2021-02-04  Joseph Mirabel  <jmirabel@laas.fr>

	Add TODO + unit test.

2021-02-03  Joseph Mirabel  <jmirabel@laas.fr>

	Fix buildReducedModel

2021-02-03  Justin Carpentier  <justin.carpentier@inria.fr>

	python: return internal reference

	spatial: first version of improved log3

	spatial: fix check

	doc: fix

	Merge pull request #1386 from jmirabel/devel
	[Doc] Add remarkable identities for Jlog6

2021-02-02  Joseph Mirabel  <jmirabel@laas.fr>

	[Doc] Add remarkable identities for Jlog6

2021-02-02  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1385 from jmirabel/devel
	[Doc] Add remarkable identities for Jlog6

2021-02-01  Joseph Mirabel  <jmirabel@laas.fr>

	[Doc] Add remarkable identities for Jlog6

2021-01-29  Justin Carpentier  <justin.carpentier@inria.fr>

	python: remove outdated signatures

	python/casadi: enable conversion from basic types to cacasi::SX

2021-01-26  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1383 from jmirabel/devel
	[Minor] Fix message in argument checking macros.

2021-01-25  Joseph Mirabel  <jmirabel@laas.fr>

	[Minor] Fix message in argument checking macros.

	[test] Add unit test for macros.

2021-01-23  Justin Carpentier  <justin.carpentier@inria.fr>

	ros: update version

	Merge pull request #1380 from jcarpent/topic/python
	Fix import of warnings module

	python: fix import of warnings module

2021-01-22  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1378 from jcarpent/topic/cat
	Add computation of centroidal quantities in computeAllTerms

2021-01-21  Justin Carpentier  <justin.carpentier@inria.fr>

	test: small fix

	test/python: fix warning

	test: simplify computeAllTerms testing

	test: enforce test of getCenterOfMassVelocityDerivatives

	algo: fix doc

	algo: simplify getCenterOfMassVelocityDerivatives

	core: fix guards

	algo: add calc of dhg for computeAllTerms

	algo: add calc of data.dJ and data.dAg

	algo: add computation of data.g in computeAllTerms

	algo: add missing Ig computations

	python: fix doc

	test: fix normalization of the configuration vector

	algo/cat: split into two files

	algo/cat: add centroidal terms

	algo/crba: add mass info

2021-01-21  Gabriele Buondonno  <7643149+gabrielebndn@users.noreply.github.com>

	[aba] Use data.a_gf instead of data.a (#1376)
	* [aba] Use data.a_gf instead of data.a
	
	* [aba] Doc data.f

2021-01-18  Justin Carpentier  <justin.carpentier@inria.fr>

	spatial: fix log6 for AD

	spatial: fix exp6 for AD

	python: expose log3

	python/casadi: expose Matrix1x1

	core: fix computations for theta in log3
	Enhance the behavior for AD

	core: fix exp3 computations to avoid singularities when derivating via AD

	core: remove compilation warning

2021-01-15  Justin Carpentier  <justin.carpentier@inria.fr>

	python: add ScalarType to the module

	python: add conversion from and to Casadi types

	python: fix Scalar extract

	python: expose dot for Motion and Force classes

	python: add function to expose specific type features

	test: add missing include

	test: fix missing include

	core: fix typedef

2021-01-12  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1368 from gabrielebndn/topic/exposeData
	[bindings] Expose g and avoid double exposition of C

2021-01-11  Gabriele Buondonno  <gabriele.buondonno@wandercraft.eu>

	[bindings] Expose g and avoid double exposition of C

2021-01-07  Justin Carpentier  <justin.carpentier@inria.fr>

	example: clean

	example: add contact cholesky calc

	python: handle comparison operators for non standard types

	Merge tag 'v2.5.5' into topic/merging-v2.5.5
	Release of version 2.5.5.

2021-01-06  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1366 from jcarpent/topic/release
	Fixes issues with ROS and set minimal CMake version to 3.0

	readme: update web citation

	cmake: export variables for include as subproject

	utils: fix missing include

	ros: update version

	cmake: change minimal version

2021-01-06  Justin Carpentier  <justin.carpentier@inria.fr>

	Test packaging (#1365)
	* packaging: update test
	
	* packaging: test pkgconfig
	
	* ci: fix path
	
	* ci: fix test
	
	* cmake: fix path
	
	* cmake: fix typo
	
	* cmake: export variables
	
	* test/packaging: add test for FetchContent
	
	* cmake: sync submodule
	
	* ci: run external cmake example
	
	* ci: fix
	
	* ci: fix GIT_TAG
	
	* ci: fix branch name
	
	* ci: fix branch name extraction
	
	* ci: fix git url

2021-01-05  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1364 from gabrielebndn/topic/pickleFrame
	Pickle frame

2021-01-05  Gabriele Buondonno  <gabriele.buondonno@wandercraft.eu>

	[bindings] Remove boring warning

	[Frame] Explicitly define inequality operator

	[bindings] Explicitly define != for Frame

2021-01-04  Justin Carpentier  <justin.carpentier@inria.fr>

	python/frame: fix pickling

2021-01-04  Gabriele Buondonno  <gabriele.buondonno@wandercraft.eu>

	[bindings] Move frame equality to visitor

	[bindings] Better test frame equality and inequality

2021-01-04  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: set minimal eigenpy version

	python: start adding bindings for CppAD

	python: fix extract

	core: use full namespace

	core: fix type cast

2021-01-03  Justin Carpentier  <justin.carpentier@inria.fr>

	python/casadi: add basic testings

	cmake: fix casadi Python bindings

	core: fix copyright

2021-01-01  Justin Carpentier  <justin.carpentier@inria.fr>

	python: use eigenpy functions

	python: add cast operations

	python: add cast utils

	python: fix expose for templated scalar

2020-12-31  Justin Carpentier  <justin.carpentier@inria.fr>

	core: add constructor by casting

	python: fix

	python: make the code compliant for casadi bindings

2020-12-30  Justin Carpentier  <justin.carpentier@inria.fr>

	core: add notion of PINOCCHIO_SCALAR_TYPE

	core: make the code fully compliant with scalar overloading

	python/utils: fix bug in registration

2020-12-29  Justin Carpentier  <justin.carpentier@inria.fr>

	core: add NumericalBase

	utils: add check_expression_if_real helper

	test/casadi: test specific aspects

2020-12-24  Justin Carpentier  <justin.carpentier@inria.fr>

	core: fix guard

2020-12-23  Gabriele Buondonno  <gabriele.buondonno@wandercraft.eu>

	[bindings] Test frame pickle

	[bindings] Test frame equality

	[bindings] Expose frame equality

2020-12-22  Gabriele Buondonno  <gabriele.buondonno@wandercraft.eu>

	[bindings] Pickle frame

2020-12-19  Justin Carpentier  <justin.carpentier@inria.fr>

	casadi: add overload for min

2020-12-18  Justin Carpentier  <justin.carpentier@inria.fr>

	python: enhance doc

2020-12-17  Justin Carpentier  <justin.carpentier@inria.fr>

	cppad{,cg}: fix Boost issue

	example: check for dual feasibility

2020-12-15  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge tag 'v2.5.4' into topic/merging-v2.5.4
	Release of version 2.5.4.

	examples: add example of a four-bare linkages

	python: add new getFrameJacobian signature

2020-12-14  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/contact: handle corrector in derivatives

	doc: minor fix

	contact: handle correction for 3D contacts

	python/algo: minor fix

	python/utils: minor fix

	python/algo: expose new kinematic derivatives

	algo/frames: add new return signature for getFrameJacobian

	algo/joint: add new return signature for getJointJacobian

	algo/contact: add sparsity pattern to ContactCholesky

	Merge pull request #1359 from jcarpent/topic/ros
	Handle ROS 2

	ros: handle ROS 2 with AMENT_PREFIX_PATH env variable

	cmake: sync submodule

	example: lower damping

2020-12-13  Justin Carpentier  <justin.carpentier@inria.fr>

	python: enhance exposition of RigidContactData

	python: expose BaumgarteCorrectorParameters

	algo: add BaumgarteCorrectorParameters

	spatial: add new signature for Jexp6 and Jlog6

2020-12-09  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1354 from francois-keith/dev_windows_patch
	Correct compilation issue + warning removal for Win32 + msvc 142

2020-12-09  Francois Keith  <francois.keith@cea.fr>

	Add Macros to wrap calls to pragma push/pop/ignore deprecation

2020-12-09  Justin Carpentier  <justin.carpentier@inria.fr>

	test/contact: add more testing

	algo/impact: fix bug

	algo/contact: fix bug in derivatives

2020-12-08  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/impulse: clean

	algo/kinematics: enforce set to zero

	algo/contact: fix impulse dynamic derivatives

	algo/impulse: fix computations of Ag

	algo/kinematics: add kinematic derivatives of the velocity for a single point

	urdf: add missing include and namespace

	doc: fix

	test: fix deprecated function

	examples: add missing include

2020-12-08  Francois Keith  <francois.keith@cea.fr>

	Ignore depracation warning in WIN32, prevent additional warning due to unknown #pragma

2020-12-08  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/contact: enhance efficiency

	algo/contact: remove useless lines

	algo/derivatives: use getPointClassicAccelerationDerivatives
	This fixes the bug

	algo/derivatives: add new signature for getPointClassicAccelerationDerivatives

	core: cosmetic

2020-12-07  Justin Carpentier  <justin.carpentier@inria.fr>

	core: increase BOOST_FUSION_INVOKE_MAX_ARITY

	algo/derivatives: add derivatives of classic acceleration

	algo/derivatives: minor fix

	python: expose classic acceleration

2020-12-06  Francois Keith  <francois.keith@cea.fr>

	Add missing nominmax flag when compiling pinocchio_read_model

2020-12-05  Justin Carpentier  <justin.carpentier@inria.fr>

	core: remove redundant code

	algo/derivatives: add getFrameAccelerationDerivatives with a placement signature

	algo/derivatives: add getFrameVelocityDerivatives with a placement signature

	doc: fix minor mistake

2020-11-26  Justin Carpentier  <justin.carpentier@inria.fr>

	ros: update version

	Merge pull request #1351 from jcarpent/topic/fix
	Fix throwing

	Merge pull request #1350 from gabrielebndn/topic/rpy
	Improve support for rpy

	core: fix throwing

2020-11-25  Gabriele Buondonno  <gabriele.buondonno@wandercraft.eu>

	[unittest/python/rpy] Appease codacy

	[rpy] PR comments

	[unittest/python] More robust test

	[bindings] Simplify rpyToMatrix bindings

	[bindings] Simplify matrixToRpy bindings

	[unittest/python] Better rpy tests

	[unittest] Simplify test_rpyToMatrix

2020-11-23  Gabriele Buondonno  <gabriele.buondonno@wandercraft.eu>

	[bindings] Expose rpyToJacInv and rpyToJacDerivative

	[bindings] Expose rpyToJac

2020-11-22  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: highlight CppADCodeGen

2020-11-21  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1348 from jcarpent/topic/boost
	Fix missing namespace for Boost < 1.60.0

	core: fix missing namespace for BOOST < 1.60.0

	Merge pull request #1347 from jcarpent/topic/deprecated
	Fix deprecated elements

2020-11-20  Justin Carpentier  <justin.carpentier@inria.fr>

	test: use non deprecated function

	core: fix warning with C++17

	Merge pull request #1346 from jcarpent/topic/eigen
	Fix compatibility with Eigen >= 3.3.9 (not yet released)

	core: fix compatibility with Eigen >= 3.3.9

	Merge pull request #1344 from jcarpent/topic/ci
	Comply with new GitHub Action rules

	ci: update GitHub Action following new rules

	cmake: sync submodule

2020-11-16  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1342 from jcarpent/topic/urdf
	Fix var name in CMake

	urdf: fix potential issues on Windows

	doc: fix compilation rules for Pinocchio examples

	urdf: change variable name

	cmake: fix var name

	Merge pull request #1341 from jcarpent/topic/boost
	Fix Boost warning + fix doc

	doc: fix doc with new compilation instructions

	core: fix warning with recent Boost version

2020-11-16  Gabriele Buondonno  <gabriele.buondonno@wandercraft.eu>

	[rpy] Implement rpyToJacDerivative

	[rpy] Inline everything

	[rpy] Implement rpyToJacInv

	[rpy] Implement rpyToJac

2020-11-15  Gabriele Buondonno  <gabriele.buondonno@wandercraft.eu>

	[rpy] Split hpp from hxx

2020-11-13  Justin Carpentier  <justin.carpentier@inria.fr>

	algo: small fix in contact derivatives

	algo: enforce contact-dynamics with double sided constraints

	algo: fix ContactChol to support double sides constraints

	urdf: add missing include

	python/data: expose more quantities + fix doc

	joints: fix indent

	doc: fix Data doc

	Merge pull request #1339 from jcarpent/topic/python
	Minor fixes

2020-11-12  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: small fix

	python: fix access to some fields

	ros: update version

	test/python: test Model::name

	examples: small fix

	python/model: allow name change

	cmake: fix variable name

2020-11-10  Justin Carpentier  <justin.carpentier@inria.fr>

	python/joints: extend API

	python/data: expose joints

	python: fix potential bug with C++11

	python: rename file

2020-11-06  Justin Carpentier  <justin.carpentier@inria.fr>

	core: remove useless include

	doc: add doc for changeReferenceFrame

	algo: simplify dyn derivatives

	contact: add name field

2020-11-05  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1335 from jcarpent/topic/examples
	Add new simulation example

	example: minor fix

	example: fix integrator

	cmake: sync submodule

	examples: add simualtion of inverted pendulum

2020-11-04  Justin Carpentier  <justin.carpentier@inria.fr>

	macros: improve messaging

	test: enhance CMake strategy for tests

	test/algo: add test of changeReferenceFrame

	algo: add changeReferenceFrame helpers

	spatial: improve inertia

	spatial: add const_cast_derived to Spatial classes

	spatial: fix issues when calling operator= for Motion and Force

2020-11-03  Justin Carpentier  <justin.carpentier@inria.fr>

	doc: fix doc

2020-11-03  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[unittest][contact-dynamic-derivatives] remove WORLD frame tests. remove wXv derivatives from dac_dq test

	algorithm/contact-dynamics-derivatives: remove deriv of wXv from 6D derivatives

	unittest/contact-dyn-derivs: separate 6D and 3D contact models in unittests

2020-11-03  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

	all: fix merging

	Merge tag 'v2.5.2' into topic/merging
	Release of version 2.5.2.

2020-11-02  Justin Carpentier  <justin.carpentier@inria.fr>

	python/contact: fix exposition

	contact: add acceleration_free field

	ros: update version

	Merge pull request #1332 from jcarpent/topic/kinematic-regressors
	Add computations of kinematic regressors

	python/test: add test for kinematic regressors

2020-11-01  Justin Carpentier  <justin.carpentier@inria.fr>

	algo: small fix

	python: add python bindings of kinematic regressors

	algo: fix doc + add more signatures

	readme: update content

	algo: cosmetic change

	test/algo: test new kinematic regressors

	algo: add kinematic regressor computations

2020-10-25  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: update year for citing the code

2020-10-23  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1328 from jcarpent/topic/doc
	Minor fix - doc + CMake

	Merge pull request #1329 from nim65s/devel
	gepetto visualizer: explicit error message if GV is not installed

2020-10-22  Guilhem Saurel  <guilhem.saurel@laas.fr>

	gepetto visualizer: explicit error message if GV is not installed

2020-10-22  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: add message relative to Python compilation

	cmake: sync submodule

	doc: minor fix

	Merge pull request #1324 from gabrielebndn/topic/normalize
	Add isNormalized

2020-10-21  Gabriele Buondonno  <gabriele.buondonno@wandercraft.eu>

	[isNormalized] Use ref for prec everywhere

	[isNormalize] Replace std::abs with using std::abs

	[SpecialOrthogonal/isNormalized_impl use ref

	[SpecialEuclidean/isNormalized_impl] Fix input ref and alignment

	[CartesianProduct/isNormalized] Use ref for prec

	[CartesianProductVariant/isNormalized] Don't use ref for index

	[algo/isNormalized] use ref for prec

2020-10-21  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1327 from jcarpent/topic/dynamics
	Add computeKKTContactDynamicMatrixInverse

	algo: fix documentation

	readme: fix bibtex coloration

	test/python: handle 2nd signature

	python: bind computeKKTContactDynamicMatrixInverse

	algo/contact: add computeKKTContactDynamicMatrixInverse

	algo: rename variables for better clarity

2020-10-20  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1325 from nim65s/devel
	add missing use of PINOCCHIO_PRAGMA_DEPRECATED_HEADER

2020-10-20  Guilhem Saurel  <guilhem.saurel@laas.fr>

	add missing use of PINOCCHIO_PRAGMA_DEPRECATED_HEADER

2020-10-20  Gabriele Buondonno  <gabriele.buondonno@wandercraft.eu>

	[unittest] Improve tests for isNormalized

	[unittest/python] Test isNormalized

	[bindings] Bind isNormalized

2020-10-16  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1314 from jcarpent/topic/python
	Fix bug + improve Python doc

2020-10-15  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1321 from jcarpent/topic/cmake
	Sync submodule CMake

2020-10-15  Gabriele Buondonno  <gabriele.buondonno@wandercraft.eu>

	[unittest] Test isNormalized

	[algorithm] Add isNormalized

2020-10-14  Gabriele Buondonno  <gabriele.buondonno@wandercraft.eu>

	[liegroup] Add IsNormalizedStep

2020-10-14  Justin Carpentier  <justin.carpentier@inria.fr>

	win: fix bug
	But I really don't get it

	windows: fix issue with v142

	cmake: sync submodule

	Merge pull request #1319 from nim65s/devel
	python unittest: use context to open files

	Merge pull request #1315 from proyan/devel
	[algorithm/centroidal] computeCentroidalMomentum calculates vcom as well

2020-10-14  Gabriele Buondonno  <gabriele.buondonno@wandercraft.eu>

	[liegroup] Implement isNormalized for variant

	[liegroup] add isNormalized

2020-10-13  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[centroidal][doc] vcom is returned as well

2020-10-13  Gabriele Buondonno  <gabriele.buondonno@wandercraft.eu>

	[liegroup] Fix doc for normalize

2020-10-13  Guilhem Saurel  <guilhem.saurel@laas.fr>

	python unittest: use context to open files
	fix:
	…/pinocchio/unittest/python/bindings_urdf.py:23: ResourceWarning: unclosed file <_io.TextIOWrapper name='…/pinocchio/models/others/robots/romeo_description/urdf/romeo.urdf' mode='r' encoding='UTF-8'>
	  file_content = open(self.model_path,"r").read()

2020-10-13  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[algorithm/centroidal] computeCentroidalMomentum calculates vcom as well

2020-10-13  Justin Carpentier  <justin.carpentier@inria.fr>

	fcl: fix order for PINOCCHIO_DEPRECATED

	ci: enable test of v142 with hpp-fcl

	python/spatial: fix doc

	bench: fix bug in the output

2020-10-12  Justin Carpentier  <justin.carpentier@inria.fr>

	ros: update version

2020-10-10  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1311 from jcarpent/topic/coriolis
	Add getCoriolisMatrix

2020-10-09  Justin Carpentier  <justin.carpentier@inria.fr>

	test: remove useless var

	algo: update copyright

	python: expoe getCoriolisMatrix

	algo: add getCoriolisMatrix

	algo: compute oinertias in derivatives algos

	core: add oinertias to Data

	cmake: sync submodule

2020-10-08  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

2020-10-06  Justin Carpentier  <justin.carpentier@inria.fr>

	core: fix warning

	Merge pull request #1309 from jcarpent/topic/devel
	Enhance C++11 support for Windows

	cmake: sync submodule

	core: fix C++11 check for Windows

2020-10-05  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1305 from jcarpent/support-msvc-v142
	Support msvc v142 compiler

	ci: deactivate Python bindings for v142

2020-10-04  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: fix compilation issue of big test

	all: use ! instead of not

	cmake: fix Wno-conversion for Windows

2020-10-03  Justin Carpentier  <justin.carpentier@inria.fr>

	macros: fix definition of PINOCCHIO_WITH_CXX{11,14,17}_SUPPORT

	liegroup: fix C++ version checking

	core: enhance Windows support

	macros: fix support of Windows compilers

	Merge pull request #1304 from jcarpent/topic/devel
	Add support of joint friction and dampings

2020-10-02  Justin Carpentier  <justin.carpentier@inria.fr>

	ci: deactivate hpp-fcl (debug)

	spatial/inertia: add workaround for WIndows compiler

	ci: add V142 build for Windows

	ci: specify CLANG test for Windows

2020-10-02  Silvio Traversaro  <silvio.traversaro@iit.it>

	Avoid to use not unary operator

	Fix assignemnt of a Symmetric3 given a Matrix3
	From https://github.com/stack-of-tasks/pinocchio/commit/f1831c3fc0384035ed6f1d8e05b748a3766fd599

	Add workaround for problem in MSVC v142 parser
	The MSVC v142 parser (version 16.7 Preview 4) seems to have problems
	with some specific template expressions if they contain multiple parenthesis.
	As a workaround, avoid to have double parenthesis.

	Always add /bigobj for compilation units that link pinocchio
	Pinocchio with its heavely templated code create a huge number of
	sections, and to avoid C1128 errors, the simpler solution is to
	always pass /bigobj on MSVC to compilation units that link pinocchio.
	The only downside of this approach is that library generates with this
	option cannot be linked with linkers shipped with Visual Studio 2005 or
	earlier, that I think it is not a problem in practice.

2020-10-02  Justin Carpentier  <justin.carpentier@inria.fr>

	algo: remove redundant copy

	python: fix addJointVisitor

	python: minor refactoring of Joint exposers

	python: expose new addJoint signature + minor refactoring

	parsers: read friction and damping parameters

	core: fix types

	core: handle friction and damping parameters when adding joint

	core: add friction and damping fields to Model

2020-09-23  Justin Carpentier  <justin.carpentier@inria.fr>

	test: add closed-loop unit test

	all: start to handle constraints over two joints

	doc/spatial: fix

	Merge pull request #1301 from jcarpent/topic/devel
	Fix pickling of std::{vector,map} and add testing

2020-09-22  Justin Carpentier  <justin.carpentier@inria.fr>

	test/python: fix issue on Windows

	test/python: fix test

	test: enforce testing of Model

	test/python: add urdf tests

	python: make deprecated outdated signature with verbose

	test/python: test sampled models

	python: fix doc

	test/python: add test for pickling std::{map,vector}

	python/pickle: fix pickling of std::map

	python/data: fix StdVec namings

	python: fix types naming

2020-09-21  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1300 from jcarpent/topic/devel
	Enforce coverage

	test: fix usage of deprecated function

	urdf: fix throwing message

	test/urdf: test VISUAL model loading

	parsers/urdf: make convertFromUrdf common

	test/python: enforce test on dynamics

	test/python: enforce testing of Liegroups methods

	python/liegroups: fix expose of dIntegrateTransport

	python/liegroups: add missing signature dIntegrate

	test/python: enfore coverage for explog

	test/python: fix warnings

2020-09-20  Justin Carpentier  <justin.carpentier@inria.fr>

	test/python: enforce testing of derivatives for joint operations

	test/python: test joints algo

	test/python: test skew operations

	test/python: test getter

2020-09-19  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1299 from jcarpent/topic/devel
	Enforce bindings and test them

	test/python: enhance frame algo coverage

	test/python: test std::vector

	test/python: test std::map

	test/python: fix

	test/python: add new test for derivatives

	python: fix doc

	test/python: enforce test on CoM algos

	python: set deprecated signature

	Merge pull request #1296 from jcarpent/topic/devel
	Add additional semantic KinematicLevel

2020-09-18  Justin Carpentier  <justin.carpentier@inria.fr>

	test/python: add more test for CoM algos

	python: fix return types

	algo: uniformize function signature

2020-09-17  Justin Carpentier  <justin.carpentier@inria.fr>

	python: fix call to deprecated overloaded signature

	algo: fix call to non-deprecated function

	python: make former signature deprecated

	core: fix input check

	core: fix casting of KinematicLevel

	python: expose KinematicLevel

	all: use new KinematicLevel semantic

	core: add enum KinematicLevel

	doc: fix ReferenceFrame doc

2020-09-15  Justin Carpentier  <justin.carpentier@inria.fr>

	test/explog: add missing Jexp6 finite diff test

2020-09-07  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1289 from nim65s/devel
	[CMake] {HPP_FCL → hpp-fcl}_FOUND

2020-09-07  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[CMake] {HPP_FCL → hpp-fcl}_FOUND
	since d1a7f8da4b9afd00e461be0e210d6756ae2776fd, hpp-fcl is found using
	the standard CMake procedure instead of pkg-config

2020-09-07  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1288 from jcarpent/topic/devel
	Cover Python bindings inside the unit tests

2020-09-06  Justin Carpentier  <justin.carpentier@inria.fr>

	test/python: increase coverage rpy

	codacy: fix new issues

	test/python: improve covergae

	test/python: cover liegroups totally

	test/python: add more tests

	test/python: clean CMake

	test/python: enforce testing of unit tests

	python: add missing typename

	python: fix the way the data are returned

	python/utils: add make_copy

	python/algo: remove useless algo

	python: add helper to create Eigen::Ref and make matrix symmetric

2020-09-04  Justin Carpentier  <justin.carpentier@inria.fr>

	impact: fix compatibitlity

	cmake: sync submodule

	contact: update tests and code
	Tests are not passing

	core: fix merging issues

	Merge remote-tracking branch 'github/topic/devel' into topic/merging

	contact: fix merging issues

2020-09-03  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge remote-tracking branch 'justin/condyn2' into topic/merging

	contact: refactoring of contact dynamics
	The new API starts the implementation of generic constrains

2020-09-01  Justin Carpentier  <justin.carpentier@inria.fr>

	core: rename Constraint into JointMotionSubspace

	cppad: fix constant_pi

2020-08-31  Justin Carpentier  <justin.carpentier@inria.fr>

	ros: update version

	Merge pull request #1284 from jcarpent/topic/devel
	Activate the sharing of memory between C++ and Python

	readme: add credits to Aamr

	test/python: fix test

2020-08-30  Justin Carpentier  <justin.carpentier@inria.fr>

	python: fix return type

	python/multibody: allows modifications of Eigen objects

	python/utils: add return of the class for StdVector helpers

	python: add helpers to return Eigen object from std containers

2020-08-29  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1283 from aelkazdadi/is-floating-point
	math: a more general floating point trait

2020-08-28  Justin Carpentier  <justin.carpentier@inria.fr>

	core: force casting of expression in fabs argument

2020-08-27  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

2020-08-25  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: add missing default Boost options

	cmake: sync submodule

	cmake: move Boost search to dedicated place

	test/python: fix

	cmake: export BOOST settings

	cmake: sync submodule

	cmake: add missing REQUIRED

	cmake: sync submodule

	cmake: change for SEARCH_FOR_BOOST_PYTHON

	cmake: set minimal version of EigenPy to 2.5.0

	cmake: sync submodule

	casadi: fix indent

	test/python: test shared memory

	python: expose shared data member for Spatial classes

	python/spatial: improve doc

2020-08-24  aelkazdadi  <>

	math: define a more general floating point trait

2020-08-24  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1281 from jcarpent/topic/devel
	Add helper macro PINOCCHIO_CHECK_ARGUMENT_SIZE

	all: use new PINOCCHIO_CHECK_ARGUMENT_SIZE

	macros: add PINOCCHIO_CHECK_ARGUMENT_SIZE macro

2020-08-20  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1279 from aelkazdadi/mpfr-sincos
	provide SINCOSAlgo specialization for boost mpfr float types

	travis: add mpfr

	test/multiprecision: fix call to ABA with tau

	cmake: fix optional dependency search

	test: fix search of optional dependencies

2020-08-20  aelkazdadi  <>

	test: add test for sin_cos specialization for boost multiprecision mpfr floats

	math: specialize sin_cos for boost multiprecision mpfr floats

2020-08-19  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1278 from jcarpent/topic/devel
	Fix documention of Transport operations

2020-08-19  Justin Carpentier  <justin.carpentier@inria.fr>
	    Joseph Mirabel  <josephmirabel@gmail.com>

	doc: apply suggestion

2020-08-19  Justin Carpentier  <justin.carpentier@inria.fr>

	doc: fix documention of Transport operations

	readme: update news formatting

2020-08-18  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[benchmark][codegen] add normal bench of computing contact-dynamics and contact-dynamics-derivatives

2020-08-17  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[benchmark][contact-dyn-deriv] fix contact names

	[benchmark] benchmark contact-dynamics-derivatives codegen

	[contact-models] cast to newscalar

	[codegen][contact-dynamics-derivatives] add support for codegen

2020-08-17  Justin Carpentier  <justin.carpentier@inria.fr>

	algo: minor refinement

	model: use PINOCCHIO_CHECK_INPUT_ARGUMENT when possible

2020-08-15  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1276 from jcarpent/topic/devel
	Improve packaging

	cmake: use PYTHON_SITELIB

	cmake: sync submodule

2020-08-14  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[minor] fix missing typedefs

	[benchmark/impulse-dynamics-derivatives] add impulse-dyn deriv benchmark

2020-08-14  Justin Carpentier  <justin.carpentier@inria.fr>

	doc: fix keyword

	readme: set link to OSG

	readme: provide difference between master and devel branch

2020-08-14  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[minor] remove warning messages, expose frame-derivatives. expose contactdyn

	[frames-derivatives] merge frames-derivatives from github

2020-08-14  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: add vizualization section

2020-08-14  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[contact-dynamimcs-derivatives] fix dlambda/dq. contact_3d still not working.

	[unittest/impulse-dynamics-derivatives] add local_world_aligned and world unittests

	[impulse-dynamics-derivatives] fix dlambda_dq for Contact_6d. todo: bugs in contact_3d

2020-08-13  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[impulse-dynamics-derivatives] add support for LOCAL and LOCAL_WORLD_ALIGNED. fix dimpulse/dq

	[contact-dynamics-derivatives] clean implem

	[contact-dynamics-derivatives] add support for LOCAL_WORLD_ALIGNED

	[src/algorithm] checkout local_world_aligned from github/devel

	[contact-dynamics-derivatives] unittest for local and local_world_aligned

	[contact-dynamics-derivatives] add support for LOCAL AND WORLD frames. todo: 1) fix dlambda_dq 2) add support for LOCAL_WORLD_ALIGNED

	contacts: remove contact_placement and use data.oMf instead

2020-08-12  Justin Carpentier  <justin.carpentier@inria.fr>

	serialization: fix guard

	serialization: add missing children field

	core: add notion of children

	core/model: cosmetic change

	doc/model: minor fix

	core: fix ModelTpl::cast

	core: remove useless include

	core: move definition to .hxx

2020-08-11  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1272 from jcarpent/topic/devel
	Improve coverage

2020-08-11  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[impulse-dynamics] didq> add deriv of dXdq

2020-08-10  Justin Carpentier  <justin.carpentier@inria.fr>

	test: add test of CartesianProductOperationVariantTpl

	liegroups: alignment of CartesianProductOperationVariantTpl

	doc: update doc for CartesianProductOperationVariantTpl

	test/model: fix test

	gitlab: include the generated file

	coverage: enforce testing of JointModelComposite

	coverage: enforce testing of appendModel

	coverage: add test of alignement for Model and Data

	Merge pull request #1271 from proyan/devel
	[bindings] add bindings for model.idx_vs, idx_qs, nvs

2020-08-10  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[bindings] add bindings for model.idx_vs, idx_qs, nvs

	[bindings] add bindings for model.idx_vs, idx_qs, nvs

2020-08-07  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1270 from jcarpent/topic/devel
	Fix documentation

	bench: update according to new API

2020-08-07  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[bindings/impulse-dyn-deriv] add bindings

	[unittest/impulse-dyn-deriv] add fd test for impulse-dyn

2020-08-07  Justin Carpentier  <justin.carpentier@inria.fr>

	doc: fix title

	doc: do not exclude files

2020-08-06  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1268 from jcarpent/topic/casadi
	Fix call to RNEA and ABA derivatives for symbolic frameworks

	ci: use only one core

2020-08-05  Justin Carpentier  <justin.carpentier@inria.fr>

	liegroups: add missing method

	liegorups: fix indent

	liegroups: fix bug

	algo: use FrameIndex directly

	algo: fix signature

	ci: disable 16.04 temporarly

	ci: add test on ubuntu-20.04

2020-08-04  Justin Carpentier  <justin.carpentier@inria.fr>

	test/casadi: add test of RNEA and ABA derivatives

	algo/derivatives: fix call to isZero()

	core: add isZero helper
	Requested by symbolic frameworks such as Casadi or CppAD

2020-08-03  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1267 from jcarpent/topic/algo
	Fix type

	Merge pull request #1265 from nim65s/devel
	[CMake] fix eigen include dir for Fedora

	algo/frames: fix type

2020-08-03  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[CMake] fix eigen include dir for Fedora
	ref. https://github.com/stack-of-tasks/eigenpy/pull/205

2020-07-29  Rohan Budhiraja  <proyan@users.noreply.github.com>

	Topic/cppad support (#1262)
	* [cppad][algorithm/aba] move specialization to cppad/algorithm/aba
	
	* [cmake][cppad] add cppad/algorithm directory

2020-07-28  Carlos Mastalli  <carlos.mastalli@gmail.com>
	    Justin Carpentier  <justin.carpentier@inria.fr>

	Fixes tiny error in the warning messages in aba and aba-derivatives (#1260)
	* [doc] Fixed tiny error in aba documentation
	
	* [doc] Fixed documentation in aba-derivatives
	
	* algo: fix assert

2020-07-28  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[algorithm/energy] add missing typedef

	[bindings/multibody/data] expose dvc_dq, dlambda-dq etc

2020-07-24  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[binding][impulse-dynamic-derivative] expose

	[algorithm/impulse-dynamics-derivatives] fix faulty assignment

	[bindings][impulse-dynamics] add binding for impulse-dynamics

2020-07-23  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[algo/impulse-dyn-deriv] implement dvc_dq. fix naming.

	[algo/impulse-dynamics-derivs] full algo

2020-07-22  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[unittest/imp-dyn-deriv] check that missing force solves dimp/dq = drnea(q,0,i)

	[algorithm/contact-dyn-deriv] fix missing force update

	[algorithm/impulse-dynamics] update algo for calculating dv instead.

	[unittest/impulse-dyn-derivs] compare drnea(q,0,dv) with impulse-dyn

	[algo/impulse-dyn-deriv] implem d(joint_impulse)/dq in impulse-dyn-deriv

	[impulse-dynamics-deriv] fix api

	[unittest/impulse-dynamics-derivative] copy contact-deriv unittest

2020-07-21  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[algorithm/impulse-derivatives] cleans house. equivalent to rnea(q,0,dv)

	[algorithm/impulse-dynamics-derivatives] remove passes

	[algorithm/contact-dynamics-derivatives] separate impulse parts

	[algorithm/impact-dynamics-derivatives] forward pass

2020-07-20  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[algorithm/impulse-dynamics-derivatives] separate dtau_dq and dtau_dv

	[algorithm/contact-dynamics-derivatives] start separating impulse specific quantities

	[algorithm/impulse-dynamics] use of to save "articulated impulse". save oh

2020-07-20  Justin Carpentier  <justin.carpentier@inria.fr>

	ros: update version

	cmake: sync submodule

	Merge pull request #1226 from jmirabel/liegroups
	LieGroup Python bindings.

	Merge pull request #1257 from traversaro/patch-2
	model: Remove dot after literal string

2020-07-18  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[algorithm/impulse-dynamics-derivatives] copy contactdynamics derivatives

	[algorithm/impulse-dynamics] iterative computation of M*v_before

	[unittest/impulse-dynamics] fix boost_check for data.M

	[benchmark/impulse-dynamics] add impulse-dynamic timings

	[algorithm/constrained-dynamics] fix bad template

2020-07-18  Silvio Traversaro  <silvio@traversaro.it>

	model: Remove dot after literal string

2020-07-18  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[benchamark/impulse-dyn] copy contact-dyn

	[unittest/impulse-dyn] test implementation of LOCAL and LOCAL_WORLD_ALIGNED and contact 3d

	[unittest/contact-dynamics] remove cout statements

	[unittest/impulse-dynamics] unittest for impulse-dynamics wrt previous implem and kkt-reference

	[algorithm/impulse-dynamics] update API to match the API of constrained-dynamics/impulseDynamics. complete Ag computation.

	[src/algorithm/contact-dynamics] license cnrs

	[unittest/impulse-dynamics] impulse-dynamics unittest

2020-07-18  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1255 from jcarpent/topic/derivatives
	Add support for LOCAL_WORLD_ALIGNED in kinematics derivatives

2020-07-17  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[algorithm/contact-dynamics] resize impulse_c as well in initContactDynamics

	[unittest/impulse-dynamics] copy unittest from contact dyn

	[algorithm/impulse-dynamics] initial implem of impulse dynamics. todo: check with iterative scheme how to do Mdq

	[algorithm/contact-dynamics] boolean to filter out contact dynamics specific quantities

2020-07-17  Justin Carpentier  <justin.carpentier@inria.fr>

	python: fix doc

	python: expose Frame kinematics derivatives

	python: fix call

	test/frames-der: add tests for getFrameAccelerationDerivatives

	algo/frames-der: add getFrameAccelerationDerivatives

	test/der: minor clean

	algo/frames-der: fix doc

2020-07-17  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[bindings/parsers/urdf/console-bridge] make console-bridge compiant on c++98

2020-07-17  Justin Carpentier  <justin.carpentier@inria.fr>

	test/kin-der: add test for getFrameVelocityDerivatives

	algo/frames-der: add getFrameVelocityDerivatives

	algo/kin-der: add constness and use temporary

	core: fix guard

2020-07-17  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge branch 'condyn2' into 'devel'
	Condyn2

	See merge request jcarpent/pinocchio!6

2020-07-16  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[algorithm/impulse-dynamics] fix api

	[algorithm/contact-dynamics] remove iostream include

	[impulse dynamics] copy from contact

	[unittest/contact-dynamics-derivatives] add check to confirm that dirty data doesn't change output

	[contact-dynamics] need to setZero da/dq and da/dv else solution remains dirty

	[contact-dynamics][VERIFY] dtau_dq and dtau_dv contain residual elements from previous runs if not set to zero

	[contact-dynamics] fix scalar types

	[cmake] update

	[benchmark/contact-dyn] fix contact-data api

2020-07-15  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

	test: add test for LOCAL_WORLD_LEVEL option

	algo/kinematics-derivatives: add support for LOCAL_WORLD_ALIGNED at acceleration level

	test: add test for LOCAL_WORLD_ALIGNED

	algo/kinematics-derivatives: add support of LOCAL_WORLD_ALIGNED for joint velocity

	algo/jacobians: add translateJointJacobian helper

2020-06-19  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1249 from jcarpent/master
	Fix compilation warnings

	container: remove useless and redundant cast

	Merge pull request #1248 from wxmerkt/wxm-address-compiler-warnings
	Address remaining compiler warnings

2020-06-18  Wolfgang Merkt  <w.merkt@gmail.com>

	macros.hpp: Move multi-line macro (commented out) to single line to address warning.

	contact-dynamics: Add % at end of Latex line to avoid Wcomment warning

	[bindings/python/multibody/model] Cast return type to long unsigned int/size_t
	FrameIndex = Index = size_t

2020-06-18  Joseph Mirabel  <jmirabel@laas.fr>

	Fix wrong asserts.

	[Minor] Address PR comment

	[LieGroup] Add LieGroup dDifference with matrix product.

	Implement VectorSpaceOperationTpl::dIntegrate_product_impl

	Implement CartesianProductOperationVariant::dIntegrate_product_impl

	Add basic Python unit test for liegroups

	[LieGroup] Provide base architecture for Ja = dIntegrate() * Jb (and reverse)

	[LieGroup] Split declaration and definition of CartesianProductOperationVariant

	[Minor] Fix default mesh color.

	Fix compilation warning

	[LieGroup] Fix equality operator.

	[LieGroup] Add forward declaration of visitor method.

	[LieGroup] Add equality operator.

	[LieGroup] Fix interface that allocates memory for dynamic size.

	[Minor] Minor changes

	[LieGroup] Continue implementation of CartesianProductOperationVariant + python

	[LieGroup][Python] Add first python bindings of LieGroup

	[LieGroup] Fix CartesianProductOperationVariant + add operator*

	[LieGroup] Add some Lie group visitors.

2020-06-18  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1247 from nim65s/devel
	[CMake] add missing link to DL

2020-06-18  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[CMake] add missing link to DL

2020-06-17  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: add job offer

	readme: update content

2020-06-16  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1244 from nim65s/devel
	[CMake] fix CppAD / CppADCG case

2020-06-16  Guilhem Saurel  <guilhem.saurel@laas.fr>

	sync submodule

2020-06-15  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1243 from jcarpent/devel
	Clean Codegen and Autodiff packaging

	autodiff: fix test

	cmake: sync submodule

	cmake: fix INCLUDE_DIRECTORIES

	ros: update version

	core: fix packaging of autodiff and codegen plugins

	Merge pull request #1242 from jcarpent/devel
	Fix search of CppAD{,CodeGen}

	cmake: fix linkage to externals CppAD and CppADCG

	cmake: sync submodule

2020-06-14  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: set externals for CppAD{,CodeGen}

	cmake: sync submodule

	Merge pull request #1241 from wxmerkt/wxm-resolve-doc-build-failure
	package.xml: Add texlive dependency for documentation jobs

2020-06-13  Wolfgang Merkt  <w.merkt@gmail.com>

	package.xml: Add texlive dependency for documentation jobs

2020-06-12  Wolfgang Merkt  <wxmerkt@users.noreply.github.com>

	Update email since the robots.ox.ac.uk does not receive buildserver updates (#1240)

2020-06-12  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1238 from jcarpent/devel
	Enable test against hpp-fcl on Windows

2020-06-11  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1235 from julesser/devel
	Add python example and doc for buildReducedModel

	ci: enable test against hpp-fcl on Windows

	example: minor fix

	examples: small fix

	test: test new example

	examples: make the example idenpendant

	Merge pull request #1236 from jcarpent/devel
	Fix packaging issue on Windows

2020-06-11  Julian Eßer  <julian.esser@posteo.de>

	[examples][reduced-model] Switch to numpy array

	[examples][reduced-model] Simplify code

	[examples][reduced-model] Load urdf directly

2020-06-11  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: fix packaging issue on Windows

2020-06-11  Julian Eßer  <julian.esser@posteo.de>

	[doc] Add example reduced models

	[examples] Add python example to build a reduced robot model

2020-06-10  Rohan Budhiraja  <proyan@users.noreply.github.com>

	Add codegen/autodiff support for eigen coeff-wise min and max operations (#1234)
	* autodiff/cppad: fix eigen min check
	
	* codegen/cppadcg: fix call to eigen min and max functions
	
	* autodiff/cppad.hpp: add eigen::internal::pmin specialization
	
	* codegn/cppadcg: eigen::internal::pmin/pmax specialization
	
	* autodiff/cppad/minmax: create a file to deal with coeff wise min/max operation in eigen.
	This file needs to be loaded before Eigen/Core is called, to load the correct environment for autodiff/codegen.
	Otherwise, std::min/max is read by the compiler.
	
	* autodiff/casadi: fix header
	
	* traits.hpp: create traits file, which is independent from eigen
	
	* codegen/cppadcg, autodiff/cppad.hpp: include minmax.hpp
	
	* math/fwd: use traits.hpp instead of fwd.hpp. avoids loading eigen
	
	* utils/static-if: use traits.hpp to avoid using eigen
	
	* include pinocchio/fwd.hpp header
		modified:   src/multibody/joint/joint-free-flyer.hpp
		modified:   src/multibody/joint/joint-revolute-unbounded.hpp
		modified:   src/spatial/inertia.hpp
	
	* add boost-mpl-container-limit header in codegen and autodiff files
		modified:   src/autodiff/cppad.hpp
		modified:   src/codegen/cppadcg.hpp
	
	* add pinocchio/fwd.hpp header where missing
	
	* add copyright license
	
	* fwd.hpp: move enums to fwd.hpp
	
	* [unittest/cppad-basic] add testing for cppad support for eigen min and max
	
	* autodiff/cppad: fix inclusion order of minmax
	
	* src, unittest: fix header inclusion order.
	
	* cppad.hpp: add min/max computation in cppad. simplify implementation

2020-06-07  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: add Windows support

	Merge pull request #1218 from francois-keith/dev_clang_win32
	Allows compiling with clang + Visual Studio 2019

	windows: fix symbol exports

	cmake: sync submodule

	ci: set Windows path

	cmake: fix path

	ci: fix Windows build

	cmake/python: fix Windows specifities

	cmake: remove useless lines

	ci: set ctest config

	cmake: fix packaging

	core: under some defines in Windows

	ci: minor debug

	cmake: add NOMINMAX

2020-06-07  Justin Carpentier  <justin.carpentier@inria.fr>

	ci: set CMAKE_PREFIX_PATH
	ci: fix default channel

	ci: remove pkg-config dependency for conda

	ci: allows conda to autoupdate

	ci: fix name

	ci: rename file

2020-06-03  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: fix include

	travis: set CMAKE_PREFIX_PATH

	cmake: do not precise Eigen version
	Some versions of FindEigen3.cmake does not provide this support. And the Eigen version check is directly performed in the C++ code, so this feature is not necessary.

	cmake: fix dependency name

	cmake: remove IF for Windows compilation

	core: include Eigen extensions before the rest
	This is to avoid a compilation issues on Windows systems

	cmake: fix

	cmake: use standard CMake procedure to link against external dependencies

2020-06-03  Francois Keith  <francois.keith@cea.fr>

	Use clang generator with Visual Studio 2019 for the compilation

	[Win32] Correct link and symbol export for python build

	[Win32] Add missing option in benchmark build

2020-06-03  Justin Carpentier  <justin.carpentier@inria.fr>

	start debugging

	ci: pinocchio is not on conda

	ci: add conda env settings

	ci: add Windows test via Conda

2020-06-03  Francois Keith  <francois.keith@cea.fr>

	[Win32] Correct error 'input stream error' thrown by binary_oarchive

2020-06-03  Justin Carpentier  <justin.carpentier@inria.fr>

	data: fix call to templated std::max

2020-06-03  Francois Keith  <francois.keith@cea.fr>

	Install target in windows

	Clang + windows

	Add missing dllexport

2020-06-03  Francois Keith  <francois.keith@gmail.com>

	Add implementation of gettimeofday for windows

	[Win32] Correct use of min/max, add typename, remove ambiguity

2020-06-03  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1231 from jcarpent/devel
	Fix doc

	Merge remote-tracking branch 'github/devel' into topic/new-devel

	algo/aba: fix doc

	test/contact-derivatives: fix tests

	algo/contact: sync contact dynamics algo with new API

	core: fix serialization of Data

	test/joints: fix unit test

	core/data: remove quantities

	parsers: fix default models

	test/contact: fix reference value

	python: fix

	algo/chol: fix memory allocation check

2020-06-01  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1228 from jcarpent/devel
	Fix lib Python name for Windows compatibility

	python: remove trailling white space

	cmake: sync submodule

	python: fix lib name

	python: remove lib prefix for the Python wrapper
	This is for Windows compatibility

2020-05-31  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1227 from wxmerkt/wxm-package-xml-compatibility
	package.xml: Add dependency on catkin/ament_cmake for packaging

2020-05-30  Wolfgang Merkt  <w.merkt@gmail.com>

	package.xml: Add dependency on catkin/ament_cmake for packaging
	Required by REP-136

2020-05-22  Justin Carpentier  <justin.carpentier@inria.fr>

	ros: update version

	Merge pull request #1221 from jcarpent/devel
	Sync submodule cmake

	cmake: sync submodule

	Merge pull request #1220 from jcarpent/devel
	Handle LOCAL_WOLRD_ALIGNED in frames algorithms

	test/frames: test LOCAL_WORLD_ALIGNED

	algo/frames: handle LOCAL_WORLD_ALIGNED setup
	Largely simplifies the code

	algo/frames: fix guard

	algo/jacobian: make translateJointJacobian more versatile

2020-05-19  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1216 from jcarpent/devel
	Export values for bp::enum_

	python/all: export values for bp::enum_

2020-05-15  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1213 from jmirabel/devel
	Make CartesianProductOperation::lg[12]_ public.

2020-05-14  Joseph Mirabel  <jmirabel@laas.fr>

	Fix warning: control reaches end of non-void function

	Make CartesianProductOperation::lg[12]_ public + rename lg[12]

2020-05-12  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

	ros: update version

	cmake: sync submodule

2020-05-12  Gabriele Buondonno  <gbuondon@laas.fr>

	[multibody] [model] [getBodyId] Fix return type

	[urdf] Remove conversion issues between int and FrameIndex

	[all] [minor] Remove warnings and useless conversions between int and FrameIndex

	[multibody] Change return type of addJointFrame and addBodyFrame to FrameIndex

	[multibody] [addFrame] Change return type to FrameIndex

	[unittest] [model] Test getFrameId

	[multibody] [getFrameId] Fix assert

2020-05-12  Justin Carpentier  <justin.carpentier@inria.fr>

	python: use the new deprecation helper

	python: load Python warning module

	python/utils: add deprecation helpers

2020-05-12  Joseph Mirabel  <jmirabel@laas.fr>

	[Geometry] collisionRequest -> collisionRequests and distanceRequest -> distanceRequests

	[Python][gepetto-viewer] Enable display of convex object.

	[Python] Bind copy constructor of GeometryObject

	geometry: mark GeometryData::collisionObjects deprecated.

	geometry: Prefer not to use collisionObjects

2020-05-12  Justin Carpentier  <justin.carpentier@inria.fr>

	examples/viewer: remove useless line

2020-05-12  Igor Kalevatykh  <kalevatykh@gmail.com>

	Python binding: remove unnecessary dimension

	Python binding: fix of the fix of panda3d_viewer examples

2020-05-12  Joseph Mirabel  <jmirabel@laas.fr>

	Fix GepettoVisualizer when collision_model or visual_model is None.

2020-05-12  Gabriele Buondonno  <gbuondon@laas.fr>

	[bindings] Try to fix kinematic getters bindings

	[kinematics] Remove ReferenceFrame:: prefix

	[unittest] Test frame getters

	[python] [RobotWrapper] Update kinematic getters

	[bindings] Expose kinematic getters

	[bindings] Add bindings for getFrameClassicalAcceleration

	[bindings] Fix bindings for getFrameAcceleration

	[bindings] Fix bindings for getFrameVelocity

	[frames] Fix doc typo

	[kinematics] Add getFrameClassicalAcceleration

	[frames] Add optional reference frame to getFrameAcceleration

	[frames] Add optional reference frame to getFrameVelocity

	[unittest] Test kinematic getters

	[kinematics] Add getClassicalAcceleration

	[kinematics] Add getAcceleration

	[kinematics] Add getVelocity

2020-05-12  Justin Carpentier  <justin.carpentier@inria.fr>

	liegroups: fix default template operator + add doc

	liegroups: fix method signatures

2020-05-12  Guilhem Saurel  <guilhem.saurel@laas.fr>

	set default assignment operator in templatized dIntegrate

	fix dIntegrate API changes

	[Python] use older dIntegrate API

	[Tests] ensure dIntegrate API is not broken

2020-05-12  Justin Carpentier  <justin.carpentier@inria.fr>

	examples: fix interpolation on SE3

	examples: fix SE3 overview

	test: fix reduced number of tests in Debug mode

	test/vector: fix constructor

	liegroup: use PINOCCHIO_DEFAULT_QUATERNION_NORM_TOLERANCE_VALUE

	math/quaternion: add PINOCCHIO_DEFAULT_QUATERNION_NORM_TOLERANCE_VALUE macro

	test: check also the Zero vector and quaternion

	liegroups: fix type name

	liegrousp: fix cast

	liegrousp/operations: check Quaternion with tolerance 1e-8

	math/matrix: fix fabs call

	spatial/se3: use correct isUnitary

	test/math: test isNormalized for Quaternion

	math/quaternion: add isNormalized for Quaternions

	test/math: test isNormalized for random size vectors

	math/matrix: add isNormalized
	This function can be overloaded for Scalar templatization

	math/matrix: add doc

	math/matrix: fix missing include

2020-04-25  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1183 from cmastalli/topic/fix-panda3d-stuff
	Fix panda3d installation and example

	python/viewer: fix import

2020-04-24  Carlos Mastalli  <carlos.mastalli@gmail.com>

	[cleanup] Do not use np.matrix since it is deprecated

	[example] Fixed panda3d example (talos.q0 was an array defined by example-robot-data)

	[visualize] Fixed installation of panda3d

2020-04-24  Justin Carpentier  <justin.carpentier@inria.fr>

	ros: update version

	readme: update Credits with contributors

	Merge pull request #1177 from ikalevatykh/devel
	Python bindings: add Panda3D based viewer

	python/doc: another fix

	python/doc: another fix

	python/viewer: remove trailing whitespace

	python/viewer: fix linter comments

	Merge pull request #1180 from jcarpent/devel
	Sync submodule CMake

2020-04-23  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

	Merge pull request #1176 from proyan/devel
	fix bug introduced by default scalar type for SE3 in explog

2020-04-23  Igor Kalevatykh  <kalevatykh@gmail.com>

	Python bindings: disable the pylint arguments-differ warning

	Python bindings: minor fixes

2020-04-23  Justin Carpentier  <justin.carpentier@inria.fr>

	test/cppadcodegen: improve testing

2020-04-23  Igor Kalevatykh  <kalevatykh@gmail.com>

	Python bindings: switch to relative imports, remove unused imports

	Python bindings: make the group_name parameter required for Panda3d Visualizer

2020-04-23  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1179 from wxmerkt/wxm-prepare-for-focal
	package.xml: Prepare for Ubuntu 20.04 / Python3

	test/cppad: add testing of joint configurations algo

2020-04-23  Igor Kalevatykh  <kalevatykh@gmail.com>

	Python bindings: fix import

	Python bindings: remove unused import

2020-04-23  Wolfgang Merkt  <w.merkt@gmail.com>

	Update to package format version 3

	package.xml: Prepare for Ubuntu 20.04 / Python3

2020-04-23  Justin Carpentier  <justin.carpentier@inria.fr>

	codegen: fix dDifference wrapper

	codegen: fix guard

	test/liegroups: fix test

2020-04-22  Rohan Budhiraja  <proyan@users.noreply.github.com>

	unittest of dDifference with enums

	somwhat messy impl of codegen/dDifference with Argument enums

	codegen classes: ddifference arg0

	codegen unittest: ddifference arg0

2020-04-22  Justin Carpentier  <justin.carpentier@inria.fr>

	test/cg: check proper handling of singularities

	liegroup/SO3: handle autodiff support

	liegroup/SE3: improve efficiency of dDifference_impl

	liegroup: remove return of trivial solution
	We should expect that our algorithms are numerically robust

	test: add model-generator script

2020-04-22  Rohan Budhiraja  <proyan@users.noreply.github.com>

	unittest for difference-codegen class

	codegen class for difference function

2020-04-22  Justin Carpentier  <justin.carpentier@inria.fr>

	all: fix rebase issues

2020-04-22  Igor Kalevatykh  <kalevatykh@gmail.com>

	Python bindings: add Panda3D based viewer

2020-04-22  Rohan Budhiraja  <proyan@users.noreply.github.com>

	add unittest for codegenerated difference

	cogegen/algo: add codegen for difference operator

	liegroup/SO3: unused typedef

	add unittest to check codegenerated integrate

	liegroup/SO3: fix missing typedef

	add code-gen class for integrate function. This class is meant to test the spatial classes

	move actionoperators from act-on-set to fwd.hpp

	don't need contact-data in contact-dyn-deriv algo

	add dvc_dq in data

	don't need contact-data in the contact-dynamics-derivatives

	remove derivative quantities from contact_data

	use temporary variables to store internal values

	change signature of computecontactdynamicsderivatives to not accept q, v, tau

	use rnea-derivs type backward forward passes. remove oYcrb and oMi computations

	use oinertias to store inertia in world coordinate

	introduce data.oinertias

	Revert "move slice to contact-info"
	This reverts commit 0d5539ba3ccbe146d2f26cf44b76c0b15022f1b1.

	Revert "add sparsity chain of contact kinematics"
	This reverts commit 808ae915bd1fca146329ee0e67838b9a3135ab7d.

	Revert "sparse multiplication of JMinv"
	This reverts commit 9ea904f9dfc49e36c3de32b7667f1cc249546825.

	sparse multiplication of JMinv

	add sparsity chain of contact kinematics

	move slice to contact-info

2020-04-22  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/contact: fix indents

2020-04-22  Rohan Budhiraja  <proyan@users.noreply.github.com>

	make dtau/dq and dtau/dv RowMajor

	make ddq/dq ddq/dv rowmajor

	use default tolerance for sparse testing of contact dynamics

	make ddq/dtau rowmajor

	test sparse implementation

2020-04-22  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/contact: remove memory allocation

	core: add macro for checking memory allocation

	cmake: add option to check Memory Allocation

	algo/contact: add getInverseOperationalSpaceInertiaMatrix(mat)

	algo/contact: fix computation ordering

	algo/contact: fix var

	algo/contact: fix var naming convention

	algo/contact: fix bug

	bench: fix output

2020-04-22  Rohan Budhiraja  <proyan@users.noreply.github.com>

	add signature for contact dynamics, and some cleaning up

	add unittest for dlamda/dtau and ddq/dtau

	remove redundant computations. improve benchmark

	ddq/dtau and dlambda/dtau implementation

	use massmatrix from cholesky in contact-dynamics

	remove personalized installation params

	remove faulty included files in git

	simplify cross product implementation

	missing noalias

	[unittest][contact-dyn-deriv] add fd test for ddq/dq and ddq/dv

	remove memory assignment by cross operator

	contact dynamics derivatives ddq/dv

	contact3d: unittest contacts

	benchmark

	contact 3d derivatives

	fix doc for kinematics derivatives

	remove contact-deriv data elements from multibody/data

	add aba-timings to contact-derivs

	add deriv data to contact-data

	use contact-datas to store derivatives

	temporary update of CMakelists

	[cmake] add derivatives benchmark

	unittest contact dynmaics derivatives

	benchmark contact dynamics derivatives

	contact dynamics derivatives with df/dq and ddq/dq

	fix contact-dynamics

	fix data.contact_forces

	temporarily move contact elements to multibody/data

	add new signature getosim(res)

2020-04-22  Justin Carpentier  <justin.carpentier@inria.fr>

	core: fix compilation issue

	core: fix compilation bugs

	test: update namings

	core: remove useless variables in Data
	And replaced them by local variables allocated on the stack.

	algo/chol: only computes the upper triangular part

	parsers: simplify build of Manipulator

	python: add macros for bp::class_ properties

	doc/algo: fix

	save commit

	test/contact-dyn: add check of value of residual

	algo/contact-chol: add computations of the inverse

	test/contact-dyn: improve test on initContactDynamics

	algo: add missing naming in #ifdef

	test/contact: add test with no contacts

	algo/contact: add dedicated passes for contactDynamics algorithms

	algo/cholesky: add matrix methods

	algo/cholesky: handle the reference frame

	algo/contact: implement solveInPlace

	algo/chol: add basic operations on matrix U

	algo/proximal: start to implemenent the stable forward dynamics with contact

	test/contact-chol: add test

	algo/crba: make deprecated the previous CRBA algo
	The new version has similar performances  but allows to compute also the centroidal dynamics momentum matrix together with the kinematic Jacobians of all the link

	algo/contact: change default dimension of ContactInfo

2020-04-22  Rohan Budhiraja  <proyan@users.noreply.github.com>

	liegroup/SO: define typedef SE3 at SO3 class level

2020-04-22  Justin Carpentier  <justin.carpentier@inria.fr>

	python: update doc

	serialization: expose mechanical_energy

	test/energy: derive Lagrangian to retrieve RNEA

	test/all: update tests to handle armature validation

	test/energy: test computeMechanicalEnergy

	python: expose computeMechanicalEnergy

	algo: add computeMechanicalEnergy

	algo: update algos to handle armature

	multibody/joints: handle armature in calc_aba

	python/model: expose Model::armature

	serialization: serialize armature

	parsers: update SRDF parsing of armature

	multibody: move armature to model

	math/rotation: add signature toRotationMatrix(axis,theta,res)

	core/joints: add joint config and velocity quantities to JointData
	Might be useful in many contexts

	algo/rnea: improve efficiency of computeCoriolisMatrix

	algo: fix guard

	parsers/srdf: fix call

	parsers/srdf: fix call

	python: do not expose matrix (already done)

	core/data: add armature

	algo/cholesky: fix cast

	algo/crba: minor polishing

	parsers/srdf: polish code

	bench/contact: support RigidContactData

	python/viewer: add drawing of Halfspace

	python/contact: fix input type

	algo/contact: use RigidContactData

	python: add missing include

	python/contact: expose RigidContactData

	python/contact: update RigidContactModel

	algo/contact: update Cholesky decomposition to handle new RigidContactData

	algo/contact: update ContactData with constructor and comparison operator

	python/utils: handle std::vector for non const reference

	python/data: expose missing field

	bench/contact: update bench to account for contactABA

	algo/contact: use global coordinates conventions

	python/vizu: add plane vizualization

	python/spatial: expose {X,Y,Z}Axis

	core/spatial: add typedef to CartesianAxis

	core/spatial: add vector() method to CartesianAxis

	core/spatial: change axis naming

	algo/contact: throw for bad arguments

	core/data: use PINOCCHIO_ALIGNED_STD_VECTOR

	core/data: fix doc

	core/data: add contactABA fields

	python/utils: add PINOCCHIO_ADD_STATIC_PROPERTY_READONLY_BYVALUE macro

	python/contact: fix doc

	python/contact: fix doc

	python: expose console_bridge (partially)

	python/doc: add missing self

	python: fix frame documentation

	test/contact: add test for contactABA

	test/contact: fix test

	algo/contact: add contact ABA algo

	algo/contact: fix missing lines of code

	python/algo: expose new signatures for ABA and its derivatives

	algo/aba-derivatives: add new optimized signatures

	cmake: add missing SYSTEM

	bench: aligned output

	bench/derivatives: add bench of optimized::computeABADerivatives

	algo/aba: simplify computations

	bench/derivatives: add bench of optimized::computeMinverse

	bench/derivatives: reduce number of evalulations for ABA derivatives

	algo/aba-derivatives: add derivatives with minimal computations

	algo/aba: add computation of data.oh

	test/aba: test multiple class of aba and optimized::aba

	algo/aba: do not rely on tmp variables

	algo/aba-derivatives: express everything in the WORLD coordinate system

	algo: fix assert

	algo/aba-derivatives: add missing noalias()

	algo/derivatives: fix assert

	algo/aba: remove depracated namespace and introduce optimized
	This for backward compatibility

	bench: add computeMinverse(model,data)

	algo/aba: add computeMinverse(model,data)

	timings: add new ABA version

	bench: fix std::cout bug

	algo/aba: reduce timings by accounting for gravity value

	algo/minv: update algo to account for worldwibe quantities

	test/aba: increase testing and adjust for the WORLD coodinates convention

	algo/aba: add new ABA algo where quantities are expressed in the WORLD frame

	core/aba: add missing deprecated:: namespace

	core/aba: move classic ABA to the deprecated namespace

	core: add missing include

	test/contatc: add missing vectors

	test/contact: fix missing include

	core/contact: use PINOCCHIO_CHECK_INPUT_ARGUMENT

	python/contact: update exposition of RigidContactModel

	contact/model: init Data variables

	contact/models: rename field

	core: fix guard

	algo/doc: minor fix

	proximal: add new properties

	proximal: change it for iter

	test/contact-dynamics: add missing include

	algo/contact: fix Eigen::Block type with older Eigen version

	algo/contact: change return size value

	python: remove pragma

	python: fix call to computeABADerivatives

	bench: fix type name

	algo/contact: add RigidContactDataTpl

	algo: add missing include

	algo: fix name change

	algo: fix bug size with Eigen

	core: fix other name changing

	core: rename ContactInfoTpl into RigidContactModelTpl

	test: update namings

	core: remove useless variables in Data
	And replaced them by local variables allocated on the stack.

	data: add oYaba

	algo/proximal: update parameter naming

	python/algo: fix args

	test/chol: fix test to only condiser upper diagonal part

	spatial/symmetric: add setDiagonal method

	bench/contact: fix calls

	algo/chol: remove .derived()

	serialization/joints: fix saving of StU

	joints: fix constructor

	core: add StU quantity to all joints
	Might be useful for having ABA using world coordinates quantities

	parsers: fix memory issue

	parses: fix some typos

	parsers: simplify build of Manipulator

	joints: add contraint.tranpose() * constraint operator
	This feature is needed for adding the contribution of rotor inertia in the algorithms

	algo/liegroup: fix indent

	python/algo: expose OSIM for ContactCholesky

	algo/chol: add OSIM and iOSIM getter

	python/algo: expose ContactCholesky::compute

	python/algo: fix type

	python/utils: add missing inline

	doc: minor fix

	python/algo: expose ContactCholeskyDecompositionPythonVisitor

	python/algo: expose ContactInfoVector

	python/core: fix non class types

	python/utils: return by reference when creating list

	python: add macros for bp::class_ properties

	python/algo: expose contact dynamics algo

	algo/chol: rename dim() in size()

	algo/check: add accessor to num_contacts

	algo/chol: add getMassMatrixChoeslkyDecomposition

	algo/chol: remove warnings

	algo/chol: add constructor without contact_infos

	algo/chol: add operator == and !=

	algo/chol: add num_contacts info inside ContactCholeskyDecompositionTpl

	algo/chol: use PINOCCHIO_CHECK_INPUT_ARGUMENT

	algo/chol: improve doc

	python/data: fix exposition type

	python/data: expose contact_forces

	python: fix doc of constrained dynamics

	python: fix doc of ContactInfo

	python: rename contact-dynamics to constrained-dynamics

	algo: set crbaMinimal to be current crba
	It is finally much more efficient and provides new additional and useful features

	contact: minor additional fixes

	test/contact: fix path to models

	data: change init order

	save commit

	test/constrained-dynamics: sync with current devel branch

	algo/contact-dynamics: update according to new visitor API

	data: add missing fields removed when rebasing

	python/algo: fix bindings

	algo/constrained-dynamics: sync with current devel

	doc: add missing indentation

	joint/free-flyer: improve efficiency

	algo/check: use correct cast

	test/contact-dyn: add check of value of residual

	test/contact-dyn: remove useless bench

	algo/contact-chol: remove compilation warnings

	bench/contact-chol: add new benches

	algo/contact-chol: improve efficiency of inverse method

	algo/contact-chol: add exploitation of the Sparsity pattern
	Seems not convincing

	algo/contact-chol: add computations of Sparsity pattern for constraint slices

	algo/chol: use the correct naming for vector types

	algo/contact-chol: add global placement variables of contact frames

	test/com: improve coverage

	algo/contact-chol: add computations of the inverse

	algo/contact-chol: fill nv_subtree_fromRow for constraint rows

	algo/contact-chol: add constraintDim method

	algo/contact-chol: add solve method

	test/contact-dyn-derivatives: add test on contact point acceleration local frame

	test/contact-dyn-derivatives: add test on contact point acceleration

	bench: add bench of contact-dynamics

	test/contact: mv contact derivatives to constrained and start new test for contact ones

	algo/contact-chol: add new constructor

	algo/contact: fix issue with resizing of vectors

	test/contact-dynamics: test consecutive init

	algo: add missing naming in #ifdef

	test/contact-dynamics: remove duplicate test with constrained-dynamics

	algo: adjust algo to reflect the new cbra algo

	test/constrained-dynamics: split tests

	test/contact: add test with no contacts

	algo/contact: remove useless lines

	mulibody/data: add new field to the data structure (related to contactDynamics)

	algo/crba: improve efficiency of simplified CRBA

	algo/contact: use frame_id instead of parent naming

	algo/contact: use new PINOCCHIO_PRAGMA_DEPRECATED_HEADER macro

	test/contact: add missing test for LOCAL_WORLD_ALIGNED ContactInfo

	algo/contact: rename parent into frame_id

	algo/frame: use reference if possible

	algo/cholesky: add matrix methods

	doc: slight modification

	spatial: add new prototype for classicAcceleration

	test/acceleration: fix test and add real randomness

	rebase: fix issue

	algo/chol: improve the generecity of the algorithms

	container: add PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR

	all: remove useless include

	python/force: fix enum

	python: remove compilation warnings with recent version of Boost.Python

	python: expose ClassicAcceleration

	spatial: add function to compute the classic Acceleration

	algo/chol: make solveInPlace compliant with matrices

	algo/chol: make Utiv compliant with matrices

	algo/chol: make Uiv compliant with matrices

	algo/chol: make Utv compliant with matrices

	algo/chol: make Uv compliant with matrices

	algo/contact: implement solveInPlace

	doc: improve documentation of Contact Cholesky

	algo/chol: add helper to retrieve contact dim

	algo/cholesky: fix indexes

	algo/cholesky: fix spaces

	algo/contact: define internal info
	Do not use the data from Data

	algo/contact: fix bug

	algo/contact: set correct default argument

	data: use joints API directly

	algo/contact-cholesky: make the computation independant from Data

	algo/proximal: start to implemenent the stable forward dynamics with contact

	algo/proximal: add proximal data info

	doc: rename inv_damping into mu

	test/aba: add missing normalization of Config vector

	algo/contact-cholesky: use namespace cholesky

	algo/cholesky: add damping factor in the ContactChoelskyDecomposition

	algo/check: data.tmp may now become larger than model.nv

	test/contact-chol: add test

	algo: add ContactCholeskyTpl struct

	contact: add new constructor signature for ContactInfoTpl

	test/contact-dynamics: fix bug

	algo/contact: change default dimension of ContactInfo

	all: change file license

	python/contact: expose ContactInfo

	test/contact: add simple tests on contact info structure

	algo/contact: introduce contact info structure

2020-04-21  Rohan Budhiraja  <proyan@users.noreply.github.com>

	fix bug introduced by default scalar type for SE3 in explog

2020-04-21  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1175 from wxmerkt/wxm-deactivate-unfixed-warnings
	Deactivate unfixed warnings

2020-04-21  Wolfgang Merkt  <w.merkt@gmail.com>

	Python bindings: deactivate comment and conversion warnings

	Fix minor typo

2020-04-21  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1174 from jcarpent/devel
	All the Python examples are now using np.array

	examples/python: all the examples are now using np.array

	Merge pull request #1173 from jcarpent/devel
	Sync submodule CMake

	ros: update version

	cmake: sync submodule

	Merge pull request #1172 from proyan/devel
	dIntegrateTransport algorithm.

	doc: improve documentation of parallel transportation

	liegroup: minor fix to cnaming change

	algo/joint-config: minor fix

	doc: minor fix

	liegroup: revert renaming of deep algos

	doc: fix documentation of liegroup dIntegrateTRansport

	liegroup/operations: remove InPlace suffix
	This is not mandatory as the function signatures are explicit

	liegroups: fix guards

	algo/joints: correct doc with the correct terminology

	algo/joints: fix guard

2020-04-21  Rohan Budhiraja  <proyan@users.noreply.github.com>

	fix minor implementation bug.

	unittest/jointconfiguratino: add test for dintegratetransportinplace

	multibody/liegroup: setup visitors for dintegrateTransportInplace

	liegroup/vector: transport in place

	liegroup/special-orthogonal: transport in place

	liegroup/special-euclidean: transport in place

	liegroup/cartesian-product: transportinplace

	add signature for transportinplace

	dintegratetransport: minor modifs in doc

	fix dintegratetransport unittest

	unused variable warning+ minor bug

	multibody/liegroup/cartesian-prod: dintegratetransport

2020-04-20  Rohan Budhiraja  <proyan@users.noreply.github.com>

	multibody/liegroup: fix dintegrateTransport

	ligroup/SO3, SO2: dintegrateTransport_dv_impl and dIntegrateTransport_dq_impl

	ligroup/SE3: dIntegrateTransport_dq_impl

	ligroup/SE3: dIntegrateTransport_dv_impl

	add dintegratetransport unittest

	multibody/liegroup: fix visitor dintegratetransport

	algorithm/joint-config: dintegrateTransport fix function call

	algorithm/joint-configurations: add dIntegrateTransport signature

	multibody/liegroup: setup dIntegrateTransport signature

2020-04-20  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1170 from jcarpent/devel
	Fix Python issues where access to __version__ is reintroduced

	Merge pull request #1169 from proyan/devel
	dIntegrate with ADDTO and RMTO assignment operators.

	python/test: fix

	python/test: add test of Pinocchio version

	core: fix cast

	core: fix cast

	test/joints: remove useless variable

	python: fix __version__ and __raw_version__

2020-04-20  Rohan Budhiraja  <proyan@users.noreply.github.com>

	remove multiply assignment operator from the implementation

	fix unittest with dintegrate API

	move op from template to argument in dintegrate

	fix template and visitor specialization for lie-groups/dintegrate

	finish implementatino for ADDTO and RMTO

	add signatures for Jexp3<op> and Jexp6<op>

	add signatures for Jexp3 and Jexp6 with assignmentop

	add unittest dintegrate<op>(ARG1)

	add dintegrate<assignmentop> signature

	add unittest to check dintegrate<assignmentop>

	liegroup/cartesian-product. TODO: impl for APPLY_ON_THE_* missing

	specialize special_orthogonal for assignment operator.

	specialize special_euclidean/dIntegrate_dv_impl.

	specialize special_euclidean/dIntegrate_dq_impl. TODO: aliasing here.

	finish vector space assignment operators

	propagate assignmentoperator to liegroupmap::dintegrate_impl_dq

	propagate operationaltype to liegroup-base

	propagate assignmentoperator to dintegratealgo. TODO: clean macros.

	add AssignmentOperator template to dintegrate

	move enum AssignmentOperator to fwd

2020-04-20  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1168 from jcarpent/devel
	Fix memory allocation in Python and improve the documentation

	python: fix memory allocation issues

	python/algo: smooth documentation

2020-04-19  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1166 from jcarpent/devel
	Fix packaging when urdfdom is missing

	cmake: add missing file

	ci: fix Action

	cmake: fix packaging when urdfdom is missing

2020-04-18  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1158 from jcarpent/devel
	Simplify RPY code

	core: do use M_PI in templated functions

	math/rpy: use templated PI

2020-04-18  Gabriele Buondonno  <gbuondon@laas.fr>

	[unittest] [rpy] Improve tests for singular cases

2020-04-18  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1156 from proyan/devel
	Increase support of static-if, and autodiff

	ci: free space

2020-04-18  Gabriele Buondonno  <gbuondon@laas.fr>

	[unittest] [rpy] Remove redundant tests

	[unittest] [rpy] Add new tests for singular cases

	[unittest] [rpy] Add range check

	[unittest] [rpy] Check singular cases

	[rpy] Fix range

	[unit] [rpy] Add non-passing checks

2020-04-17  Gabriele Buondonno  <gbuondon@laas.fr>

	[rpyToMatrix] Pass scalars by value

2020-04-17  Rohan Budhiraja  <proyan@users.noreply.github.com>

	cmake: install autodiff/cppad/math folder

	referenceconfigurations is empty by default constructor. fix memory access violation when casting

	fix bug introduced in the redefinition of log3 with static-if

2020-04-17  Justin Carpentier  <justin.carpentier@inria.fr>

	ci: don't build casadi examples

	ci: use more recent version for the packaging

2020-04-17  Rohan Budhiraja  <proyan@users.noreply.github.com>

	fix compilation error. "Vector3 has no has no member named ‘coeffs'"

2020-04-17  Justin Carpentier  <justin.carpentier@inria.fr>

	ci: add missing sudo

2020-04-17  Rohan Budhiraja  <proyan@users.noreply.github.com>

	fix compilation error: eigen vector coeff access is by ()

2020-04-17  Justin Carpentier  <justin.carpentier@inria.fr>

	spatial: fix compilation issue

	ci: install casadi

2020-04-17  Rohan Budhiraja  <proyan@users.noreply.github.com>

	use static-if in math/quaternion

	cast eigen numeric outputs to casadi::matrix<scalar>

	add CNRS as license in casadi

	specialize math/quaternion for casadi

	add cppad/math/quaternion.hpp

	use static-if in explog-quaternion

2020-04-17  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1160 from jcarpent/topic/urdf
	Fix .cpp include if URDF is missing

2020-04-17  Rohan Budhiraja  <proyan@users.noreply.github.com>

	fix syntax in se3-tpl

	fix typo

2020-04-17  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: move VERSION check to the right place

	cppad: move in dedicated file operations

	cppad: add specilization for cast normalization

	cmake: fix .cpp include if URDF is missing

	test/cmake: improve test organization

	cmake: fix spelling

	test/casadi: minor fix

	test/cmake: improve test organization

	casadi: move specialization to dedicated files for readability

	spatial/se3: fix inclusion order

	spatial/se3: add easy specialization

	casadi: template specialization of cast_call_normalize_method

	casadi: small fix

	spatial: add specific cast_call_normalize_method helper

	casadi: small fix

	core: fix namins in static-if structs

	autodiff/casadi: fix pi

	test/rpy: enforce testing

	math/rpy: simplify code

2020-04-17  Rohan Budhiraja  <proyan@users.noreply.github.com>

	use static-if for explog

2020-04-16  Rohan Budhiraja  <proyan@users.noreply.github.com>

	special-euclidean: log and Jlog using static-if

	specialize if_then_else for cppad

	fix casadi taylorseries::precision and casadi if_then_else specialization

	fix if_then_else

	simplify static_if and remove if_condition

	introduce the static if_condition for pinocchio

2020-04-16  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1155 from jmirabel/devel
	Fix buildModels::manipulator (and others)

2020-04-16  Joseph Mirabel  <jmirabel@laas.fr>

	Fix buildModels::manipulator (and others)

2020-04-16  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1154 from jcarpent/devel
	Fix typo in URDF parsers

	parsers/urdf: fix typo

2020-04-15  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1152 from jcarpent/devel
	Minor refactoring of CMake for better CppADCodeGen compatibility

	cmake: fix dependency inclusion order for CppADCodeGen

	cmake: fix check

	ros: update version

	cmake: sync submodule

	Merge pull request #1151 from jcarpent/devel
	Fix issues on loading URDF models

2020-04-14  Justin Carpentier  <justin.carpentier@inria.fr>

	test/urdf: add specific test for Baxter

	core/model: fix addFrame method

	models: add baxter for testing

2020-04-10  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1148 from jmirabel/devel
	[test] test quaternion::uniformRandom

2020-04-10  Joseph Mirabel  <jmirabel@laas.fr>

	[test] test quaternion::uniformRandom

2020-04-09  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1145 from jcarpent/devel
	Fix potential numerical issue in log3

	cmake: minor fix

	core/spatial: clip values

	Merge pull request #1143 from jcarpent/devel
	Sync submodule CMake

	ros: update version

	cmake: sync submodule

2020-04-08  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1141 from jcarpent/devel
	Split test files and update submodule CMake

	test: complete free-flyer test

	test: rename joints in all-joints

	cmake: sync submodule

	test: split joint tests

	cmake: sync submodule

	test/joints: remove redondant include

	test/joints: remove useless print function

	cmake: fix minimal version of eigenpy

	cmake: set minimal version of hpp-fcl to be 1.4.0

	cmake: minor fix

	python: remove useless include

2020-04-03  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1135 from jmirabel/urdf_initialize_limits
	[URDF] Don't leave velocity and acceleration limits uninitialized.

2020-04-03  Joseph Mirabel  <jmirabel@laas.fr>

	[URDF] Don't leave velocity and acceleration limits uninitialized.

2020-04-01  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1134 from matthieuvigne/viewer_fcl_warning
	Python: warn user when trying to display geometric primitive without HPP-FCL

	Merge pull request #1131 from jcarpent/devel
	Support Collision pairs even when hpp-fcl is not present

2020-03-31  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

	core/geometry: fix missing guard

2020-03-31  Matthieu Vigne  <matthieu.vigne@wandercraft.eu>

	[python] Issue warning when trying to display geometric primitives without HPP-FCL.

2020-03-31  Justin Carpentier  <justin.carpentier@inria.fr>

	core/geometry: fix other guard issues

	core/geometry: remove useless guard

	core/geometry: fill collisionPairIndex

	core/geometry: remove redundant GeomIndexList

	python: expose more info when hpp-fcl is missing

2020-03-30  Justin Carpentier  <justin.carpentier@inria.fr>

	python: add missing 'self'

	core: add missing typedef

	python: update bindings

	srdf: allows removing of collision pairs when FCL is not present

	core: add missing copyright

	core: extend Geometry API even when hpp-fcl is missing

	Merge pull request #1130 from jcarpent/devel
	Sync submodule CMake

	cmake: sync submodule

2020-03-29  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1129 from jcarpent/devel
	Decreasing compilation times for Python bindings

2020-03-28  Justin Carpentier  <justin.carpentier@inria.fr>

	python: fix include orders

	Merge pull request #1128 from jcarpent/devel
	Sync submodule CMake

	cmake: sync submodule

2020-03-27  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1126 from jcarpent/devel
	Improve robustness computations of log3

	spatial/log: improve robustness computations of log3

	Merge pull request #1124 from gabrielebndn/topic/warnings
	Remove more warnings + fix Python bugs

	Merge pull request #1123 from proyan/devel
	fix unittest bug with Eigen version 3.3

2020-03-27  Gabriele Buondonno  <gabriele.buondonno@wandercraft.eu>

	[bindings] Remove Wcast-function-type

	[python] Fix appendModel bindings

	[python] Require eigenpy2

	[unittest/python] Remove usage of matrix

2020-03-27  Rohan Budhiraja  <proyan@users.noreply.github.com>

	fix unittest bug with Eigen version 3.3

2020-03-26  Gabriele Buondonno  <gabriele.buondonno@wandercraft.eu>

	[geometry] Deprecate setGeometryMeshScales

	[python] Fix Model.addFrame bindings

	[ScaledConstraint] Manually define copy constructor

2020-03-26  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1121 from gabrielebndn/topic/warnings
	Remove many warnings

	Merge pull request #1118 from proyan/devel
	Specialize log for autodiff

2020-03-26  Gabriele Buondonno  <gabriele.buondonno@wandercraft.eu>

	[unittest] [joints] Specialize JointModelRevoluteUnboundedUnaligned init

2020-03-26  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge branch 'devel' into devel

	autodiff: fix template

	spatial: fix comparison

	core: add cast function helper

	cppad/explog: template specialization in a dedicated file

	spatial/explog: move log operations to a dedicated file

	spatial/explog: fix guard and change inclusion order

2020-03-26  Gabriele Buondonno  <gabriele.buondonno@wandercraft.eu>

	[unittest] [joints] Fix uninitialized warnings

	[ForceTpl] Manually-defined copy constructor and assignment

	[InertiaTpl] Manually-defined copy assignment operator

2020-03-26  Justin Carpentier  <justin.carpentier@inria.fr>

	autodiff: smooth code

	core: remove useless code

	utils: remove useless helper

	spatial/se3: fix checking of precision

	math/rotation: improve efficiency of orthogonalProjection

2020-03-26  Gabriele Buondonno  <gabriele.buondonno@wandercraft.eu>

	[GeometryObject] Remove fcl deprecation warnings

	[BiasZero] Ignore deprecation warnings

2020-03-26  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1119 from jcarpent/devel
	Improve efficiency of orthogonalProjection

2020-03-26  Rohan Budhiraja  <proyan@users.noreply.github.com>

	specialize Jlog3 and Jlog6 for cppad

	move Jlog3 and Jlog6 to structs

2020-03-26  Justin Carpentier  <justin.carpentier@inria.fr>

	core: remove useless code

	utils: remove useless helper

	spatial/se3: fix checking of precision

	math/rotation: improve efficiency of orthogonalProjection

2020-03-26  Rohan Budhiraja  <proyan@users.noreply.github.com>

	specialize log3 for cppad

	move log3 to a struct

2020-03-25  Rohan Budhiraja  <proyan@users.noreply.github.com>

	fix taylorseries::precision

	specialize log6 for cppad

	move log6 to a struct

2020-03-25  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1116 from jcarpent/devel
	Fix casting operations

	core/multiprecision: specialize gain_precision

	se3: use orthogonalProjection and perform the operation when really needed

	math/rotation: use the new sign function
	Needed by CppAD for instance

	math/sign: add sign function

	math/sincos: remove useless include

	core/helper: add gain_precision

	math/rotation: add orthogonalProjection of matrix onto SO(3)

	math/doc: add doc for normalizeRotation

	test/spatial: fix

	test/cast: fix tests

	spatial: fix SE3::cast

	core: add helper is_same_type

	matj/multiprecision: fix Eigen version

	cmake: add missing C++11 requirement

	math/rotation: fix normalization procedure

	math/multiprecison: update header for mutliprecision

	cmake/examples: add c++11 standard for multiprecision

	spatial/motion: fix return type

	spartial/se3: add normalization procedure

	math/rotation: add rotation normalization
	It should be a projection (ideally)

	math/sincos: remove useless overloading

	spatial/quat: use Scalar cast when useful

	spartial/inertia: use Scalar cast

	spatial/se3: add notion of PlainType

2020-03-24  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1114 from jmirabel/devel
	[Python] Fix usage of WITH_HPP_FCL_BINDINGS

2020-03-24  Joseph Mirabel  <jmirabel@laas.fr>

	[Python] Minor fix.

	[Python] Fix usage of WITH_HPP_FCL_BINDINGS

2020-03-22  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1113 from jmirabel/devel
	[Doc] fix documentation.

	algo/collision: fix default argument
	This may lead to a degradation in performances for cdoes which assume that this value was true.

2020-03-22  Joseph Mirabel  <jmirabel@laas.fr>

	[Doc] Fix documentation of computeCollisions

2020-03-21  Joseph Mirabel  <jmirabel@laas.fr>

	[Doc] Fix stylesheet + fix some doxygen errors.

2020-03-19  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1111 from jcarpent/devel
	Extend RobotWrapper methods

	python/wrapper: add method to compute Ag and all the centroidal quantities in one pass

	python/centroidal: fix doc

	algo/centroidal: fix include

2020-03-18  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1108 from jcarpent/devel
	Fix issue related to submodule + additionnal testings

	test/packaging: fix variable name

	ci: test compiled targets

	cmake: fix submodule URL

	Merge pull request #1105 from jcarpent/devel
	Sync submodule CMake

	cmake: sync submodule

	cmake: sync submodule

2020-03-12  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1104 from jcarpent/devel
	Export symbols for Windows

	core/urdf: export symbols for Windows

	Merge pull request #1103 from jcarpent/devel
	Add version to the libs

2020-03-11  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: add version to the libs

	Merge pull request #1102 from jcarpent/devel
	Fix URDF passing

	core/urdf: recover previous behavior

	core/urdf: check if the root_joint already exist in the kinematic tree

	core/model: fix comparison

	core/urdf: use assert when possible
	Co-Authored-By: Joseph Mirabel <josephmirabel@gmail.com>

	test/urdf: test fixed body at the root_joint level

	core/urdf: only add the body when no root_joint is provided

	core/urdf: fix appendBodyToJoint

	core/urdf: fix error warning message

	cmake: set CXX standard to C++11 when required

	core/model: add missing cast

	core/urdf: remove useless typename

	core/model: fix addFrame to handle existing Frame

2020-03-10  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1100 from jcarpent/devel
	Update Inertia class and fix Python doc

	python/geometry: fix args naming

	python/spatial: add missing static

	core/geometry: fix call to deprecated constructor

	python: fix call

	python/spatial: fix doc

	python/spatial: expose FromSphere

	spatial/inertia: add constructor FromSphere

2020-03-09  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1099 from jmirabel/devel
	[URDF][Minor] Add missing typedef.

2020-03-09  Joseph Mirabel  <jmirabel@laas.fr>

	[URDF][Minor] Add missing typedef.

2020-03-09  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1097 from jmirabel/devel
	[URDF] Move parser into the library.

	urdf: fix warning message

	Merge pull request #1098 from nim65s/devel
	[CMake] export includes

2020-03-09  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[CMake] export includes
	To let dependencies using find_package(pinocchio) get the installed
	include directory.

2020-03-06  Joseph Mirabel  <jmirabel@laas.fr>

	[CMake] Remove urdfdom flags from pc file.

	[URDF] Fix compilation for C++ 98

	[Minor] Fix typo in doc.

	[URDF] Enforce backward compatibility.

	[URDF] Fix frame tree.

	[unittest][URDF] Add failing unit test about frame tree structure.

	[unittest][URDF] Fix non retrocompatible API usage.

	[URDF] Move parser into the library.

	[LieGroup] Fix minor bug.

2020-02-28  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1037 from rstrudel/topic/capsule-approximation
	Topic/capsule approximation

	examples/capsule: fix call to switchToNumpyArray

	examples/capsule: fix URDF path

	Merge pull request #1095 from proyan/devel
	Multiple code-gen related fixes.

2020-02-27  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[examples/codegn] return 0 if passes, return -1 if fails

	[cppad] fix return type of constant_pi and add support of isfinite

	[algorithm/energy] use DataTpl<Scalar> instead of Data

	cast hardcoded numbers as scalars

2020-02-27  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1094 from jcarpent/devel
	Sync submodule CMake

	cmake: sync submodule

	Merge pull request #1084 from jmirabel/devel
	[Python] Remove duplication with hpp-fcl.

	Merge pull request #1093 from jcarpent/devel
	Sync submodule CMake

2020-02-27  Joseph Mirabel  <jmirabel@laas.fr>

	[CI] Update CI + stop 14.04 on travis.

	[Python] Import hppfcl and bring classed from hppfcl to pinocchio

	[CMake] hpp-fcl >= 1.3.0 + check that hpp-fcl bindings are available.

2020-02-27  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

2020-02-25  Justin Carpentier  <justin.carpentier@inria.fr>

	license: update copyrights

2020-02-24  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1091 from jcarpent/devel
	Fix minimal version for EigenPy

	cmake: fix minimal version for EigenPy

2020-02-24  Joseph Mirabel  <jmirabel@laas.fr>

	[Example] Fix collisions.py

	[Python] Remove duplication with hpp-fcl.

	[Python] Remove CollisionGeometry

	[Python] Remove MeshLoader (provided by hppfcl)

2020-02-22  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1086 from jcarpent/devel
	Sync submodule cmake

	make: sync submodule

	Merge pull request #1087 from proyan/devel
	[math/sincos] fix template

2020-02-22  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[math/sincos] fix template

2020-02-21  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1085 from jmirabel/fix_pkgconfig_file
	[CMake] Fix pc file.

2020-02-21  Joseph Mirabel  <jmirabel@laas.fr>

	[CMake] Fix pc file.

	Add reading and writing of URDF file.

2020-02-21  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1083 from jmirabel/devel
	[Minor] Change default material of collision object.

2020-02-20  Joseph Mirabel  <jmirabel@laas.fr>

	[Minor] Change default material of collision object.

2020-02-20  Justin Carpentier  <justin.carpentier@inria.fr>

	ros: update version

	Merge pull request #1081 from jcarpent/devel
	Fix print of error message in Python

	examples: fix print of error message

	Merge pull request #1080 from jcarpent/devel
	Update CMake Python policy

	travis: restore Python selection for Python3

	ci: use default Python settings for cmake

	cmake: sync submodule

2020-02-19  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1079 from jcarpent/devel
	Split URDF, SRDF, Samples into several fles

	python: split URDF, SRDF, Samples into several fles

	Merge pull request #1077 from jcarpent/devel
	Fix multiprecision test

	cmake: remove duplicates

	ci: enable BUILD_ADVANCED_TESTING

	cmake: make optional heavy test like multiprecision

	test/multiprecision: remove dependency to urdf

2020-02-18  Justin Carpentier  <justin.carpentier@inria.fr>

	ros: update version

	Merge pull request #1067 from jcarpent/devel
	Full CMake export of Pinocchio

	ci: check export of the project

2020-02-17  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1071 from gabrielebndn/topic/fixdoc
	[doc] [practical exercises] Fix file links

2020-02-17  Gabriele Buondonno  <gbuondon@laas.fr>

	[doc] [practical exercises] Fix file links

2020-02-15  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: fix statement

	travis: fix warnings

	cmake: fix variable setting for old cmake versions

	test/packaging: test cmake export

	cmake: export flags

	cmake: rework flags

2020-02-14  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: add the export of the Python module

	cmake: correctly export the project

2020-02-07  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1063 from proyan/devel
	[benchmark][frames kinematics] add timings for frame kinematics

	bench: correct time measurement

2020-02-07  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[benchmark][frames kinematics] add timings for frame kinematics

2020-02-07  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1060 from proyan/devel
	Minor fixes in code-gen benchmark and code-gen

	Merge pull request #1059 from jcarpent/devel
	Add example for CRBA codegen

2020-02-06  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[codegen][bugfix] use Model<ADScalar> instead of Model<Scalar> for running ADScalar based algos

	[spellcheck] congig -> config

	[benchmark][cg] fix urdf load in benchmark

2020-02-06  Justin Carpentier  <justin.carpentier@inria.fr>

	example: add example on code generation for CRBA

	cmake: add macro for EXAMPLES

	codegen: expose quantities

	Merge pull request #1058 from jcarpent/devel
	Fix bug for Python3

	travis: fix issue with bash

	travis: set TRAVIS_PYTHON_VERSION

	travis: really check Python3

	python: fix import bug

2020-02-04  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1054 from gabrielebndn/topic/rpy
	Clean rpy bindings

	Revert "[python] Deprecate eye, zero and rand for numpy.array"
	This reverts commit 5ed97a94e41800a8c70bb2a209d0d8942c4a7e59.

	python: fix ref + fix doc

2020-02-04  Gabriele Buondonno  <gbuondon@laas.fr>

	[examples] Set compiled program prefix to cpp instead of c++

	[python] Deprecate eye, zero and rand for numpy.array

2020-02-03  Gabriele Buondonno  <gbuondon@laas.fr>

	[python] Mark npToTuple and npToTTuple as deprecated inside rpy

	[bindings] Add rotate back to rpy submodule

	[bindings] Expose rotate

	[bindings] Manually register submodules

	[bindings] Directly expose rpy

	[bindings] Inline getOrCreatePythonNamespace

	[python] Move np and rotate to utils

2020-02-03  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1053 from jcarpent/devel
	Fix literal warning in Python 3.8

	python: fix doc

	python: fix literal warning in Python 3.8

2020-02-01  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1050 from gabrielebndn/topic/nparray
	Topic/nparray

	readme: update bench section

	python: fix another issue related to Boost.Python

	python: rework a bit the skew exposure and add skewSquare

2020-02-01  Gabriele Buondonno  <gbuondon@laas.fr>

	[python] Undeprecate eye, zero and rand

	[romeo_wrapper] Fix q0

	[utils] Fix mprint

	[python] [utils] Deprecate eye, zero, rand and cross

	[python] Deprecate utils.skew

	[python] Expose skew and unSkew

	[unit] Improve PinocchioTestCase

2020-01-31  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1049 from jcarpent/devel
	Fix Python bindings to support np.array

	test/python: fix it to fully support np.array

	Merge pull request #1048 from jcarpent/devel
	Fix packaging

	cmake: change c++ into cpp

	serialization: remove warning

	cmake: sync submodule

	cmake: fix test target name

2020-01-30  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1046 from jcarpent/devel
	Add Interpolate operation in SE3

	test/interpolate: add comparison with SpecialEuclideanOperationTpl::interpolate

	test: remove outdated file

	python/spatial: expose SE3::Interpolate

	test/explog: test new Interpolate

	spatial/se3: add Interpolate static operation in SE3Tpl class

	Merge pull request #1045 from jcarpent/devel
	Factorization of the code

	python/vector: add conversion tolist for std::vector

	python/utils: factorization of the code

	Merge pull request #1043 from gabrielebndn/topic/explog
	[python] Fix explog for input arrays

2020-01-30  Gabriele Buondonno  <gabriele.buondonno@wandercraft.eu>

	[python] Fix deprecation of potentialEnergy and kineticEnergy

	[unit] [python] Fix bindings_fcl_transform

	[python] Fix explog for array

	[python] [utils] Fix isApprox for array

2020-01-29  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1042 from gabrielebndn/topic/rpy
	Implement rpy in C++

	Merge pull request #1041 from jcarpent/devel
	Fix bug when compiling with C++11

2020-01-29  Gabriele Buondonno  <gabriele.buondonno@wandercraft.eu>

	[rpy] Fix rpyToMatrix scalar type and doc

2020-01-29  Gabriele Buondonno  <gbuondon@laas.fr>

	[python] [rpy] Remove numpy.matrix

	[python] expose rpyToMatrix and matrixToRpy

	[math] Modify rpyToMatrix implementation

	[math] matrixToRpy

	[math] rpyToMatrix

2020-01-29  Justin Carpentier  <justin.carpentier@inria.fr>

	serialization: use boost serialization when possiblr

	serialize: fix bug when compiling with C++11

	Merge pull request #1040 from jmirabel/devel
	[Minor][Doc] Fix MathJax usage.

2020-01-29  Joseph Mirabel  <jmirabel@laas.fr>

	[Minor][Doc] Fix MathJax usage.

2020-01-29  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1039 from jcarpent/devel
	cmake: sync submodule

2020-01-28  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

2020-01-28  rstrudel  <rstrudel@gmail.com>

	constraint: enforce stronger constraint to ensure a feasible solution

	approx: check if the found solution violates the constraint

	misc: add copyright and credits

2020-01-28  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1038 from jcarpent/devel
	Remove useless overloading in Python

2020-01-28  rstrudel  <rstrudel@gmail.com>

	distance computation: vectorize

	mesh loader: add scale

2020-01-28  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

	python/model: remove useless def

2020-01-28  rstrudel  <rstrudel@gmail.com>

	examples: add capsule approximation of mesh

2020-01-28  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1036 from jcarpent/devel
	Fix call to centroidalMomentum in RobotWrapper

	python/wrapper: fix call to computeCentroidalMomentum

	python/wrapper: fix call to computeCentroidalMomentumTimeVariation

	Merge pull request #1034 from jcarpent/devel
	Increase coverage

	test/joints: increase coverage

2020-01-27  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1033 from jcarpent/devel
	Update {potential,kinetic} functions

	algo: add missing copyright

	python/algo: add new signatures for compute{Potential,Kinetic}Energy

	test/energy: update test

	algo/energy: rename {potential,kinetic}Energy function adding predix compute
	And make deprecated update_kinematics argument

	Merge pull request #1032 from jcarpent/devel
	Add converter to np.array for Spatial classes

	python/spatial: add converte to np.array for Inertia

	test/python: test new conversion to np.array

	python: add converter to np.array

	Merge pull request #1031 from jcarpent/devel
	Improve coverage

	test/model: increase test for better coverage

	model: fix operator==

	test/spatial: test disp for Inertia

	Merge pull request #1030 from jcarpent/devel
	Remove LUA support

2020-01-26  Justin Carpentier  <justin.carpentier@inria.fr>

	lua: remove support
	This feature is obselete for a while and no used by anybody. Stop the support.

	Merge pull request #1029 from jcarpent/devel
	Add computeFrameJacobian with reference_frame as input arg

	python/algo: expose new signature computeFrameJacobian

	test/frames: test new signature reference_frame

	algo/frames: add new signature computeFrameJacobian with reference_frame as input arg

	python/algo: fix doc

	algo/joint: add output argument

	doc/model: fix

	Merge pull request #1028 from jcarpent/devel
	Add converter from Python list to std::vector<T>

	python: fix namespace issue

	all: fix template issue

	python: fix issue on GCC related to namespace bp

	python: add conversion for std::vector<std::string>

	python: remove useless bp::list signatures

	test/python: add rnea test

	python: add converter from Python list to std::vector or aligned_vector

2020-01-25  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1027 from jcarpent/devel
	Support more signatures in Python bindings

	test/python: add test of URDF

	python: fix

	python/parsers: add return of Model

	parsers/urdf: fix input argument type

	test: test buildGeom{fromUrdf} with geom_model as input

	python/geometry: add exposition of buildGeomFromUrdf with geometry_model as input

	cmake/python: rename file

	python/doc: fix arguments order

2020-01-22  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1024 from jcarpent/devel
	Sync submodule cmake

	ci: force Python version

	cmake: sync submodule

	travis: force Python version

	cmake: sync submodule

	Merge pull request #1022 from jcarpent/devel
	Improve naming for test and example targets

	all: improve naming for test and example targets

	Merge pull request #1020 from jcarpent/devel
	Improve Python bindings + remove useless files + add macro for ALIGNED_VECTOR

	bench: use aligned vector when performing the bench

	bench: fix compilation issue

	test/python: rename file

	python: fix include

	test/python: rename TestCase into PinocchioTestCase

	test/python: remove useless test from CMake

	bench: restore copyright

	python/algo: fix extract vector

	python: set deprecated previous signatures and test them

	python/parsers: switch argument to follow C++ signatures

	test/python: remove useless file

2020-01-21  Justin Carpentier  <justin.carpentier@inria.fr>

	python/mesh: fix issue in MeshLoader namings

	python/fcl: fix namespace issue with hpp::fcl::MeshLoader

	python/parsers: update documentation

2020-01-20  Justin Carpentier  <justin.carpentier@inria.fr>

	python: remove useless file

	multibody/geom: use GeometryObjectVector

	python/data: remove useless type in Macros

	all: add PINOCCHIO_ALIGNED_STD_VECTOR to define the aligned vector

2020-01-16  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1017 from proyan/devel
	[python][bindings][deprecated] fix non-existing call to pin.se3ToXYZQQUATTuple in deprecated.

2020-01-16  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[python][bindings][deprecated] fix non-existing call to pin.se3ToXYZQQUATTuple in deprecated.

2020-01-15  Justin Carpentier  <justin.carpentier@inria.fr>

	doc/python: use store instead of put

	python/algo: expose rnea with external forces expressed as a list

	Merge pull request #1014 from jcarpent/devel
	Add multiple precision arithmetic

	math/multiprecision: fix issue with old Eigen version

2020-01-14  Justin Carpentier  <justin.carpentier@inria.fr>

	math: use cpp_dec_float
	This feature is common to all boost versions (1.54)

	math/sincos: improve compatibiltity with multiple precision arithmetic

	math/sincos: update guard

	math/multiprecision: fix issue with old version of Eigen

	math/multiprecision: disable (temporarly) the BOOST_STATIC_ASSERT

	math/multiprecision: fix issue with older boost version

	math/multiprecision: fix boost issue for old versions

	readme: precise content

	example: add multiprecision arithmetic showcase
	In this example, the number of decimals we can obtained via multiple precision arithmetic is shown.

	example: fix doc

	math: rename in multiprecision (without boost prefix)

	test: add multiprecision test

	math: add handling of multiprecision arithmetic

	test/cmake: set the MODEL_DIR to all tests

	Merge pull request #1013 from jcarpent/devel
	Add new examples

	example: update README content

	example: add forward dynamics derivatives

	example: add inverse dynamics derivatives

	example: add kinematics-derivatives in C++

	example/cmake: rename Python examples

	example/cmake: fix target name

	examples: explicit full name for files

	examples: rename display-shapes

	Merge pull request #1012 from jcarpent/devel
	Rework test

	algo/check: fix check of Hessian dimensions
	Bug related to Eigen 3.2.92

2020-01-13  Justin Carpentier  <justin.carpentier@inria.fr>

	math/tensor: fix issue when initializing coeffs during resizing

	cmake: sync submodule

	test/data: check empty data

	cmake/test: fix prefix

	cmake/test: apply new rule for Python tests

	cmake/test: add test as prefix (and not suffix)

	Merge pull request #1010 from jcarpent/topic/collision
	Add C++ example for collision

	Merge pull request #1009 from jcarpent/devel
	Rename function in Python for uniformization of namings

	cmake: sync submodule

	example: remove useless line

	examples: add collision example in C++

	collision: rename geom{Model,Data} into geom_{model,data}

	srdf: change input variable name and fix doc

	examples/collision: update Python example

	example/vizu: fix except

	test/python: fix function call

	python/conversion: restore Vector7d

	python/conversion: add argument info

	python/deprecated: remove useless functions
	No more used for one year.

	python: fix

	python: set deprecated old signatures and use the new ones

	python/conversion: fix naming

	python: fix doc

2020-01-10  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1006 from gabrielebndn/topic/ikine
	[examples/inverse-kinematics] Remove Jlog and use DLS instead

	example: change default value

2020-01-10  Gabriele Buondonno  <gbuondon@laas.fr>

	[doc] [inverse-kinematics] Fix

	[examples/inverse-kinematics] Remove Jlog and use DLS instead

2020-01-08  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1004 from gabrielebndn/topic/visualprimitives
	[visualize] Add geometric primitives

2020-01-08  Gabriele Buondonno  <gbuondon@laas.fr>

	[examples/display_shapes] Include in CI

2020-01-08  Robin Strudel  <rstrudel@gmail.com>

	test: cleaning

	test: display hppfcl shapes

2020-01-08  Gabriele Buondonno  <gbuondon@laas.fr>

	[gepetto_visualizer] Add cone

	examples/sample-model-viewer.py

2020-01-07  Gabriele Buondonno  <gbuondon@laas.fr>

	[meshcat_visualizer] Load geometric primitives

	[gepetto_visualizer] Load geometric primitives

	[sample-models] Add color

	[examples/viewer] Use Talos

	[meshcat_visualizer] Do not crash while loading geometric primitives

	meshcat-viewer-dae

2019-12-30  Justin Carpentier  <justin.carpentier@inria.fr>

	ros: update version

	collison: remove warning

2019-12-23  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #1002 from jcarpent/devel
	Add new signatures for buildReducedModel with geometries

	test/model: add missing ifdef

	python/geom: expose operator{==,!=}

	geom: add operator!=

	geom: fix operator== constness

	python/algo: uniformize the function and variable namings

	python/algo: expose new signatures of buildReducedModel

	test/model: add test of buildReducedModel with GeometryModel

	algo/model: add buildReducedModel overload for GeometryModel

	geom: add operator== in GeometryModel

	geom: add operator== to FakeCollisionGeometry

	test/model: test other signatures of buildReducedModel

	algo/model: improve doc

	algo/model: improve doc

	python/aglo: expose appendModel

	Merge pull request #1001 from jcarpent/devel
	Improve algos on Models

	algo/model: fix doc

	python/algo: fix algo on models signatures

	python/list: change function signature and throw when necessary

	algo/model: add new signatures appendModel and buildReducedModel

	algo/model: throw if the argument frameInModelA is not correct

	algo/model: fix constness of input argument

	mutibody: fix guard name

2019-12-22  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #998 from jcarpent/devel
	WIP: add Pickling of Data

	test/python: test pickling of Data

	python/data: add Pickling of Data

	data: add Serializable inheritance

2019-12-21  Justin Carpentier  <justin.carpentier@inria.fr>

	data: fix bug with Eigen 3.3.4

	test/serialization: add test of the serialization of data

	serialization: add serialization of data

	python/data: expose operator{==,!=}

	data: add not equal operator

	python/data: add default constructor

	python/data: fix doc

	data: add default value for all the fields

	data: add default constructor

	joint/constraint: add static constructor

	joints: add default value for JointData constructors

2019-12-20  Justin Carpentier  <justin.carpentier@inria.fr>

	data: add operator== and test it

	data: init all the quantities
	This will make easy the serialization of the Data struct

	serialization/joint: register the quantity joint velocity and configuration

	joint/mimic: export joint config and velocity

2019-12-19  Justin Carpentier  <justin.carpentier@inria.fr>

	test/joint-generic: add test of operator== for JointData

	joint/data: add operator!=

	joints/mimic: fix operator=

	joints: add isEqual

	Merge pull request #1000 from gabrielebndn/topic/BUILD_UNIT_TESTS
	Deprecate BUILD_UNIT_TESTS. Closes #999

2019-12-19  Gabriele Buondonno  <gbuondon@laas.fr>

	[BUILD_UNIT_TESTS] Better deprecation message

	Revert "Default BUILD_TESTING to OFF"
	This reverts commit d978ed32c3f937ed020f60b7b24b4c156a3193e9.

2019-12-18  Gabriele Buondonno  <gbuondon@laas.fr>

	Remove bindings/python/multibody/fcl/transform.hpp if NOT HPP_FCL_FOUND

	Remove usage of BUILD_UNIT_TESTS

	Deprecate BUILD_UNIT_TESTS

	Default BUILD_TESTING to OFF

2019-12-18  Justin Carpentier  <justin.carpentier@inria.fr>

	joints/data: correct classname

	joint/ff: fix bug

	joint/mimic: keeps S

	test/serialization: add test of the JointData serialization

	serialization: serialize JointData

	joint/mimic: refactoting of the code

	joints: add init of JointData fields related to ABA

	joints: add accessor to JointData fields

2019-12-17  Justin Carpentier  <justin.carpentier@inria.fr>

	joint/constraint: add missing isEqual op

	joint/data: add operator==

	serialization: add serialization of JointConstraint

	joint/SphericalZYX: refactoring

	joints: add ref accessor to Constraint

	joints: add operator== to JointConstraint

	joints/consraint: set axis as protected member

	joint/generic: add missing typdef

	test/serialization: add serialization of bias

	joints: add ref accesor to Jdata::c

	spatial/motion: add isEqual method to MotionZeroTpl

	serialization: add missing include

	joints: fix operations

	joint/generic: add missing accessor

	test: test JointMotion serialization

	serialization/joints: serialize JointMotion

	joints/all: unirformize accessor to JointMotion

	joints: add ref accessor to v

2019-12-16  Justin Carpentier  <justin.carpentier@inria.fr>

	joint/generic: add TansformTypeRef

	joint/revolute: make angular rate protected

	test/serialization: add test of Joint Transform

	serialization/joints: expose Joints Transform

2019-12-15  Justin Carpentier  <justin.carpentier@inria.fr>

	joints: add equal operator to specifi Transform types

	joints: add ref accessor to M

	spatial/se3: rename __equal__ into isEqual

	test/serialization: rename

2019-12-14  Justin Carpentier  <justin.carpentier@inria.fr>

	test/spatial: use MotionZero

	spatial/motion: fix missing specialization

	serialization/joints: move content to a dedicated file

	joint/revolute: change order of operations

	serialization: add MotionZeroTpl

	core: rename BiasZeroTpl into MotionZeroTpl

	joint: add missing include
	To define JointIndex type

	doc: add more stuff to the group multibody

	joint: fix guard name and remove include

	joint: split Joint{Model,Data}Base into two seperate files

	joint: move include

	joint: fix guard

	joint: fix guard

	Merge pull request #997 from jcarpent/topic/fcl
	Add serialization of pinocchio::Tensor

	test/serialization: small fix for Eigen::Tensor

	serialize/tensor: fix types

	serialization/eigen: template specialization for Eigen::DSizes

	serialization: add serialization of Eigen::Tensor

	math/tensor: add cmp operators

	math/tensor: add copy constructor

	math/tensor: add default constructor

	math/tensor: sue array for the dimensions

	serialization: serialize Eigen::array

	test/serialization: add test of Eigen data

	math/tensor: add operator{==,!=} for Eigen::array

	Merge pull request #996 from jcarpent/topic/fcl
	Add converter between fcl::Transform3f and SE3

	test/python: remove useless import

	test/python/fcl: test new converter

	python/fcl: add converter Transform3f <-> SE3

	python/fcl: minor refactoring

2019-12-13  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #995 from jcarpent/topic/fcl
	Fix Geometry module

	python: set to deprecated GeometryObject.fcl

	python: fix name

	geometry: add copy constructor to GeometryObject
	This allows to avoid warnings

	geometry: set GeometrObject::fcl deprecated and rename it with geometry

	urdf: fix naming

	geometry: fix doc

	python/geometry: more doc

2019-12-12  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #994 from jcarpent/devel
	python: expose Data::dhg

	geom: remove warning

	python: fix

	geom: fix doc

	geom: add new constructor without parent_framle info

	geom: add doc to constructor

	python/geom: improve doc

	python/model: add doc

	geom: fix constructor of CollisionPair

	geom: fix constructor
	There was a mistake here

	fcl: fix guard

	geom: fix doc

	geom: fix space

	goem: fix indent

	geom: do not assert but rather throw

	geom: throw when assert is false

	geom: remove useless code

	geom: relax the constraint on the body

	geom: check if object.parentFrame is well defined

	fcl: correct indents

	python: expose Data::dhg

	Merge pull request #992 from jcarpent/devel
	doc: fix typo #991

	doc: fix typo

2019-12-11  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #990 from jcarpent/devel
	Improve Tensor module

	math/tensor: remove useless include

	math/tensor: use Eigen::array for resize

	math/tensor: add array type in Eigen if needed

	ros: update version

	test/tensor: test new resize method

	math/tensor: add resize function

	Merge pull request #989 from jcarpent/devel
	centroidal: minor improvement

	centroidal: minor improvement

2019-12-10  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #982 from gabrielebndn/topic/fixexample
	Examples

	Merge pull request #986 from jcarpent/devel
	Improve compatibility with respect to Eigen

	core: add PINOCCHIO_WITH_EIGEN_TENSOR_MODULE
	Related to #987

	test: fix indent

	gitlab: use memmo server

	Merge pull request #985 from andreadelprete/devel
	Fix bug in function nptotuple when called with an array 

	data: improve the fix with respect to old Eigen versions

	cmake: sync submodule

2019-12-10  Andrea Del Prete  <andre.delprete@gmail.com>

	Fix bug in function nptotuple when called with an array (which happened when using gepetto-gui)

2019-12-09  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #983 from jcarpent/topic/python
	Add computeCentroidalMap{.,TimeVariation} algo and expose them

	test/centroidal: fix

	algo/centroidal: renaming

	python: expose new signatures

	python: fix doc

	test/centroidal: minor polishing

	test/centroidal: add unit test

	algo/centroidal: change the output of ccrba

2019-12-08  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/centroidal: fix doc

	algo/centroidal: add computeCentroidalMappingTimeVariation

	algo/centroidal: fix doc

	algo/centroidal: add computeCentroidalMapping

	algo/centroidal: fix guard

2019-12-08  Gabriele Buondonno  <gbuondon@laas.fr>

	[doc] Add example geometry models

	[examples] Add geometry-models

	[doc] Fix example i-inverse-kinematics

	[examples/inverse-kinematics] Use SE3

	[doc] Display

	[examples] Use overview-urf in load model

	[examples] Remove prefixes

	[examples/robot-wrapper-viewer.py] Give different visualizer options

	[examples] Rewrite viewers load model

	[examples/collisions.py] Remove RomeoWrapper import

2019-12-08  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #981 from jcarpent/topic/python
	python: fix naming of the variable

	python: fix import
	Some of them are not useful at all

	python: use full hppfcl lib name

	python: allows loading of mesh if WITH_HPP_FCL_BINDINGS is True

	python: fix naming of the variable

2019-12-07  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #979 from jcarpent/topic/python
	Fix FCL packaging w.r.t hpp-fcl 1.2.0

	python: add import of the raw version

	python: check if Pinocchio is built against HPP-FCL

	python: try to import HPP-FCL bindings

	python: remove SUPPORT

2019-12-06  Justin Carpentier  <justin.carpentier@inria.fr>

	python: fix missing namespace

	python: check exposition of FCL types

	python/fcl: full exposition of GeometryObject

	fcl: minor indent

	fcl: add operator!=

	fcl: minor indent

	fcl: add CollisionGeometryPtr

2019-11-30  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #974 from jcarpent/devel
	Minor fixes

	example/meshcar: set manual scaling

	python: fix scaling in meshcat

	example/collision: fix SRDF file

2019-11-29  Justin Carpentier  <justin.carpentier@inria.fr>

	examples/python: fix path

	doc: fix

2019-11-28  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #971 from jcarpent/devel
	Fix constructor for Data, related to #970

	data: fix construction from empty model

	test/data: fix indent

	Merge pull request #968 from jcarpent/devel
	fix examples

	examples: fix model path

2019-11-28  Gabriele Buondonno  <gbuondon@laas.fr>

	[examples] Add gepetto-viewer and meshcat-viewer to automated testing

	[examples/meshcat-viewer.py] Prevent exceptions

	[examples/gepetto-viewer.py] Prevent exceptions

	[examples] Rename display to viz

2019-11-28  Justin Carpentier  <justin.carpentier@inria.fr>

	examples: remove raw_input usage

	examples: test additional examples

	readme: update content with new example

	examples: fix models path

	examples: remove python folder

	examples/overview-urdf: print model name

	examples/python: mv useful files to examples

	examples/cpp: remove indents

	examples/python: remove additionnal examples

	examples/python: remove romeo example

	examples/python: remove license from headers

	examples/python: fix model path

2019-11-27  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #967 from gabrielebndn/topic/fixexample
	[examples] Improve and test overview-urdf.py

2019-11-26  Gabriele Buondonno  <gbuondon@laas.fr>

	[examples] [i-inverse-kinematics.cpp] Use JacobiSVD instead of BDCSVD
	For compatibility with Eigen < 3.3

	[examples] Improve and test overview-urdf.py

2019-11-25  Justin Carpentier  <justin.carpentier@inria.fr>

	ros: update package

	Merge pull request #966 from jcarpent/devel
	Sync models

	models: update robot models

	Merge pull request #964 from wxmerkt/wxm-install-package-xml
	Install package.xml

2019-11-25  Wolfgang Merkt  <w.merkt@gmail.com>

	Install package.xml

2019-11-24  Justin Carpentier  <justin.carpentier@inria.fr>

	test/python: fix call to deprecated functions

	python/model: remove useless lines
	No more needed

2019-11-23  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #963 from jcarpent/devel
	Fix some bugs in Python unit tests in debug mode

	python/model: simplify pickle loading

	python/model: improve pickling with check of std::string

	test/python: fix potential bug and warning in Python3

	test/all: remove compilation warnings

	gitlab: use fetch strategy

2019-11-22  Justin Carpentier  <justin.carpentier@inria.fr>

	package: update version

	Merge pull request #962 from jcarpent/devel
	Update packaging

	bench: fix compilation issue

	cmake: remove useless TARGET_LINK_LIBRARIES

	gitlab: use fetch strategy

	cmake: use COMPUTE_PROJECT_ARGS

	cmake: sync submodule

2019-11-19  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #954 from jmirabel/urdf_convex
	[URDF][Experimental] Enable convex representation of meshes for collision detection

2019-11-19  Joseph Mirabel  <jmirabel@laas.fr>

	replaceCylinderByCapsule -> isCapsule

	[Travis] Use ccache.

	Fix issue when URDFDOM < 0.3

2019-11-18  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #959 from jmirabel/doc
	[Doc] Add more remarkable identities.

2019-11-18  Joseph Mirabel  <jmirabel@laas.fr>

	[Doc] Add more remarkable identities.

2019-11-16  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #958 from jcarpent/devel
	Add pickling of Model

	travis: test python3 too

	python: do not show C++ signature in docstring

	test/python: add test Model

	python/model: handle Python3 namings change

	python/model: add Pickling

	python: expose the raw_version of Pinocchio (with git commit)

	model: correct argument

	python/serializable: expose {save,load}ToString only
	std::stringstream are not exposed in Python

	serialization/serializable: extend methods

	serialization: change signature of saveToString
	Now returns a string

	serialization: load and save from and to string

	serialization: load and save streamsteam

	serialization: fix doc

	python/mode: templatization of ModelPythonVisitor

	python: fix exposition

	python/model: minor refactoring

	python/model: expose overloeaded addJointFrame

	python: expose ArgumentPosition

	ci: do not allow any failure

2019-11-15  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #956 from jcarpent/devel
	sync submodule cmake

	cmake: sync submodule

2019-11-15  Joseph Mirabel  <jmirabel@laas.fr>

	[test] Add test for parsing tag collision_checking of URDF.

	[URDF] Allow to create convex FCL objects.

2019-11-15  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #953 from jmirabel/doc
	Doc of log6, Jlog3 and toActionMatrix + unit-test dDifference for R3xSO(3)

2019-11-15  Joseph Mirabel  <jmirabel@laas.fr>

	[test+Doc] unit-test difference derivative + doc Jlog3 and SE3Tpl::toActionMatrix

	[Doc] fix doc of log6.

2019-11-15  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #951 from gabrielebndn/topic/fixrpy
	[python] [rpy] Fix for eigenpy arrays

2019-11-14  Gabriele Buondonno  <gbuondon@laas.fr>

	[python] [rpy] Fix for eigenpy arrays

2019-11-14  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #952 from jcarpent/devel
	Init to Ones the rotorGearRatio vector

	model: init to Ones the rotorGearRatio vector

	Merge pull request #950 from jcarpent/devel
	Add dDifference function

	test/joint-config: fix potential bug

	python/algo: add dDifference

	python/algo: fix doc and call

	python/algo: fix doc

	python/algo: add interface for dIntegrate

	test/joint-config: add test between dDifference and dIntegrate

	test/joint-config: add test on dDifference

	algo/joint-config: smooth doc

	algo/joint-config: add dDifference algo

	liegroup/algo: add dDifferenceStep

	liegroup: add dDifference signature

	liegroup: fix identiation

	mutlibody/lie-group: use at most derived quantities

	multibody/lie-group: minor uniformization

	test/joint-config: use normalize function when possible

	algo/joint-config: remove useless include

	algo/joint-configuration: use derived when possible

	algo/joint-configuration: uniformize the doc

2019-11-13  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: update content

	Merge pull request #948 from jcarpent/devel
	Update readme content

	readme: minor content update

2019-11-13  Gabriele Buondonno  <gbuondon@laas.fr>

	[README] Add benchmark PC info

2019-11-13  Joseph Mirabel  <josephmirabel@gmail.com>

	[Minor] update readme info + typos.

2019-11-13  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: fix wording

	readme: add missing info on the figure

	readme: add performances of Pinocchio

	readme: add pinocchio logo

	doc: add logo of Pinocchio in PNG

	doc: add logo of Pinocchio

	Merge pull request #946 from jcarpent/devel
	Remove deprecated functions and methods

2019-11-12  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/frames: mark framesForwardKinematics as depracated

	bench: remove deprecated call to humanoid2d

	python/robot-wrapper: fix call function

	algo/frame: remove getFrameJacobian definition

	parsers/sample: remove deprecated definition

	readme: update features

	python/deprecated: remove old StdVect

	python: fix argument naming

	all: do not track this file

	test: remove deprecated files

	readme: add crocoddyl

	test/frames: use new computeFrameJacobian

	python/robot-wrapper: mark frameJacobian and jointJacobian as deprecated

	python/robot-wrapper: remove deprecated methods

	python/deprecated: clean deprecated functions

	python: fix call

	python/deprecated: remove duplicates (by rebasing)

	all: fix use of computeJointJacobian

	algo: add missing definition

	parsers/samples: remove deprecated Model builder

	geometry: remove deprecated methods

	model: remove deprecated getJointName method

	liegroup/base: remove deprecated Jdifference

	liegroup/base: minir polisging

	math/quaternion: remove deprecated signatures

	algo/centroidal: rename computeCentroidalDynamics
	Following discussions in #939

	python/srdf: remove deprecated signatures

	python/frame: remove deprecated signatures

	algo/frames: rename frameJacobian into computeFrameJacobian

	algo/frames: remove deprecated functions

	srdf: remove deprecated signatures

	algo/jacobians: rename jointJacobian into computeJointJacobian

	algo/jacobians: remove deprecated functions

	algo/geometry: remove deprecated functions

	algo: remove deprecated finite-differences

	algo/com: remove deprecated signatures

	Merge pull request #945 from jcarpent/devel
	Fix compilation warning

	test/sincos: fix compilation warning

2019-11-11  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #944 from jcarpent/topic/centroidal
	Rename centroidal functions and add new signatures

	algo/centroidal: add new signature without config, velocity and acceleration args

	macros: remove PINOCCHIO_VERSION_AT_LEAST
	It is now defined by the jrl-cmakemodule

	cmake: sync submodule

	algo/centroidal: rename computeCentroidalDynamics
	Following discussions in #939

2019-11-08  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #942 from jcarpent/devel
	cmake: sync submodule

	cmake: sync submodule

	Merge pull request #941 from sbarthelemy/fix_pkg-config_file_generation
	Revert "cmake: fix pkg-config version constraints"

2019-11-08  Sébastien Barthélémy  <sbarthelemy@softbankrobotics.com>

	Revert "cmake: fix pkg-config version constraints"
	This reverts commit 2adf77866583ff8c1757e113b116783b1edbc4c7.

2019-11-08  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #930 from jcarpent/topic/se3
	Update SE3 constructor to handle Quaternions

2019-11-07  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #938 from jcarpent/topic/tensor
	math/tensor: add missing aligned operator new

	math/tensor: add missing aligned operator new

	python/spatial: expose isZero

	spatial: add isZero method

	python/spatial: improve the doc

	python/spatial: fix isApprox call overload

	Merge pull request #936 from sbarthelemy/fix_cxx_versions_doc
	doc: fix list of supported C++ versions

2019-11-07  Sébastien Barthélémy  <sbarthelemy@softbankrobotics.com>

	doc: fix list of supported C++ versions

2019-11-07  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #935 from jcarpent/topic/version
	Handle correctly unknown tag for version"

	cmake: sync submodule

	cmake: sync submodule

	cmake: add {config,deprecated,warning}.hpp

	cmake: fix indent

	core: remove exception.hpp file - not used

	cmake: sync submodule

	Merge pull request #933 from sbarthelemy/fix_pkg-config_version_constraints
	cmake: fix pkg-config version constraints

	Merge pull request #932 from sbarthelemy/fix_cmake_typo
	fix "requiEred" typo

2019-11-06  Sébastien Barthélémy  <sbarthelemy@softbankrobotics.com>

	cmake: fix pkg-config version constraints
	to make them compatible wih perl's implementation [1] of pkg-config.

	See [2] for more details.

	[1] https://metacpan.org/pod/PkgConfig
	[2] https://github.com/jrl-umi3218/jrl-cmakemodules/pull/265

2019-11-06  Sébastien Barthélémy  <sbarthelemy@softbankrobotics.com>

	fix "requiEred" typo

2019-11-06  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #931 from jcarpent/devel
	test/sincos: change tol for float types

	test/sincos: change tol for float types

	Merge pull request #929 from gabrielebndn/topic/rebuild_data
	[python] [RobotWrapper] [visualize] Add rebuildData

	Merge pull request #928 from jcarpent/devel
	Sync submodule cmake

	test/python: add test for SE3 class

	python/spatial: update exposition of SE3 constructor from Quaternion

	spatial/se3: add constructor from a quaternion

2019-11-06  Gabriele Buondonno  <gbuondon@laas.fr>

	[python] [RobotWrapper] [visualize] Add rebuildData

2019-11-06  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

	Merge pull request #927 from jcarpent/devel
	Add buildReducedModel function

2019-11-05  Justin Carpentier  <justin.carpentier@inria.fr>

	Update CMakeLists.txt

	example: add example of buildReducedModel

	test/python: fix model path

	models: remove romeo model

	python: remove deprecated methods from hpp-fcl

	parsers/urdf: fix call to deprecated method load

	parsers: small reindent

	test/python: minor clean

	example/urdf: improve example

	cmake/examples: improve packaging

	examples: minor refactoring

	models: call romeo_description from models/others

	bench/geometry: remove useless include

	models: add new module others

	romeo: sync submodule

	travis: CTEST_OUTPUT_ON_FAILURE=1 to show failures on test

	ci: CTEST_OUTPUT_ON_FAILURE=1 to show failures on test

	test/python: fix test

	doc: fix

	python: expose buildReducedModel

	python: correct indent

	test/model: add test on buildReducedModel

2019-11-04  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/model: add creation of reduced model

2019-11-03  Justin Carpentier  <justin.carpentier@inria.fr>

	parsers: add "_" to member naming

	model: minor clean of the code and doc

	model: use JointModel as input for addJoint method

2019-11-02  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/model: throw when possible useful user feedback

	algo/model: minor refactoring of the code

	Merge pull request #926 from jcarpent/devel
	Remove deprecated Model::neutralConfiguration

	all: remove deprecated Model::neutralConfiguration

2019-11-01  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #925 from jcarpent/devel
	Change ordering of macros

	core: change ordering of macros
	This allows to avoid some borring warning from GCC

	Merge pull request #924 from jcarpent/devel
	cmake: sync submodule

	travis: remove test over bionic (already tested by Action)

	travis: use clang compiler

	travis: compile in Release mode

	cmake: sync submodule

	cmake: sync submodule

	cmake: sync submodule

2019-10-31  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #922 from jcarpent/devel
	cmake: fix compatibility issue with older CMake

	Merge pull request #921 from jcarpent/topic/log3
	Fix propagation of NAN values for exp/log computations

	cmake: fix compatibility issue with older CMake

	Merge pull request #920 from jcarpent/devel
	Gitlab: update ci

	test/explog: check NAN value

	python/explog: add additionnal signature

	spatial/explog: swtich conditions to propagate NAN if needed

	gcov: exclude CMakeFiles

	gitlab: disable 14.04 temporary

2019-10-29  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #918 from jcarpent/devel
	Add computeStaticTorque and its derivatives

	python/algo: expose computeStaticTorqueDerivatives

	doc/algo: fix documentation

	algo/rnea-derivatives: add computeStaticTorqueDerivatives function

	algo/rnea-derivatives: simplify algorithm

	python/algo: expose computeStaticTorque

	doc: fix doc in algo/rnea

	algo/rnea: add function computeStaticTorque

	test/rnea: update the sampling of random configuration

	Merge pull request #917 from jcarpent/devel
	Force DESCRIPTION of the project for correct export

	cmake: add description to the project

	cmake: sync submodule

2019-10-27  Justin Carpentier  <justin.carpentier@inria.fr>

	ros: update package

2019-10-25  Wolfgang Merkt  <wxmerkt@users.noreply.github.com>

	Update package.xml to 2.1.10

2019-10-24  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #915 from wxmerkt/topic/wxm-add-package.xml
	Add package.xml

2019-10-23  Wolfgang Merkt  <w.merkt@gmail.com>

	package.xml: Turn off hpp-fcl for now

	Add package.xml to allow build in catkin workspace

	data: minor typo

2019-10-21  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #913 from jcarpent/devel
	Improve cmake compatibility

	cmake: for future, set policy for version

	cmake: set minimal version to 2.8

	Merge pull request #910 from wxmerkt/wxm-if-throw-exception
	Use if() and throw exception on everything apart from model.check(data)

2019-10-18  Justin Carpentier  <justin.carpentier@inria.fr>

	macros: fix error message

	macros: allow to disable throwing if needed

	parsers/SRDF: fix typo

	macros: improve return message with print of the condition

	macros: rename _PINOCCHIO_GET_OVERRIDE

	doc/macros: fix

	macros: fix use of given input exception in PINOCCHIO_THROW

	macros: rename macro

	all: unify macro naming and use variadic macro

2019-10-17  Justin Carpentier  <justin.carpentier@inria.fr>

	math: revert to classic assert

	macros: add missing include stdexcept

	Merge branch 'devel' into wxm-if-throw-exception

2019-10-17  Wolfgang Merkt  <w.merkt@gmail.com>

	Change generic message for runtime assert

	Revert assert changes to multibody and codegen

2019-10-17  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #908 from jcarpent/devel
	Implement Hessian of the kinematics

2019-10-16  Justin Carpentier  <justin.carpentier@inria.fr>

	test/tensor: fix tensor module test

	math/tensor: add call operator

2019-10-16  Wolfgang Merkt  <w.merkt@gmail.com>

	Fix an instance of eigen_assert from the preg-replace

	Implement assert-like macro with message

	Add runtime assert with message

2019-10-16  Justin Carpentier  <justin.carpentier@inria.fr>

	math/tensor: handle older versions of Eigen

	test/kinematics-derivatives: use Tensor3x

2019-10-16  Wolfgang Merkt  <w.merkt@gmail.com>

	Revert assert changes in src/spatial

	Rename TEST_NEW_ASSERT to PINOCCHIO_ASSERT_THROW_AT_RUNTIME

	Change model.check(data) back to assert

	Use if() and throw exception on everything apart from model.check(data)

2019-10-16  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/kinematics-derivatives: remove previous ref to Eigen::Tensor

	test/tensor: only test when C++11 is ON

	visitor: fix PINOCCHIO_DEPRECATED

	all: remove previous references to Eigen::Tensor

	math/tensor: add mimic of Eigen::Tensor for old C++ versions
	Otherwise, it relies on Eigen::Tensor with the nickname pinocchio::Tensor

	cmake: fix variable name
	PROJECT_SOURCE_DIR is not yet defined

	cmake: set MESSAGE about the missing submodule before any include

2019-10-15  Justin Carpentier  <justin.carpentier@inria.fr>

	doc/visitor: add doc for JointUnaryVisitorBase and JointBinaryVisitorBase

	joint/visitors: set JointVisitorBase as deprecated struct

	doc: fix

	spatial/motion: add specialization of MotionRef<const Vector6ArgType>

	cmake: sync submodule

	test/kinematics-derivatives: add test of computeJointKinematicHessians and getJointKinematicHessian

	algo/kinematics-derivatives: add function getJointKinematicHessian

	algo/kinematics-derivatives: start implementation of second order derivatives

	algo/check: check kinematic Hessian dimensions

	data: add kinematic Hessian as Tensor field

	spatial/force: add specialization of ForceRef<const Vector6ArgType>

	spatial/force: fix bug in typedef

	data: add field end_idx_v_fromRow

	data: change field name

	serialization/model: add new fields

	model: add nqs, idx_qs, nvs and idx_vs fields to ModelTpl

	algo/check: correct indent

	bench/timings: increase number of tested passes

	test/visitor: add additional disp

	visitor/binary: fix missing runner

	visitor/unitary: remove useless boost::get

	bench: adjust w.r.t. new API

	test/visitors: add new test for Unary and Binary visitors

	visitor: add binary joint visitors

	fusion: simplify API

	cmake: add export option for the main library

	all: rename JointVisitorBase into JointUnaryVisitorBase

	core: split visitors into several sub files

	multibody/visitor: correct #include guards

	mutlibody/visitor: correct inclusion

	timings: move emptyForwardPass to timings file
	This function is never called, because it does nothing. It is just for benchmarking purposes.

	core: improvide effiency of visitor

	algo/frame: add missing typename

	doc/data: fix doc

	core: minor renaming

	data: fix naming for idx_v_fromRow

	test/tensor: add test of Eigen::Tensor

	data: add starting_subspace_idx_fromRow field

	data: add supports_fromRow field

	python/model: expose supports quantity

	mode: add the notion of subtrees
	Will be useful for certain algorithms dealing with second order derivatives

2019-10-10  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #907 from jcarpent/devel
	Update CMakeLists.txt to follow new CMake policy

	cmake: fix calling

	cmake: correct ordering of calls

	cmake: sync submodule

	cmake: restore some behavior that are not handled by the current CMake

	cmake: sync submodule

	cmake: adjust call ordering according to the new CMake Policy

	cmake: sync submodule

2019-10-09  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: correct link to tutorials

2019-10-04  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #903 from jcarpent/devel
	Simplify code for Joint algos and improve the coverage of options

	Merge pull request #899 from stack-of-tasks/github-action
	Add GitHub action support

	algo/jacobian: use common piece of code for translating Jacobians

	algo/jacobian: add support of LOCAL_WORLD_ALIGNED option

	ci: add github action

2019-10-03  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #902 from gabrielebndn/topic/fixcontact
	Fix Python impulseDynamics and modify dignature of forwardDynamics

2019-10-03  Gabriele Buondonno  <gbuondon@laas.fr>

	[unittest] Test new bindings for forwardDynamics

	[python] Expose forwardDynamics new signatures

	[algorithm] Change signature of forwardDynamics

	Fix Python impulseDynamics

2019-10-02  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #900 from jcarpent/devel
	cg: add missing include

	cg: add missing include

2019-10-01  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #896 from jcarpent/devel
	cmake: sync submodule

	cmake: sync submodule

2019-09-30  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #895 from jcarpent/devel
	algo/frames: add missing typedef

	algo/frames: add missing typedef

2019-09-26  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #892 from jcarpent/devel
	cmake: sync submodule

	cmake: sync submodule

	Merge pull request #891 from jcarpent/devel
	test/python: set default converter for Eigen::Matrix objects

2019-09-25  Justin Carpentier  <justin.carpentier@inria.fr>

	test/python: set default converter for Eigen::Matrix objects

	Merge pull request #890 from jmirabel/fix
	[Doc] Add a cheat sheet

2019-09-25  Joseph Mirabel  <jmirabel@laas.fr>

	[Doc] Add macro \cheatsheet + some documentation.

	[test] Add check of a remarkable identity for SE3 difference.

2019-09-24  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #889 from jcarpent/devel
	Fix setting of BOOST_MPL_LIMIT_LIST_SIZE

	cmake: remove useless define

	core/boost: always check even with PINOCCHIO_WITH_CXX11_SUPPORT on

	core/boost: do not throw error if BOOST_MPL_LIMIT_LIST_SIZE is defined

	core/boost: add missing include

	core/boost: do not set BOOST_MPL_LIMIT_VECTOR_SIZE

	core/boost: set BOOST_MPL_LIMIT_LIST_SIZE only for C++ versions under 11

	Merge pull request #887 from jcarpent/devel
	Make silent the warning from EigenPy >= 1.6.0

	models: remove EigenPy warning

	exmaples/python: set np.matrix as default conveter for Eigen::Matrix

	examples/python: remove useless copyrights

	cmake: set default of EigenPy to 1.5.0

	Merge pull request #888 from jmirabel/fix
	Fix usage of row major matrices + fix doc.

2019-09-24  Joseph Mirabel  <jmirabel@laas.fr>

	[Minor] Remove duplicated assert + update unittest/explog.cpp

	[Doc] Fix usage of MathJax.

	[Minor] Fix compilation when using row major matrices.

2019-09-23  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #886 from jcarpent/devel
	Fix issue related to #885

	algo/regressor: cosmetic

	algo/regressor: fix issue related to C++11 and more

2019-09-19  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #882 from jcarpent/devel
	Improve coverage of Spatial classes

	test/motion: fix init

	test: rename tspacial into simple spatial

	test/spatial: fix bugs

	test/spatial: remove useless value for isApprox

	test/motion: improce coverage

	test/se3: improve coverage

	test/explog: improve coverage

	spatial/force: improve coverage

2019-09-18  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #880 from jcarpent/devel
	algo/derivatives: use const references

	algo/derivatives: use const references
	Avoid useless memory allocation.

	Merge pull request #878 from jcarpent/devel
	cmake: sync submodule

2019-09-17  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

	Merge pull request #876 from jcarpent/topic/constrained-dynamics
	Topic/constrained dynamics

	algo/contact-dyn: fix issue with signature and tests

	Merge pull request #877 from paLeziart/contribution
	python: fix missing pin.

	algo/contact-dyn: adjust signatures of impulseDynamics

2019-09-17  Pierre-Alexandre Leziart  <paleziart@laas.fr>

	python: fix missing pin.

2019-09-17  Justin Carpentier  <justin.carpentier@inria.fr>

	python: remove useless lines

	python/constrained-dynamics: update signatures

	algo/constrained-dynamics: add damping in impactDynamics

2019-09-16  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #874 from nim65s/devel
	[Doc] update practical exercise 1

2019-09-16  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[Doc] update practical exercise 1

2019-09-13  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: update features

	Merge pull request #873 from gabrielebndn/topic/fixmem
	Fix memory errors in unit tests

2019-09-13  Gabriele Buondonno  <gbuondon@laas.fr>

	[minor] [unittest] [aba-derivatives] Fix memory errors

	[minor] [unittest] [contact-dynamics] Fix memory errors

	[minor] [unittest] [frames] Fix memory errors

2019-09-13  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #871 from jcarpent/travis
	travis: add bionic

	travis: use specific debug flags

	travis: make parallel with 2 jobs

	travis: increase timeout

2019-09-12  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #869 from jcarpent/devel
	test: add prefix test- before each TARGET

	travis: add bionic

	test: add test as suffix

	Merge pull request #870 from nim65s/devel
	[Doc] fix gepetto-viewer package name

2019-09-12  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[Doc] fix gepetto-viewer package name

2019-09-12  Justin Carpentier  <justin.carpentier@inria.fr>

	test: add prefix test- before each TARGET

2019-09-11  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #868 from jcarpent/devel
	test: fix issue with old Eigen versions

	test: fix issue with old Eigen versions

2019-09-10  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

	test/joint-mimic: add test for cast methods

2019-08-27  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #866 from jmirabel/doc
	[Doc] Fix link to MathJax.

2019-08-27  Joseph Mirabel  <jmirabel@laas.fr>

	[Doc] Fix link to MathJax.

2019-08-23  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #863 from jcarpent/devel
	Fix issue #862

	spatial/explog: fix missing include
	Related to #862

	 spatial/explog: use const_cast when needed

2019-08-16  Justin Carpentier  <justin.carpentier@inria.fr>

	travis: increase timeout

2019-08-14  Justin Carpentier  <justin.carpentier@inria.fr>

	python: fix naming in RobotWrapper

	core: add missing < >

	Merge pull request #860 from jcarpent/devel
	Improve coverage

2019-08-13  Justin Carpentier  <justin.carpentier@inria.fr>

	model: add helper assert

	test/visitor: fix bug
	Bug is present

2019-08-12  Justin Carpentier  <justin.carpentier@inria.fr>

	test/serialization: check throw from serialization

2019-08-09  Justin Carpentier  <justin.carpentier@inria.fr>

	test/visitor: improve robustness and coverage

	test: remove test on variant
	No more maintained.

	Merge pull request #857 from jcarpent/devel
	Add inverse action of SE3 on Joint Constraint

	test/constraint: also test JointModelComposite

	model: handle the case where jmodel.nq and jmodel.nv are equal to 0
	This is the case for instance for the JointMimics

	algo: use new actInv of SE3 on Constraint

	test/constraint: test se3Action{Inverse}

	joints: add se3ActionInverse for each ConstraintDerived

	python/se3: expose to{Dual}ActionMatrix{Inverse} methods

	python/se3: expose actionInverse

	spatial/se3: add toActionMatrixInverse method

	joint/revolute: improve genericity of the code

	Merge pull request #856 from jcarpent/devel
	Improve documentation and add new signature for getJointAccelerationDerivatives

	readme: retrieve the latest updated badges

	algo/derivatives: add complete signature for getJointAccelerationDerivatives
	Related to #855

	doc: fix documentation of getJointVelocityDerivatives

	Merge pull request #854 from lesteve/py3-examples
	Python 2/3 compatibility of examples.

2019-08-08  Loïc Estève  <loic.esteve@ymail.com>

	Python 2/3 compatibility of examples.

2019-08-08  Justin Carpentier  <justin.carpentier@inria.fr>

	test/joint-config: remove useless function
	This function was never called

	readme: update badges URL

	readme: add Loic Esteve in the credits

	readme: add conda info

2019-08-07  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #853 from jcarpent/devel
	Clean autodiff and codegen options

	all: move cppad{,cg} and casadi to the right directories

	macros: update PRAGMA macro to better handle specific cases

	algo/aba: do not forget to include CppAD for template specialization

	autodiff: use EIgen/Dense instead of Eigen/Core

	autodiff: do not make CppAD dependant of CppADCodeGen

	cmake: call APPLY_DEFAULT_APPLE_CONFIGURATION

	Merge pull request #852 from jcarpent/devel
	cmake: add definition of BOOST_MPL_LIMIT_{LIST,VECTOR}_SIZE

	core: check BOOST_MPL_{LIST,VECTOR}_HPP_INCLUDED guards to garanty safety

	test: remove useless licence

	cmake: add definition of BOOST_MPL_LIMIT_{LIST,VECTOR}_SIZE

	Merge pull request #851 from jmirabel/appendModel
	Add assertion in appendModel

2019-08-07  Joseph Mirabel  <jmirabel@laas.fr>

	[unittest] Call check in unittest model.

	[Minor] Add assertion in appendModel

	Add unit test for appendModel
	* related to #844

2019-08-06  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #850 from jcarpent/devel
	Use MotionRef as much as possible and clean CMakeLists.txt

	algo/cholesky: the col has to be positive

	cmake: remove eigen3 from list of dependencies and append it by default.

	test: rename jacobian into joint-jacobian

	algo: use MotionRef as much as possible

	core: move include <cstddef> upward

	Merge pull request #848 from jcarpent/devel
	Make the core code independant from CppAD and CppADCodeGen

	python: fix missing include

	spatial/inertia: fix issue for CppADCodeGen

	codegen: make the code independant from CppADCodeGen

	autodiff: make the code independant from CppAD

	core: add macros PINOCCHIO_WITH_CXX{14,17}_SUPPORT

	Merge pull request #847 from jcarpent/devel
	Sync submodule cmake and fix unit test

	test/casadi: fix init of JointModelRevoluteUnboundedUnalignedTpl

	cmake: sync submodule

	Merge pull request #846 from jcarpent/devel
	fix computeMinv from the Cholesky decomposition

	test/cholesky: fix flags to improve the corevage

	python: expose computeMinv from the Cholesky decomposition module

	algo/cholesky: add additional signature for computeMinv using internal data

	doc: fix documentation

	algo/cholesky: allows a second call to computeMinv
	Related to #845

2019-07-27  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #843 from jcarpent/topic/subtree_com
	Fix and improve #841: add subtree Jacobian

	algo/com: fix doc typo

	algo/com: remove compilation warning

	python: add exposition of getJacobianSubtreeCenterOfMass
	And minor fixes in the documentation

	test/com: test Jacobian of CoM subtree

	algo/com: add getJacobianSubtreeCenterOfMass

	algo/com: improve efficiency of jacobianSubtreeCenterOfMass

	doc: improve com documentation

2019-07-26  Justin Carpentier  <justin.carpentier@inria.fr>

	test/model: improve testing of subtrees

	algo/com: change Algo to take result as arguments

	model: also update the subtree of the universe

	algo/com: factorize code

	algo/com: fix naming and compilation warnings/errors

2019-07-25  Matthieu Vigne  <matthieu.vigne@wandercraft.eu>

	Minor fixups after review.

2019-07-23  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #842 from jcarpent/devel
	fix compilation issue on OSX

	python: fix compilation issue on OSX

2019-07-23  Matthieu Vigne  <matthieu.vigne@wandercraft.eu>

	Add function to get subtree CoM jacobian.
	Add jacobianSubtreeCenterOfMass and associated python bindings.
	This function computes the jacobian of the center of mass of
	a subtree, as a barycenter of individual body jacobian.

2019-07-23  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #840 from jcarpent/devel
	use PINOCCHIO_EIGEN_CONST_CAST as much as possible

2019-07-22  Justin Carpentier  <justin.carpentier@inria.fr>

	all: use PINOCCHIO_EIGEN_CONST_CAST as much as possible

2019-07-18  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #836 from jcarpent/topic/cmake
	sync submodule cmake

	cmake: reflect change in the CMake module

	cmake: sync submodule

2019-07-16  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #835 from jcarpent/devel
	fix packaging

	cmake: sync submodule

	cmake: remove documentation line (already existing)

	cmake: change project description

	cmake: sync submodule

	Merge pull request #834 from jcarpent/devel
	test: fix serialization for JointModelRevoluteUnboundedUnalignedTpl

2019-07-15  Justin Carpentier  <justin.carpentier@inria.fr>

	travis: do not build with catkin support

	test: fix serialization for JointModelRevoluteUnboundedUnalignedTpl

	Merge pull request #833 from jcarpent/devel
	Solve bugs in unit tests

	test/constraint: do not test JointModelComposite

	test/constraint: template specialization of the initializer

	cmake: sync submodule

2019-07-14  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #830 from jcarpent/devel
	Sync submodules

	travis: sync submodule

2019-07-13  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

2019-07-12  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #829 from jcarpent/devel
	turn OFF BUILD_UNIT_TESTS by default

	Merge pull request #828 from jcarpent/topic/python
	install Python headers anyway

2019-07-11  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: set BUILD_UNIT_TESTS to OFF by default

	cmake/python: install Python headers

	Merge pull request #826 from jcarpent/topic/catkin
	Remove catkin from the project

	cmake: remove catkin finding

	cmake: sync submodule

	cmake: sync submodule

	Merge pull request #825 from jcarpent/topic/joints
	Add JointRevoluteUnboundedUnaligned

2019-07-10  Justin Carpentier  <justin.carpentier@inria.fr>

	test/joint: fix initialization of JointModelRevoluteUnboundedUnaligned

	test: do not test JointMimic for AutoDiff

	python: switch include order

	all: correct rebase

	variants: increase default size

	algo/regressor: minor change of naming

	test: add test of JointRevoluteUnboundedUnaligned

	serialization: add specialization for JointRevoluteUnboundedUnalignedTpl

	urdf: use JointRevoluteUnboundedUnalignedTpl when necessary

	joint: minor corrections of JointRevoluteUnboundedUnalignedTpl

	examples: remove warning for spaces

	math/rotation: fix assert with special types

	cmake: sync submodule

	liegroup: template specialization for JointRevoluteUnboundedUnalignedTpl

	joint: add Joint{Model,Data}RevoluteUnboundedUnalignedTpl into JointCollection

	joint: add default typedef for Joint{Model,Data}RevoluteUnboundedUnalignedTpl

	joint: add joint revolute unbounded unaligned

	math/rotation: add toRotationMatrix from cos and sin values

	travis: update timeout

	Merge pull request #814 from jcarpent/topic/mimic
	Implementation of Mimic joints

2019-06-26  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #823 from jcarpent/topic/casadi
	Improve the compatibility with CasADi

	algo/frames: remove Identity check
	This test is not useful, and may lead to some errors (not taking account the frame placement if it is closed to identity)

	test/casadi: add test of updatePlacements

	algo/frame: fixe issue with Frame type

	test: fix compatibility issue

2019-06-25  Justin Carpentier  <justin.carpentier@inria.fr>

	test/constraint: fix test

	serialization: fix joint-base

	joint/joint-mimic: correct unit test and calc methods to reflect new change of dimensions

	joint/joint-mimic: return 0 for nv and nq methods

	joint/joint-mimic: specialize matrix selector

	doc: improvde documentation of JointModelBase

	joint: correct identation

	joint: use derived when it is requiered

	joint: set protected the data of a JointModelBase

	core: create a dedicated file for block management

	Merge pull request #821 from jcarpent/topic/casadi
	casadi: fix compatibility wirh Eigen 3.2.9{0,1,2}

	cmake: fix warning

	casadi: fix compatibility wirh Eigen 3.2.9{0,1,2}

	casadi: fix compatibility wirh Eigen 3.2.9{0,1,2}

	joint/joint-mimic: fix compatibility issue with Eigen <= 3.2.0

2019-06-24  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #820 from gabrielebndn/topic/regressor
	[algorithm] [regressor] Minor improvements

2019-06-24  Gabriele Buondonno  <gbuondon@laas.fr>

	[algorithm] [regressor] Minor improvements

2019-06-24  Justin Carpentier  <justin.carpentier@inria.fr>

	joint: improve compatibillity with Eigen

	all: fix rebase

	math: fix support with Eigen 3.2.90

	joints: handle older version of Eigen (bad initializer)

	math: handle older version of Eigen

	math: handle older version of Eigen

	test/constraint: check dimensions

	joint/constraint: add access to dimensions

	tests: fix tests when adding JointMimic in the list of available Joints

	joint/joint-mimic: use the method

	joint/joint-mimic: remove references

	joint/joint-mimic: avoid compilation error if two vectors have not the same size at compile time

	joints: add default constructor

	joint/mimic: make properties accessible

	serialization: handle JointMimic

	test/serialization: handle JointMimic

	test/casadi: cosmetic

	joint/collection: add joint mimic of basic types

	multibody: cosmetic

	test/casadi: correctly handle all types of joints

	algo: comestic

	test/joint-mimic: update tests to handle all the basic operations

	joint/joint-mimic: update code to handle the complete operations

	test/constraint: test all the basic constraint operations

	joints/constraint: set correct return type for basic Constraint operations

	joint/base: use correct ids for segments and blocks

	core: add return type for multiplication op

	motion: add plain methods and cast operator to PlainReturnType

	joint-mimic: use a reference on the Constraint to avoid to reevaluate it

	joints: redefine MACRO to take the Joint as argument

	doc: add documentation of common joint operations

	joints: include the common header inclusion

	motion: fix return type of Motion::operator*(Scalar)

	joints: add AffineTransform operations for single dof joints

	joint/prismatic: add missing Tpl in the naming

	test: add test for JointMimic::Constraint

	joint: start implementing JointMimic

	joints/constraints: enforce the output consistency

	joints/motions: add __mult__ operation for some joints

	joint/constraint: add return type for Force action on joint constraints

	spatial/motion: add overloaded binary operator*

	spatial/motion: fix return type of operator* and operator/

	math/matrix: cosmetic

	math: add MatrixScalarProduct and ScalarMatrixProduct return type

	test/eigen: add basic test of Eigen return types

	all: add helper return type ReturnTypeNotDefined

	math: rename MatrixProduct into MatrixMatrixProduct

	joints: remove F_t types

	Merge pull request #813 from jcarpent/topic/casadi
	add support of CASADI

2019-06-22  Justin Carpentier  <justin.carpentier@inria.fr>

	test/casadi: add aba derivatives

	all: remove SE3GroupAction and MotionAlgebraAction from internal namespace

2019-06-21  Justin Carpentier  <justin.carpentier@inria.fr>

	spatial/explog: make compliant the code with casadi (use if_then_else)

	test/casadi: test against RNEA derivatives

	test/casadi: add test on integrate

	liegroup: adapt exp to work with casadi

	spatial/explog: use the right operator

	spatial/explog: make compliant the code with casadi (use if_then_else)

	math/quaternion: make compliant the code with casadi

	liegroup: make compliant the code for casadi

	liegroup: use Scalar(0)

	liegroup: use assignQuaternion

	utils: correct ifndef

	math/quaternion: remove the use of Eigen::internal::nested

	cmake: only process dependencies if they have been activated

	core: fwd of internal::traits<T>

	casadi: overload if_then_else

	core: add if_then_else overload

	test/casadi: correct inclusion order

	casadi: correct order of inclusion

	math: fwd of TaylorSeriesExpansion

	math: remove useless include

	math/quaternion: correct include

	math/sincos: remove useless include

	cmake: only process dependencies if they have been activated

	utils: add missing ifndef

	spatial/explog: facorize the operations
	It will ease the overloading

	casadi: add overloading of max operator

	test/casadi: add test assignQuaternion

	casadi: add overloading of assignQuaternion

	test/quaternion: test assignQuaternion

	math/quaternion: use the right namespace for acos

	math/quaternion: add assignQuaternion from rotation matrix
	Required for overloading for generic Scalar types (e.g. CasADi)

	math: add static comparison operators
	Might be required for template specialization of generic Scalar types

	casadi: test max operator

	math: also define the return type of binary operators
	Necessary for template specialization

	math/quaternion: use static keyword

	casadi: make generic the PI value

	test/cppad: test atan2

	math: remove compilation warnings

	math: make generic the specialization of classic math functions

	casadi: add TaylorSeriesExpansion specialization

	math/quaternion: use math functions

	math: use correct function call

2019-06-21  Mikhail Katliar  <mikhail.katliar@rozum.com>

	Using pinocchio::casadi::copy() in test_example instead of for loops.

	Added casadi codegen example

	* Added "inline" to fix "multiply defined symbol" error * Fixed a typo in function name: was "hightest" instead of "highest".

2019-06-21  Justin Carpentier  <justin.carpentier@inria.fr>

	casadi: fix types

	test/casadi: use correct namespace

	test/casadi: remove LLT test (no more needed)

	test/casadi: remove useless typedef

	joint/common: make STRONG_INLINE of inversion

	joint/revolute: avoid useless memory allocation

	test/casadi: add test of aba

	joint: cosmetic

	casadi: add missing closure bracket

	casadi: specialize operations to make the code compliant with Eigen

	joint: calc the correct inverse to perform in calc_aba

	math/matrix: add function to select the right matrix inverse according to the Scalar type

	test/cadadi: add evaluation of CRBA and comparison to RNEA derivatives

	spatial/inertia: use isUnitary

	math: isUniatry works also for matrix types

	test/casadi: start testing algo

	joints: use isUnitary function instead of Eigen's one

	math: add common isUnitary funtion to handle AutoDiff types

2019-06-21  Mikhail Katliar  <mikhail.katliar@rozum.com>

	Added LLT specialization for matrices of casadi::SX

2019-06-21  Justin Carpentier  <justin.carpentier@inria.fr>

	math/casadi: use C++ static_cast style

	test/casadi: add test on the joints

	test/casadi: add minimal test for evaluating jacobians

	math: fix

	casadi: add support of basic casadi::SX

	constraint: add SE3 group action to the base class

	joint/free-flyer: fix return type

	constraints: set Options directly in the Macro

	math: fix missing include

	test: add casadi simple and basic examples

	math: make the code compliant with casadi

	cmake: start to support casadi

	Merge pull request #819 from tdouin/master
	[doc] Documentation for SE3 with examples and nice figures for Joints.

2019-06-21  Joseph Mirabel  <josephmirabel@gmail.com>

	[Minor] Spelling + some rephrasing in b-rigid-bodies.md

	[Minor] Correct spelling in e-lie.md

2019-06-21  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #818 from gabrielebndn/topic/regressor
	Introduce joint torque regressor

	doc: minor fix

	git: remove _build from .gitignore

2019-06-21  Thomas Douin  <tdouin@bandaisan.laas.fr>

	[doc] modified interpolation for SE3

2019-06-21  Gabriele Buondonno  <gbuondon@laas.fr>

	[regressor] JointTorqueRegressorForwardStep

	[regressor] Add data.bodyRegressor and avoid allocation

	[regressor] Various improvements

2019-06-21  Thomas Douin  <tdouin@bandaisan.laas.fr>

	[doc] add picture in c-math/b-rigid-bodies

	[doc] add gif for c-maths/b-rigid-bodies

	[doc] add rigid-bodies geometry

	[doc] add using SE3 with Pinocchio

2019-06-21  Gabriele Buondonno  <gbuondon@laas.fr>

	[algorithm] move computeStaticRegressor to main pinocchio namespace

	[biondings] Expose computeJointTorqueRegressor

	[bindings] expose data.staticRegressor

	[unittest] [python] Test computeStaticRegressor

	[algorithm] computeJointTorqueRegressor

	[multibody] [data] Add jointTorqueRegressor

	[bindings] [algorithm] Expose frameBodyRegressor

	[bindings] [algorithm] Expose jointBodyRegressor

	[algorithm] frameBodyRegressor

	[algorithm] Fix bodyRegressor

	[algorithm] jointBodyRegressor

	[bindings] [algorithm] Expose bodyRegressor

	[algorithm] bodyRegressor

	[bindings] [inertia] Bindings for dynamic parameters

	[spatial] [inertia] Inertia dynamic parameters

2019-06-20  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #817 from jcarpent/topic/python
	python: fix issue related to already registered class

	python: handle the case where the objects are not exposed

	python: fix issue with the correct workaround

	python: fix issue related to already registered class

2019-06-17  Thomas Douin  <tdouin@bandaisan.laas.fr>

	[doc] Add Joint Geometry/Kinematics/List

	[Git] Update .gitignore

2019-06-07  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #812 from jcarpent/topic/sincos
	math/sincos: improve the genericity of the sincos methods

	math: fix boost include for type traits

	Merge pull request #811 from jcarpent/devel
	Introduce generic matrix product type for Eigen::Product

	joint: fix issue for the Y*S operator return type

	travis: fix issue with openssl

	travis: fix issue with openssl

2019-06-06  Justin Carpentier  <justin.carpentier@inria.fr>

	math/sincos: improve the genericity of the sincos methods

	joint/revolute: precise correct return type for Constraints group operations

	math: introduce MatrixProduct struct to retrieve the right Eigen return type

2019-05-31  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #806 from jcarpent/devel
	Simplify joint constraints

2019-05-30  Justin Carpentier  <justin.carpentier@inria.fr>

	joints: add addtional cleaning

	multibody/constraint: use struct convention instead of class

	joints/constraint: clean traits

	multibody/constraint: split files to simplify modifications

	Merge pull request #805 from jcarpent/devel
	clean Joint finiteDifferenceIncrement method

	test: clean test related to finiteDifferenceIncrement

	multibody/joints: remove finiteDifferenceIncrement methods

	algo: make depracated finiteDifferenceIncrement algo

2019-05-27  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #804 from jcarpent/devel
	Fix issue related to Joint disp method #803

	joint: call correct joint methods in disp

	algo: add missing .derived()

2019-05-22  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #800 from stack-of-tasks/doc
	Update readme

	readme: add Rohan contribution

	readme: precise additional exercices

	readme: add documentation link

2019-05-20  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #799 from jcarpent/devel
	test/sincos: adjust test accuracy for long double

	test/sincos: adjust test accuracy for long double

	Merge pull request #798 from jcarpent/devel
	cmake: sync submodule

	cmake: sync submodule

2019-05-17  Mikhail Katliar  <cepstr@gmail.com>

	Added some tolerance in testSINCOS() (#797)
	* Added some tolerance in testSINCOS()
	
	* test/sincos: improve checking stability
	
	* test/sincos: update header to include tolerance
	
	* test/sincos: revert to the original proposition
	
	The previous change requires Boost >= 1.59
	
	* test/sincos: add additional revert

2019-05-10  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #795 from gabrielebndn/topic/display
	Make visualization functionalities independent from RobotWrapper, closes #663

2019-05-10  Gabriele Buondonno  <gbuondon@laas.fr>

	[python] initDisplay->initViewer loadDisplayModel->loadViewerModel

	[python] [visualize] Rename Displays to Visualizers

	[display] Pass viewer for Gepetto

2019-05-09  Gabriele Buondonno  <gbuondon@laas.fr>

	[python] [display] Remove BuildModelFromUrdf and add copy_models option

	[algorithm] Rename scaleGeometryModel to setGeometryMeshScales

	[python] [display] Avoid implicit relative import

	[bindings] Copyable geometry model and data

2019-05-07  Gabriele Buondonno  <gbuondon@laas.fr>

	[examples/python] load-urdf and robot-wrapper-viewer

	[python] [RobotWrapper] Use display

	[python] [GepettoDisplay] [MeshcatDisplay] loadDisplayGeometryObject

	[display] [MeshcatDisplay] Load tree structure

	[python] [MeshcatDisplay] Handle scaling

	[algorithm] scaleGeometryModel

	[python] MeshcatDisplay

	[python] GepettoDisplay

	[python] AbstractDisplay

2019-05-06  Gabriele Buondonno  <gbuondon@laas.fr>

	[python] Add display submodule

2019-05-02  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #791 from gabrielebndn/topic/robotwrapper
	[python] Define buildModelsFromUrdf and createDatas function

2019-05-02  Gabriele Buondonno  <gbuondon@laas.fr>

	[python] [buildModelsFromUrdf] Specify geometry_types instead of geometry_type

2019-05-01  Justin Carpentier  <justin.carpentier@cegetel.net>

	Merge pull request #781 from jviereck/jviereck_jacobian_cartesian_oriented
	Add support for LOCAL_CARTESIAN_ORIENTED in jacobian computation

2019-05-01  Gabriele Buondonno  <gbuondon@laas.fr>

	[python] Define createDatas

	[bindings] [GeometryModel] Add createData

	[python] [buildModelsFromUrdf] Allow specifying a single type

	[python] Simplify buildModelsFromUrdf

	[python] Define buildModelsFromUrdf

2019-05-01  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/frame: add missing return

	algo/frame: correct indentation

2019-05-01  Gabriele Buondonno  <gbuondon@laas.fr>

	[python] Use appropriate overloads for buildGeomFromUrdf

	[bindings] Expose more buildGeomFromUrdf

2019-04-30  Julian Viereck  <jviereck@tuebingen.mpg.de>

	Fix unit test for local_world_oriented unittest

2019-04-30  Justin Carpentier  <justin.carpentier@inria.fr>

	test/centroidal-derivatives: fix warning

	Merge pull request #789 from jmirabel/devel
	[Minor][Doc] Minor fix of SE(2) overview.

2019-04-30  Joseph Mirabel  <jmirabel@laas.fr>

	[Minor][Doc] Minor fix of SE(2) overview.

2019-04-30  Justin Carpentier  <justin.carpentier@inria.fr>

	Merge pull request #788 from christian-rauch/del_throw_spec
	remove deprecated throw specification

	Merge pull request #787 from jcarpent/devel
	python: improve compatibility with Python 3

	Merge pull request #785 from olivier-stasse/topic-doc-devel
	[doc] Dealing with Lie group geometry 

2019-04-29  Christian Rauch  <Christian.Rauch@ed.ac.uk>

	remove deprecated throw specification

2019-04-29  Olivier Stasse  <ostasse@laas.fr>

	[examples/cmake] Change to overview-lie.cpp

	[examples] Renaming o-liegroup.cpp in overview-lie.cpp

2019-04-29  Justin Carpentier  <justin.carpentier@inria.fr>

	python: improve compatibility with Python 3

2019-04-27  Julian Viereck  <jviereck@tuebingen.mpg.de>

	Working in feedback and avoid local matrix. Unittest not passing

2019-04-25  Olivier Stasse  <ostasse@laas.fr>

	[doc/e-lie.md] Fix based on feedback from Gabriele Buondonno.

	[doc] Using SE(2) with pinocchio in C++

2019-04-24  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #783 from gabrielebndn/topic/python
	[bindings] Expose equality-inequality for collision pairs + Uniform naming of StdVec

2019-04-24  Gabriele Buondonno  <gbuondon@laas.fr>

	[bindings] Uniform naming of StdVec

2019-04-19  Julian Viereck  <jviereck@tuebingen.mpg.de>

	Add support for LOCAL_CARTESIAN_ORIENTED in jacobian computation

2019-04-19  Gabriele Buondonno  <gbuondon@laas.fr>

	[bindings] Expose equality and inequality for collision pairs

2019-04-19  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #780 from jcarpent/devel
	algo/center-of-mass-derivatives: improve efficiency

2019-04-19  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/center-of-mass-derivatives: fix issue with former version of Eigen

2019-04-19  Gabriele Buondonno  <gbuondon@laas.fr>

	[bindings] Remove tabs

2019-04-18  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/center-of-mass-derivatives: improve efficiency
	Number of operations are reduced and it also avoid memory allocations

2019-04-18  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #779 from jmirabel/devel
	Fix first order normalization of unit complex.

	Merge pull request #778 from gabrielebndn/topic/bindings
	[bindings] Expose addJoint with given bounds.

2019-04-18  Joseph Mirabel  <jmirabel@laas.fr>

	Fix first order normalization of unit complex.

2019-04-18  Gabriele Buondonno  <gbuondon@laas.fr>

	[bindings] Expose addJoint with given bounds.

2019-04-15  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #772 from gabrielebndn/topic/bindings
	[bindings] Expose SE3 constructor from homogeneous matrix

	Merge pull request #767 from proyan/topic/dhdq
	add computation of dhg/dq inside computecentroidaldynamicsderivatives

2019-04-15  Gabriele Buondonno  <gbuondon@laas.fr>

	[bindings] Expose SE3 constructor from homogeneous matrix

2019-04-15  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[derivatives][centroidal] review comments of jcarpent on #767

	[unittest] unittest for getcentroidalderiv

	[bindings] bindings for getcentroidalderiv

	[algorithm] update getcentroidalderivatives to return dh/dq

	[unittest] add test for dh_dq

	[bindings] update bindings to include dh_dq

	[algorithm][dhg/dq] add computation of dhg/dq inside computecentroidaldynamicsderivatives

2019-04-15  Gabriele Buondonno  <gbuondon@laas.fr>

	[bindings] copyable collision pair

2019-04-14  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #769 from gabrielebndn/topic/copy
	[bindings] copyable collision pair

2019-04-13  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #770 from proyan/devel
	Fix bug in computation of dVdq and dAdq

2019-04-13  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[unittest][bug] check bug with spherical joint

	[bug][derivatives] Fix bug in computation of dVdq and dAdq

2019-04-13  Gabriele Buondonno  <gbuondon@laas.fr>

	[bindings] copyable collision pair

2019-04-12  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #761 from matthieuvigne/documentationdIntegrate
	Add documentation for dIntegrate function.

	Merge pull request #766 from proyan/devel
	Minor changes in repository

	Merge pull request #768 from gabrielebndn/topic/copy
	[bindings] copyable data

2019-04-12  Gabriele Buondonno  <gbuondon@laas.fr>

	[bindings] copyable data

2019-04-12  Matthieu Vigne  <matthieu.vigne@wandercraft.eu>

	[algorithm] Improve documentation for some functions in joint-configuration.

2019-04-12  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[bindings][centroidal] expose computecentroidaldynamics

	[bindings][data] expose h

2019-04-11  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #763 from jcarpent/topic/fix
	cmake: fix hpp-fcl support

2019-04-11  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: fix hpp-fcl support

2019-04-08  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #760 from proyan/devel
	[python][bindings][centroidalDynamicsDerivatives] add bindings for dhg

2019-04-08  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[python][bindings][centroidalDynamicsDerivatives] add bindings for dhg

2019-04-05  Justin Carpentier  <justin.carpentier@inria.fr>

	all: remove warnings

2019-04-04  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #758 from jcarpent/topic/fix
	Fix issue related HPP-FCL support

2019-04-04  Justin Carpentier  <justin.carpentier@inria.fr>

	fcl: simple clean of the files

	test: use BOOST_TEST_MESSAGE
	BOOST_MESSAGE is depreciated for a while now

	urdf/geometry: retrieve the scale of the mesh too
	Fixes issues related to #757

	urdf: correct alignment

	travis: check without COLLSION_SUPPORT option

	algo/model: fix FCL support

2019-04-01  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #755 from jmirabel/devel
	Minor fixes

2019-04-01  Joseph Mirabel  <jmirabel@laas.fr>

	[Minor][Python] Fix RobotWrapper.com

	[Minor] Fix usage of JointCollectionTpl

2019-03-31  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #754 from jcarpent/topic/fix
	Derivatives algorithms are now all coherent with respect to the kinematics derivatives

2019-03-31  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/aba-derivatives: use oa_gf when it is needed

	algo/rnea-derivatives: use oa_gf when it is needed
	Fixes #639

	algo/rnea-derivatives: rename variable to reflect its real usage

	algo/rnea-derivatives: use newly introduced oa_gf vectors instaed of oa vectors

	python/data: expose world expressed spatial quantities

	multibody/data: add world expressed Spatial acceleration vectors

	multibody/model: correct indent

2019-03-28  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #752 from jmirabel/devel
	[C++] Add algo appendModel to merge two Models.

2019-03-28  Joseph Mirabel  <jmirabel@laas.fr>

	[C++] Add algo to concatenate two Models, without GeometryModel.

	[Minor] Fix Frame type.

	[Minor] Fix SE3 type.

2019-03-27  Joseph Mirabel  <jmirabel@laas.fr>

	[CMake] Fix support for hpp-fcl.

	[Minor] Add documentation + Code cleaning.

2019-03-27  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #751 from jmirabel/inertia_of_universe
	Inertia of universe if initialized with Zero.

2019-03-27  Joseph Mirabel  <jmirabel@laas.fr>

	[C++] Add algo appendModel to merge to Models.

	[SampleModels] Fix inertia of free-floating base of buildModels::humanoid

	[Minor] Make Model::operator<< easier to read.

	Inertia of universe if initialized with Zero.

2019-03-27  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #750 from jcarpent/devel
	python/serialization: change header inclusions

2019-03-27  Justin Carpentier  <justin.carpentier@inria.fr>

	python/serialization: change header inclusions
	fix PR #743

2019-03-22  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #746 from gabrielebndn/topic/pythontests
	[unittest] [python] Fixes to Python unit tests

	Merge pull request #744 from jcarpent/devel
	Improve support and check of Optional dependencies

2019-03-22  Gabriele Buondonno  <gbuondon@laas.fr>

	[unittest] [python] Remove unittest/python/tests.py

	[unittest] [python] Fix Python unit test CMakeLists

	[unittest] [python] Conditionally execute tests depending on supported features

2019-03-22  Justin Carpentier  <justin.carpentier@inria.fr>

	travis: add job without Collsion support

	cmake: remove the notion of OPTIONAL_DEPENDENCY and add COMPILATION flag instead
	Only URDF module is ON by default

	travis: clean configuration file

2019-03-20  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #739 from nim65s/devel
	Revert "[CI] work with hpp-fcl v1, which is not yet in the binary repository"

2019-03-19  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #738 from jviereck/patch-6
	Fix typo in frameJacobian: jointId -> frameId

2019-03-19  Julian Viereck  <jviereck@tuebingen.mpg.de>

	Fix typo in frameJacobian: jointId -> frameId

2019-03-19  Guilhem Saurel  <guilhem.saurel@laas.fr>

	Revert "[CI] work with hpp-fcl v1, which is not yet in the binary repository"
	This reverts commit eb73311af732c6efbbbeec4eade59f37cdc03ad9, because
	hpp-fcl v1 is in the binary respository now.

2019-03-19  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #737 from gabrielebndn/topic/com
	[computeSubtreeMasses] Fix bug for data.mass[0]

2019-03-19  Gabriele Buondonno  <gbuondon@laas.fr>

	[computeSubtreeMasses] Fix bug for data.mass[0]

2019-03-18  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #736 from gabrielebndn/topic/com
	[com] computeSubtreeMasses + CoM bindings

2019-03-18  Gabriele Buondonno  <gbuondon@laas.fr>

	[bindings] Bindings for CoM

	[algorithm] computeSubtreeMasses

2019-03-11  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #734 from jcarpent/devel
	Add serialization of Model and related quantities

2019-03-11  Justin Carpentier  <justin.carpentier@inria.fr>

	serialization: fix compatibility with 1.58.x

	serialization/aligned-vector: simplify API

	serialization/aligned-vector: add fixme

	serialization/vector: fix compatibility with BOOST 1.58.x

	serialization: remove commented lines

	serialization: handle NaN and Inf values

	serialization: fix bug on former gcc versions

	serialization: fix friend function specialization

2019-03-10  Justin Carpentier  <justin.carpentier@inria.fr>

	license: update content to reflect real owners

	serialization/joints: fix ambiguous call on old GCC compilers
	typically 14.04

	serialization: add explicit namespace to avoid self-call

	python/test: add test of Model serialization

	python/model: expose Serialization to Model class

	python/serialization: add Serializable visitor

	model: fix comparison operator in Debug mode
	The size of the Eigen::Matrix should be checked first

	python/model: expose comparison operators

	model: add operator !=

	serialization: forward declaration for JointModelCompositeTpl

	unittest/serialization: test model

	serialization: add serialization of model

	serialization: fix namespace

	unittest/serialization: test joint serialization

	serialization: add serialization of joints

	unittest/serialization: fix test

	serialiazation: move file

	joints: add a single header to include all the joints together

	test/serialization: add serialization unit tests

	serialization: add serialization structure + spatial classes

	spatial/symmetric3: remove commented code

	spatial/symmetric3: remove outdated license which is now BSD-2-Clause

2019-03-09  Justin Carpentier  <justin.carpentier@inria.fr>

	gitlab: allows failure for Python 3 on 18.04

2019-03-08  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #733 from jviereck/patch-5
	Fix python3 compatability for version number

2019-03-08  Julian Viereck  <jviereck@tuebingen.mpg.de>

	Fix python3 compatability for version number
	This fixes  #716 for python3 following the spirit of 8586c58a2362d56.

2019-03-08  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #732 from jcarpent/devel
	unittest/srdf: fix vector size

2019-03-08  Justin Carpentier  <justin.carpentier@inria.fr>

	unittest/srdf: check continuous joint

	unittest/srdf: fix vector size
	This was causing bugs in DEBUG mode

2019-03-08  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #730 from jcarpent/devel
	Fix issue when hpp-fcl is missing

2019-03-08  Justin Carpentier  <justin.carpentier@inria.fr>

	geometry: fix indentation

	geometry: remove useless warnings

	doc/geometry: fix documentation

	geometry: fix namespace of MeshLoaderPtr
	Related to #729

2019-03-08  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #724 from gabrielebndn/topic/mass
	[Model] Total mass

2019-03-08  Gabriele Buondonno  <gbuondon@laas.fr>

	[algorithms] Total mass

2019-03-07  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #728 from olivier-stasse/devel
	[parsers/urdf] Add inline to member function retrieveCollisionGeometry

2019-03-07  Olivier Stasse  <ostasse@laas.fr>

	[parsers/urdf] Add inline to member function retrieveCollisionGeometry

2019-03-07  Justin Carpentier  <justin.carpentier@inria.fr>

	doc: correct viewer method

2019-03-07  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #725 from jcarpent/topic/doc
	doc: fix value in bounds check

	Merge pull request #723 from jcarpent/devel
	math: remove unused PId variable

2019-03-07  Justin Carpentier  <justin.carpentier@inria.fr>

	doc: fix value in bounds check

	math: remove unused PId variable

2019-03-06  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #721 from jcarpent/devel
	Fix doc issues related to new gepetto-viewer API modifications

	Merge pull request #722 from jmirabel/devel
	[SRDF]  Fix parsing of reference config + Add ability to read a SRDF stream. 

2019-03-06  Justin Carpentier  <justin.carpentier@inria.fr>

	python: make deprecaed useless lines

2019-03-06  Joseph Mirabel  <jmirabel@laas.fr>

	[SRDF] Rename loadReferenceConfigurations into loadReferenceConfigurationsFromXML + Python

2019-03-06  Justin Carpentier  <justin.carpentier@inria.fr>

	models: correct new display function

	doc: use pin instead se3 namespace in Python scripts

2019-03-06  Joseph Mirabel  <jmirabel@laas.fr>

	[SRDF] Add ability to read a SRDF stream.

2019-03-06  Justin Carpentier  <justin.carpentier@inria.fr>

	doc: fix applyConfiguration method

2019-03-06  Joseph Mirabel  <jmirabel@laas.fr>

	[SRDF] Fix parsing of reference config with unbounded joints.

2019-03-06  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #719 from gabrielebndn/topic/docs
	[doc] [bindings] Small fixes to doxygen and Python bindings

2019-03-06  Gabriele Buondonno  <gbuondon@laas.fr>

	[bindings] Fix WITH_LUA5_SUPPORT

	[doc] Fix a few doc errors

2019-03-06  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #718 from florent-lamiraux/devel
	Make assertion more robust

2019-03-05  Justin Carpentier  <justin.carpentier@inria.fr>

	python: correct mprint function

	examples: update gepetto-viewer example

2019-03-05  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #716 from jcarpent/devel
	Add __version__ variable to Python

2019-03-05  Florent Lamiraux  <florent@laas.fr>

	Make assertion more robust
	  In log_SO2 (-I2), theta might be set to -PI and atan2 might return PI.

2019-03-05  Justin Carpentier  <justin.carpentier@inria.fr>

	python: add __version__

	utils/version: add missing inline

	examples: update loading of robot inside gepetto-gui

2019-03-05  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #714 from jcarpent/devel
	Fix and examples

2019-03-05  Justin Carpentier  <justin.carpentier@inria.fr>

	python/utils: add missing include

	cmake: sync submodule

	python: add possitibility to check the compiled dependencies of Pinocchio

	examples/python: add collision detection example

	python/parsers: expose overloads of loadReferenceConfigurations  and loadRotorParameters

	parsers/srdf: add default argument to loadReferenceConfigurations

	python/parsers: expose overloads of removeCollisionPairs

	python/parsers: allows Python list as inputs

	python/parsers: minor clean

	python/parsers: correct doc

	readme: add viewer example commands

	python: introduce helper to declare or use an existing

	python: fix activateCollisionPair exposition

	test/geom: remove useless include

	test/geom: remove useless lines

	geometry: set deprecated activateCollisionPair(id,flag)

	test/geom: improve coverty of the geometry algos

	algo/geometry: remove useless redundant function

2019-03-05  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #712 from gabrielebndn/topic/ikine
	[examples] Fix i-inverse-kinematics

2019-03-04  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #711 from gabrielebndn/topic/docs
	[doc] Doxygen and macros

2019-03-04  Gabriele Buondonno  <gbuondon@laas.fr>

	[examples] Fix i-inverse-kinematics

	[doc] Doxygen and macros

2019-02-27  Justin Carpentier  <justin.carpentier@inria.fr>

	bindings/python: remove useless warning

	cmake: sync submodule

	algo/cholesky: remove useless PINOCCHIO_UNUSED_VARIABLE

	bindings/python: start exposing Cholesky algos

	geom: remove deprecated signature of CollisionRequest

2019-02-27  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[CI] work with hpp-fcl v1, which is not yet in the binary repository

	[CI] run in Debug & Release

2019-02-27  Guilhem Saurel  <guilhem.saurel@gmail.com>

	[CMake] use hpp-fcl v1

2019-02-27  Joseph Mirabel  <jmirabel@laas.fr>

	[SRDF] Fix initialization of reference configurations.

	[Minor][SRDF] Fix getNeutralConfiguration

	[FCL] Update to change of namespace

	[Python] Fix bindings of buildGeomFromUrdf

	[Minor] Add missing ifdef PINOCCHIO_WITH_HPP_FCL

	[Python] Handle compilation with hpp-fcl.

	[Python] Bind API to parse geometries without duplication of CollisionGeometry

	[Parser] Provide API to avoid creating twice the same FCL geometry.

2019-02-27  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #698 from gabrielebndn/topic/jacobians
	Align Python Jacobian to C++, fix #545

2019-02-27  Gabriele Buondonno  <gbuondon@laas.fr>

	[benchmark] Jacobian benchmark

	[frames] frameVelocity and frameAcceleration return value in C++

	[python] [frames] Use C++ frameJacobian in Python and deprecate old version

	[frames] added frameJacobian in C++

	[python] make jointJacobian equal to C++ version and remove deprecated calls

	[benchmark] Fix benchmark random configuration

2019-02-26  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #704 from jcarpent/devel
	bindings/python: correct bindings of contact dynamics

2019-02-26  Justin Carpentier  <justin.carpentier@inria.fr>

	bindings/python: correct bindings of contact dynamics

2019-02-26  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #703 from jcarpent/devel
	cmake: add check of submodule loading

	Merge pull request #702 from jmirabel/conversions
	[Python] Improve conversions and usage of gepetto-gui API.

2019-02-26  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: add check of submodule loading

2019-02-26  Joseph Mirabel  <jmirabel@laas.fr>

	[Test][Python] Check bindings of SE3 / XYZQuat conversions

	[Python] Update RobotWrapper

	[Python] Add C++ conversion between SE3 and XYZQUAT

2019-02-26  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #662 from matthieuvigne/meshcat_RobotWrapper
	Introduce support for MeshCat viewer in RobotWrapper.

2019-02-25  Matthieu Vigne  <matthieu.vigne@laposte.net>

	[python][robot_wrapper] Add transparency support for Meshcat viewer.

	[python] Add support for MeshCat viewer in RobotWrapper
	 - RobotWrapper can now be used with both gepetto-gui and MeshCat as 3D viewer.
	 - Add example script meshcat-viewer.py for show how to display a robot in MeshCat.
	 - Fix gepetto-viewer.py example script that was using a deprecated API.

2019-02-21  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #693 from jcarpent/devel
	Define contact-dynamics and minor cleanings

	Merge pull request #695 from jcarpent/topic/fix-eigen324
	joints: fix return type of translation() or rotation() methods

2019-02-21  Justin Carpentier  <justin.carpentier@inria.fr>

	test: fix update of the acceleration values

	joints: fix return type of translation() method

	cmake: sync submodule

	cmake: fix adding of python_wrapper unit test

	algo/contact-dyn: split in two files .hpp and .hxx

	cmake: fix inclusion order for tests

	chloesky: remove commented lines

	chloesky: return the derived result

	cholesky: remove useless ifdef

	test/contact-dynamics-derivatives: add check of acceleration reference variation

	test: add check of contact force variations

	test: add test of contact dynamics with zero gamma term

	all: rename algo/dynamics.hpp into algo/contact-dynamics.hpp

2019-02-21  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #690 from jcarpent/devel
	Fix 18.04 bugs

	Merge pull request #692 from gabrielebndn/topic/deprecation
	[python] [minor] Do not use model.neutralConfiguration in RobotWrapper

2019-02-20  Gabriele Buondonno  <gbuondon@laas.fr>

	[python] [minor] Do not use model.neutralConfiguration in RobotWrapper

2019-02-20  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #691 from gabrielebndn/topic/deprecation
	Deprecate neutralConfiguration in Python

2019-02-20  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/joint-configurations: fix missing .derived()

	algo/jacobian: fix issue related to .derived()
	It solves #674

2019-02-20  Gabriele Buondonno  <gbuondon@laas.fr>

	[python] [deprecation] deprecate neutralConfiguration in Python

	[python] [deprecation] Better Python deprecation

2019-02-20  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

2019-02-20  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #688 from jcarpent/devel
	Mostly fix some warnings and adjust code to work on APPLE

	Merge pull request #689 from jcarpent/topic/fix-constant-vector
	joints: fix calc with static constructor

2019-02-20  Justin Carpentier  <justin.carpentier@inria.fr>

	model: address the comment from @gabrielebndn

	joints: fix calc with static constructor

	parsers: ensure compatibilty with older Eigen versions

	models: remove previous license

	cmake: add missing license

	examples: add missing linkage

	python/test: handle APPLE specific config

	cmake: sync submodule

	srdf: suppress local warning

	all: suppress some warnings coming from deprecated Model::neutralConfiguration

	examples: remove compilation warnings

2019-02-19  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #685 from proyan/pickling
	[minor] change name of StdVec_Matrix6x raised by @gabrielebndn in #682

2019-02-19  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[minor] change name of StdVec_Matrix6x raised by @gabrielebndn in #682

2019-02-19  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #684 from proyan/pickling
	Create python objects for JointData classes

2019-02-19  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[pickling][Data] changes based on review of @jcarpent on #684

2019-02-18  Justin Carpentier  <justin.carpentier@inria.fr>

	modules: use https instead relative path
	It allows robustifying the cloning procedure

	readme: add ROS deployment info

2019-02-16  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: remove mistaken

2019-02-16  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[joint datas][bindings] add property elements to the python bindings of data classes

	[bindings][joint variants] make jointdatavariants printable

	[jointdatavariants] create structure to expose jointdatas.

2019-02-16  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #682 from proyan/pickling
	Add support for pickling std vector, std aligned vector and std map

2019-02-16  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[bindings][pickling] 1) fix includes. make picklemap borrow from picklevector
	2) use pickle support for rest of data and some more of model vectors

	[bindings][pickling] add support for vector<T> aligned_vector<T> map<T> pickling. update model and data classes to make their members picklable

2019-02-15  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #679 from gabrielebndn/topic/jointconfig
	Reimplement joint-configuration algorithms, fix #658

2019-02-15  Gabriele Buondonno  <gbuondon@laas.fr>

	Added assertions to joint configuration algorithms

	joint-configuration unit tests

	Added squaredDistanceSum as a separate method

	reimplemented distance

	Added joint-configuration methods with output value

	reordered joint-configuration algorithms

2019-02-15  Justin Carpentier  <justin.carpentier@inria.fr>

	python: update minimal version of EigenPy

2019-02-15  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #673 from nim65s/topic/python3tests
	Tests & Python3

2019-02-15  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[Travis] fix eigenpy version

	[Python 3][Tests] syntax

2019-02-15  Guilhem Saurel  <guilhem.saurel@laas.fr>

	Revert "[CMake] add BUILD_EXAMPLES option"
	This reverts commit 55e9dce05e7cc0bf5c58ad39f0aed3987da9af6b.

	Ref https://github.com/stack-of-tasks/pinocchio/pull/673/files#r257159249

2019-02-15  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[Python][Tests] enable all python tests, thanks to #678

	[Example][i.cpp] make the warning accessible

	[CMake] fix PYTHONPATH configuration

	[CMake] add BUILD_EXAMPLES option

	[CMake] check for hpp-fcl & eigen3 before adding some tests

2019-02-15  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: update path for scripts

2019-02-15  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[Examples] Python 3 syntax

	[CMake] disable an example if eigen is too old

	[Examples] fix i-inverse-kinematics.cpp
	Did this file ever worked ?

	[Tests] launch c++ examples as tests to validate them

	[Tests] disable py-example-overview-urdf
	As it requires ur5.urdf, which not available

	[Tests] launch python examples as tests to validate them

2019-02-15  Guilhem Saurel  <guilhem.saurel@gmail.com>

	[Python 3] fix python_parser test
	Closing the interpreter is bugged.

	The idea to remove Py_Finalize comes from https://github.com/numpy/numpy/issues/8097
	Those discussions also provide a way to try to clean a bit. Here are
	some test results of the memory loss on the python_parser test:

	- python3
	    - with Py_Finalize

	unknown location(0): fatal error in "buildModel": memory access violation at address: 0x000000a0: no mapping at fault address

	    - with the workaround

	>  HEAP SUMMARY:
	>      in use at exit: 6,623,041 bytes in 11,478 blocks
	>    total heap usage: 40,988 allocs, 29,510 frees, 35,627,810 bytes allocated
	>
	>  LEAK SUMMARY:
	>     definitely lost: 162,918 bytes in 86 blocks
	>     indirectly lost: 0 bytes in 0 blocks
	>       possibly lost: 224,284 bytes in 192 blocks
	>     still reachable: 6,235,839 bytes in 11,200 blocks
	>          suppressed: 0 bytes in 0 blocks
	>
	>  ERROR SUMMARY: 1470 errors from 115 contexts (suppressed: 0 from 0)

	    - with nothing

	>  HEAP SUMMARY:
	>      in use at exit: 6,652,431 bytes in 11,580 blocks
	>    total heap usage: 40,937 allocs, 29,357 frees, 35,604,459 bytes allocated
	>
	>  LEAK SUMMARY:
	>     definitely lost: 164,417 bytes in 87 blocks
	>     indirectly lost: 0 bytes in 0 blocks
	>       possibly lost: 223,187 bytes in 191 blocks
	>     still reachable: 6,264,827 bytes in 11,302 blocks
	>          suppressed: 0 bytes in 0 blocks
	>
	>  ERROR SUMMARY: 1438 errors from 107 contexts (suppressed: 0 from 0)

	 - python 2
	    - with Py_Finalize:

	> HEAP SUMMARY:
	>     in use at exit: 3,209,728 bytes in 5,514 blocks
	>   total heap usage: 23,363 allocs, 17,849 frees, 27,441,910 bytes allocated
	>
	> LEAK SUMMARY:
	>    definitely lost: 0 bytes in 0 blocks
	>    indirectly lost: 0 bytes in 0 blocks
	>      possibly lost: 161,830 bytes in 89 blocks
	>    still reachable: 3,047,898 bytes in 5,425 blocks
	>         suppressed: 0 bytes in 0 blocks
	>
	> ERROR SUMMARY: 1902 errors from 95 contexts (suppressed: 0 from 0)

	    - with the workaround:

	> HEAP SUMMARY:
	>     in use at exit: 5,437,170 bytes in 7,454 blocks
	>   total heap usage: 23,363 allocs, 15,909 frees, 27,441,795 bytes allocated
	>
	> LEAK SUMMARY:
	>    definitely lost: 0 bytes in 0 blocks
	>    indirectly lost: 0 bytes in 0 blocks
	>      possibly lost: 177,798 bytes in 115 blocks
	>    still reachable: 5,259,372 bytes in 7,339 blocks
	>         suppressed: 0 bytes in 0 blocks
	>
	> ERROR SUMMARY: 1149 errors from 69 contexts (suppressed: 0 from 0)

	    - with nothing:
	>
	> HEAP SUMMARY:
	>     in use at exit: 5,472,144 bytes in 7,554 blocks
	>   total heap usage: 23,361 allocs, 15,807 frees, 27,440,943 bytes allocated
	>
	> LEAK SUMMARY:
	>    definitely lost: 0 bytes in 0 blocks
	>    indirectly lost: 0 bytes in 0 blocks
	>      possibly lost: 178,318 bytes in 116 blocks
	>    still reachable: 5,293,826 bytes in 7,438 blocks
	>         suppressed: 0 bytes in 0 blocks
	>
	> ERROR SUMMARY: 1150 errors from 67 contexts (suppressed: 0 from 0)

	So I think we should keep Py_Finalize as long as it works (ie. for
	Python 2), and use the workaround otherwise.

2019-02-15  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[Python 3] fix syntax

	[Python][Tests] run python tests
	3 are not passing, they are commented for now

2019-02-15  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[Python] Compiling python files to fix tests
	This commit allows the "python_parser" test to pass, even if pinocchio
	is not installed, by compiling all python scripts into
	CMAKE_BUILD_DIR/bindings/python/pinocchio, where the .so already is, and
	add this directory to the PYTHONPATH for this test.

	Compiling python files also allows to detect errors in them, instead of
	blindly installing them on PYTHONPATH

	We could discuss about installing those compiled versions, as it could
	speed up the library use, as normal users usually can't write on the
	system's PYTHONPATH, and therefore the interpreter can't
	compile-and-install the source files on the fly, so it has to compile
	them each and every time.

2019-02-15  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[python] simple_humanoid follows pinocchio v2 convention

2019-02-15  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #680 from proyan/devel
	[bindings][loadReferenceConfig] fix bug when deprecated function is called

2019-02-15  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[bindings][loadReferenceConfig] fix bug when deprecated function is called.

2019-02-14  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #678 from gabrielebndn/topic/fixpythontest
	Fix python unit tests, fix #677

2019-02-14  Gabriele Buondonno  <gbuondon@laas.fr>

	Fix Python SE3.Identity, bindings_com and bindings_dynamics

2019-02-13  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #675 from gabrielebndn/topic/fixcomderivatives
	Fix center of mass derivatives debug compilation error

2019-02-13  Gabriele Buondonno  <gbuondon@laas.fr>

	fix center of mass derivatives

2019-02-13  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #666 from proyan/topic/referenceConfig
	Create std map referenceConfigurations in model, and load from srdf

2019-02-13  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[referenceConfigurations] review comments of @jcarpent on #666

2019-02-13  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #672 from qqfly/Fix/RemoveRedundantSemicolons
	Remove redundant semicolons

2019-02-13  Qiang Qiu  <qiu6401@163.com>

	Remove redundant semicolons

2019-02-13  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #670 from jcarpent/devel
	submodules: use relative url

2019-02-13  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[srdf][referenceconfig] unittest

	[bindings][python] expose referenceConfigurations and loadReferenceConfigurations. Make previous functions deprecated

	[srdf][referenceConfig] loadReferenceConfigurations

	[referenceConfig][model] introduce map referenceConfigurations

	[binding][std::map] Create Python visitors for std::map for aligned allocator. (and also for non-aligned maps, for the sake of completion)

2019-02-13  Justin Carpentier  <justin.carpentier@inria.fr>

	submodules: use relative url

2019-02-13  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #669 from jcarpent/devel
	Sync submodule and use https url

2019-02-13  Justin Carpentier  <justin.carpentier@inria.fr>

	submodules: use https address

	cmake: sync submodule

2019-02-13  Rohan Budhiraja  <proyan@users.noreply.github.com>

	get the inverse of MJtJ matrix using the matrix decompositions performed in forwardDynamics or impulsedynamics (#665)
	* [dynamics] use matrix decompositions done in forwarddynamics to return the inverse of MJtJ matrix. getMJtJInverse()
	
	* [getMJtJInverse][unittest]
	
	* [getMJtJInverse] python binding, unittest and impulse dynamics and name change to getKKTContactDynamicMatrixInverse

2019-02-12  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #664 from nmansard/topic/vcomdiff
	Algorithm to compute the derivatives of the COM velocity

2019-02-12  Mansard  <nmansard@laas.fr>

	[python][test] Add unittest in python for vcom-derivative algo and bindings.

	[Minor] Typo fixes from @jcarpent review of PR #664.

2019-02-11  Mansard  <nmansard@laas.fr>

	[Python] Added com derivative bindings.

	IVIGIT com derivatives and unittest.

2019-02-07  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: remove typo

2019-02-06  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: simple fix

2019-02-05  gabrielebndn  <7643149+gabrielebndn@users.noreply.github.com>

	Correct macro naming (#661)
	* Added PINOCCHIO_ prefix to Pinocchio EIGEN_ macros
	
	* Converted (most) SE3_ macros to PINOCCHIO_
	
	* Removed assert.hpp

2019-01-31  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #655 from wxmerkt/wxm-hpp-fcl-catkin-support
	Support for catkinized hpp-fcl

2019-01-31  Wolfgang Merkt  <w.merkt@gmail.com>

	Support for catkinized hpp-fcl

	Typo

2019-01-30  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: update credits

2019-01-30  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #653 from wxmerkt/devel
	Update cmake submodule and add ability to use externally passed in eigenpy

2019-01-30  Justin Carpentier  <justin.carpentier@inria.fr>

	bindings/python: add comment for the necessary inclusion

2019-01-30  Wolfgang Merkt  <w.merkt@gmail.com>

	Eigen3 work-around hack for catkin

	Fix Python CMake module (version mismatch)

2019-01-28  Rohan Budhiraja  <proyan@users.noreply.github.com>

	Load neutralconfiguration from srdf for joint.nq()>1 (#652)
	* [parsers][srdf][neutralConfiguration] Update verbosity. If found, display joint and value. If not found, display error message. Don't display both.
	
	* [parsers][srdf][neutralConfiguration] remove ambiguity in name of xml tag and pinocchio::Joint joint instance
	
	* [parsers][srdf][neutralConfiguration] Load q0 value for joints with nq>1
	
	* [srdf][unittest][neutralConfig] Add joint state to simple humanoid
	
	* [srdf][unittest] Use simple_humanoid for loading q0.
	
	* [srdf][neutralConfiguration] remove scalar parsing for nq()==1. Simplify Eigen::Map template

2019-01-24  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #650 from proyan/devel
	[README] hearth is a fireplace. I assume you mean "at the heart of"

2019-01-24  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[README] hearth is a fireplace. I assume you mean "at the heart of"

2019-01-24  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #649 from gabrielebndn/topic/exampleikine
	[doc] Inverse kinematics worked example

2019-01-24  Gabriele Buondonno  <gbuondon@laas.fr>

	Inverse kinematics worked example

2019-01-21  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #647 from lesteve/patch-1
	Improve link for Python examples

2019-01-21  Loïc Estève  <loic.esteve@ymail.com>

	Improve link for Python examples

2019-01-15  Justin Carpentier  <jcarpent@laas.fr>

	readme: minor corrections

	readme: add link to paper

	readme: add Pinocchio SII paper reference

2019-01-14  Justin Carpentier  <jcarpent@laas.fr>

	readme: license is BSD-2-Clause

2019-01-10  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #636 from jcarpent/devel
	all: fix additional bug related to recent versions of boost

2019-01-10  Justin Carpentier  <justin.carpentier@inria.fr>

	all: fix additional bug related to recent versions of boost

2019-01-09  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #633 from nim65s/devel
	Update CI, fix #629

	Merge pull request #635 from jcarpent/devel
	Fix recent boost version issue

2019-01-09  Justin Carpentier  <justin.carpentier@inria.fr>

	algo: fix issue concerning temporary variables and const references

	all: fix compatibility issue with recent boost versions

2019-01-09  Justin Carpentier  <jcarpent@laas.fr>

	readme: remove coverity scan which is now off

2019-01-09  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[CI] run travis on trusty & xenial

2019-01-09  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #631 from jmirabel/fcl
	[Python] Update to changes in hpp-fcl.

2019-01-09  Joseph Mirabel  <jmirabel@laas.fr>

	[Python] Update to changes in hpp-fcl.

2019-01-09  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[CI] test xenial on travis

	[CI] build dir is WRKSRC

	[CI] fix clone

2019-01-09  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #630 from jcarpent/devel
	Minor updates before releasing

2019-01-09  Justin Carpentier  <justin.carpentier@inria.fr>

	copyright: we are now in 2019

	cmake: sync submodule

	unittests: fix bug related to #621

	python: correct small error in the doc of centroidal algo

2019-01-09  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #628 from proyan/devel
	[bindings/cppad] add pkg config dependency for pywrap when compiling with cppad

2019-01-08  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #626 from nmansard/devel
	Added bindings to derivative algorithms

2019-01-08  Mansard  <nmansard@laas.fr>

	[minor] Remove trailing whitespaces.

2019-01-08  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[bindings/cppad] add pkg config dependency for pywrap when compiling with cppad

2019-01-08  Mansard  <nmansard@laas.fr>

	[python] Added the bindings to aba-with-force derivative algorithm.

	[Python] Expose joint integrate derivative algorithm.

2018-12-18  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #620 from nim65s/devel
	[CMake] Set minimum CppAD version to 20180000.0, ref #617

2018-12-18  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[CMake] Set minimum CppAD version to 20180000.0, ref #617

2018-12-18  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #618 from nim65s/devel
	[Tests & Benchmarks] add missing links to libdl

2018-12-18  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[Benchmarks] add missing links to libdl

2018-12-17  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[Tests] add missing links to libdl

2018-12-08  Guilhem Saurel  <guilhem.saurel@gmail.com>

	Merge pull request #616 from nim65s/devel
	[CMake] sync submodule with master branch, ref #615

	[CMake] sync submodule with master branch, ref #615

2018-12-07  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #615 from gabrielebndn/topic/mergedoc
	[doc] Merge topic/doc-v2 into devel

2018-12-06  Gabriele Buondonno  <gbuondon@laas.fr>

	[doc] Small bugs

2018-12-05  Gabriele Buondonno  <gbuondon@laas.fr>

	Merge branch 'topic/doc-v2' into topic/mergedoc

2018-12-04  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #614 from gabrielebndn/topic/doc-v2
	[doc] Documentation

2018-12-03  Gabriele Buondonno  <gbuondon@laas.fr>

	[doc] Document namespaces

2018-12-03  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #612 from gabrielebndn/topic/doc-v2
	[doc] Work on Doxygen

	Merge pull request #606 from gabrielebndn/topic/porting
	[doc] Update porting notes

2018-12-01  gabrielebndn  <gabriele.bndn@gmail.com>

	[doc] Fix undefined latex commands

	[doc] Custom CSS

2018-11-30  Gabriele Buondonno  <gbuondon@laas.fr>

	[doc] Added typedefs in groups

	[doc] Ignore useless info

	[doc] Remove link and macro info from porting notes

2018-11-26  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #609 from jcarpent/devel
	algo: improve efficiency in ABA derivatives

2018-11-26  Justin Carpentier  <justin.carpentier@inria.fr>

	algo: improve efficiency in ABA derivatives

2018-11-26  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #608 from jcarpent/devel
	Fix bug related to ABA and RNEA derivatives

2018-11-25  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #605 from gabrielebndn/topic/doc-v2
	[doc] Port doc to 2.0

2018-11-25  Justin Carpentier  <justin.carpentier@inria.fr>

	derivatives: fix  bug related to bad init of Minv

2018-11-23  Gabriele Buondonno  <gbuondon@laas.fr>

	[doc] Update porting notes

	[doc] Port examples to 2.0

	Merge branch 'devel' into topic/doc-v2

2018-11-22  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #604 from gabrielebndn/topic/porting
	[doc] Porting notes to 2.0

2018-11-22  Gabriele Buondonno  <gbuondon@laas.fr>

	[doc] Porting notes

2018-11-22  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #603 from gabrielebndn/topic/fixbindings
	[python] [JointModelComposite] Various fixes

2018-11-22  Gabriele Buondonno  <gbuondon@laas.fr>

	[JointModelComposite] chainable addJoint

2018-11-21  Gabriele Buondonno  <gbuondon@laas.fr>

	[bindings] JointModelComposite constructors

	[bindings] [scripts] fix RobotWrapper

2018-11-20  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: remove useless macro

2018-11-18  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #600 from gabrielebndn/topic/fixbindings
	[bindings] Fix Jcom + remove se3 namespace

2018-11-17  gabrielebndn  <gabriele.bndn@gmail.com>

	[bindings] Additional fixes

2018-11-16  Gabriele Buondonno  <gbuondon@laas.fr>

	[unittest] [bindings] Remove se3 namespace shortcut from python tests

	[bindings] Remove se3 namespace shortcut from bindings

	[bindings] [unittest] better dynamics tests

	[bindings] fix jacobianCenterOfMass

2018-11-16  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #599 from jcarpent/devel
	parsers: make sample-model header only

2018-11-15  Justin Carpentier  <justin.carpentier@inria.fr>

	parsers: make sample-model header only

2018-11-14  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: fix issue when hpp-fcl is missing

2018-11-14  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #597 from gabrielebndn/topic/fixbindings
	[bindings] fix explog

2018-11-14  Gabriele Buondonno  <gbuondon@laas.fr>

	[bindings] fix explog

2018-11-14  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #598 from jcarpent/devel
	bindings/python: fix bug related to eigenpy

2018-11-14  Justin Carpentier  <justin.carpentier@inria.fr>

	bindings/python: fix additional explog functions

	bindings/python: fix bug related to eigenpy
	It seems that the desctructor invoked by eigenpy does not fit with the constructor invoked in Pinocchio.

2018-11-13  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #596 from gabrielebndn/topic/fixjointbindings
	Joint bindings + fix explog

2018-11-12  Gabriele Buondonno  <gbuondon@laas.fr>

	[bindings] minor fixes

	[bindings] JointModelComposite

	[bindings] fixed explog

	[bindings] [joints] Properly expose JointPrismaticUnaligned and JointRevoluteUnaligned

2018-11-12  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #595 from jcarpent/devel
	Simplify jacobianCenterOfMass signature + minor fix

2018-11-12  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/center-of-mass: simplify signature of jacobianCenterOfMass

	math/taylor-expansion: add support to CppAD and CppADCodeGen

	all: remove additionnal se3 namespace reference

	all: remove warnings for unused arguments

2018-11-12  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #594 from jmirabel/devel
	Set of minor fixes

	Merge pull request #593 from jcarpent/devel
	Update Python bindings

2018-11-12  Justin Carpentier  <justin.carpentier@inria.fr>

	python/explog: rework bindings

	python/joint-configuration: expose neutral

2018-11-11  Joseph Mirabel  <jmirabel@laas.fr>

	[Doc] Minor fix.

	[C++] Make humanoidRandom templated

	[Doc] do not generate Latex doc.

	[Minor] Fix injected-class-name compilation warning

	[Minor][C++] Fix usage of JointCollection in Data constructor

2018-11-10  Joseph Mirabel  <jmirabel@laas.fr>

	[Minor][Joint] Add TransformRevoluteTpl::translation and rotation

2018-11-09  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #592 from jcarpent/devel
	Change from LGPL license to BSD-2-Clause

2018-11-09  Justin Carpentier  <justin.carpentier@inria.fr>

	Change license from LGPL to BSD-2-Clause

	all: remove license from files

2018-11-09  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #591 from jcarpent/devel
	Add dIntegrate for model + bug fixes

2018-11-09  Justin Carpentier  <justin.carpentier@inria.fr>

	multibody/joint: fix compatibility with older Eigen versions

	macros: add macro to prevent warning when an argument is not intentionally used

	test/joint-configuration: increase test of dIntegrate

	algo/joint-configuration: add dIntegrate

	liegroup/algo: add dIntegrateStep

	liegroup: add new signature for dIntegrate
	This new signature remove the tamplate argument ArgumentPosition and put it as a standard argument.
	This modification is needed to expose dIntegrate for all the joints

	multibody/joint: minor reindentation

	multibody/joint: fix bug for dimension of Dynamic joint

	multibody/joint: add jointBlock selector to JointModelBase

	multibody/joint: add BlockReturn to SizeDepType helper

	multibody/joint: add jointRows selector to JointModelBase

	doc: correct documentation of dIntegrate

2018-11-09  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #590 from gabrielebndn/topic/fixgeom
	[geometry] fix addGeometryObject

2018-11-09  Gabriele Buondonno  <gbuondon@laas.fr>

	[geometry] fix addGeometryObject

2018-11-08  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #589 from jcarpent/devel
	deprecation: change handling of deprecated macros

2018-11-08  Justin Carpentier  <justin.carpentier@inria.fr>

	deprecation: change handling of deprecated macros
	Follows discussions in PR #586

2018-11-08  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #588 from jcarpent/topic/namespace
	Change from namespace se3 to pinocchio

2018-11-08  Justin Carpentier  <justin.carpentier@inria.fr>

	deprecated: remove handling of warning for deprecated se3 namespace
	It follows discussions of PR #588

	deprecation: update policy for handling former se3 namespace

	all: change namespace from se3 to pinocchio
	The previous se3 namespace is now deprecated but can still be used

	all: change __se3_* for __pinocchio_* for pragma once

	lib: add a macro that makes se3 namespace deprecated

2018-11-08  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #587 from jcarpent/devel
	{Lower,Upper} should appear as standard vector, not as ConfigVector

2018-11-08  Justin Carpentier  <justin.carpentier@inria.fr>

	doc: reflect the fact that {lower,upper} bounds are not joint configuration vector

	model: {lower,upper}PositionLimit are simple Vector, not config vector in general

	parsers/sample-models: fix issue concerning bounds on humanoid{Random}

2018-11-07  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #586 from jcarpent/devel
	all: add PINOCCHIO_ prefix at the begining of each MACRO naming

2018-11-07  Justin Carpentier  <justin.carpentier@inria.fr>

	travis: disable deprecated macro warning

	cmake: add option to enable PINOCCHIO_DISABLE_DEPRECATED_MACRO_WARNING

	all: add PINOCCHIO_ prefix at the begining of each MACRO naming

2018-11-07  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #585 from jcarpent/devel
	spatial/explog: correct taylor expansion precision computation

2018-11-07  Justin Carpentier  <justin.carpentier@inria.fr>

	spatial/explog: correct taylor expansion precision computation
	It follows discussions in #584

2018-11-06  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #584 from jcarpent/devel
	Handle precision for Taylor expansions according to the scalar type

2018-11-06  Justin Carpentier  <justin.carpentier@inria.fr>

	readme: update features

	spatial/explog: fix some Taylor expansions
	follow discussions in PR #584

	math/taylor-series: add helper struct to get the precion of the series expansion

2018-11-06  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #583 from jcarpent/devel
	Clean cmake files

2018-11-06  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: clean python project

2018-11-05  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: correct include directory expansion for CMAKE generators

	cmake/python: clean inclusion of header and source files

	cmake: clean inclusion of header files

	cmake/bindings: set PYWRAP variable in the right CMakeLists.txt

2018-11-05  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #582 from jcarpent/devel
	Add {Motion,Force}ref with const template argument

2018-11-05  Justin Carpentier  <justin.carpentier@inria.fr>

	spatial/force: add const ForceRef prototype

	spatial/motion: add const MotionRef prototype

2018-11-02  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #580 from jcarpent/devel
	Increase performances of Jlog6 computations

2018-11-02  Justin Carpentier  <justin.carpentier@inria.fr>

	explog/Jlog6: remove additionnal memory allocation

	explog/Jlog6: avoid useless memory allocations

	cmake: sync submodule

2018-10-31  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #578 from jcarpent/devel
	Correct operator= for forces

2018-10-31  Justin Carpentier  <justin.carpentier@inria.fr>

	spatial/Force: remove __equal__ method and use operator= instead

2018-10-30  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #576 from jcarpent/devel
	Recover some old behavior for addGeometryObject method

2018-10-30  Justin Carpentier  <justin.carpentier@inria.fr>

	bindings/python: fix new API modifications

	multibody/geom: restore behavior with model input in addGeometryObject

	multibody/geom: use const ref

2018-10-30  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #531 from gabrielebndn/devel
	[bindings] Implement bindings, solve name inconsistencies, fix #529

2018-10-30  Gabriele Buondonno  <gbuondon@laas.fr>

	[bindings] Implemented missing bindings, resolved naming inconsistencies, fix #529

2018-10-30  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #574 from gabrielebndn/topic/fixgeometry
	[bug] Fix sample geometry model and python geometry unit test

	Merge pull request #573 from jmirabel/devel
	[unittest] Check that dIntegrate/dv * dDifference_dq1 = I

2018-10-30  Gabriele Buondonno  <gbuondon@laas.fr>

	Fix sample geometry model and python geometry unit test

2018-10-30  Joseph Mirabel  <jmirabel@laas.fr>

	[unittest] Check that dIntegrate/dv * dDifference_dq1 = I

2018-10-29  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #569 from jcarpent/devel
	Version 2.0.0-alpha

2018-10-29  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/jacobian: remove duplicated functions

	all: remove outdated files

	test/frames: remove deprecated function usage

2018-10-29  Justin Carpentier  <jcarpent@laas.fr>

	[Algo] Remove template reference frame from Jacobian algos

2018-10-29  Justin Carpentier  <justin.carpentier@inria.fr>

	test/frames: fix unit test

2018-10-29  Joseph Mirabel  <jmirabel@laas.fr>

	Rename DerivativeWrtArgument into ArgumentPosition + capitalize.

2018-10-29  Justin Carpentier  <justin.carpentier@inria.fr>

	bench: correct timings-derivatives to work without CPPAD

	bench: remove humanoid2d model

2018-10-29  Joseph Mirabel  <jmirabel@laas.fr>

	Add macro PINOCCHIO_STATIC_ASSERT(condition,message)

	Add LieGroupBase::dIntegrate<darg...>

	Add DerivativeWrtArgument enum and dDifference_qd -> dDifference

	Split Jdifference in dDifference_dq<0> and dDifference_dq<1>

	Add macro PINOCCHIO_ASSERT_MATRIX_SPECIFIC_SIZE

2018-10-29  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/centroidal-derivatives: fix bug by initializing correctly variables

	all: remove warning due to deprecated functions

	algo/aba-derivatives: correct dAdq and remove gravity contribution

	travis: sync submodule

	cmake: deactive temporarily derivatives timings

	test/joints: avoid name conflict between the class and the test namespace

	version: correct include

	test/joint-generic: comment comparison between variants
	Apparently, some older version of boost does not consider the comparison
	between two variants. This should be fixed later.

	liegroup: fix issue with older version of Eigen

	all: correct copyright holder

	all: use Eigen::DenseIndex for compatibility

	algo/rnea: remove useless dependency

	parsers: replace deprecated functions

	spatial/motion: fix base class argument

	spatial/force: fix base class argument

	travis: remove depth git option
	When doing a git clone, travis use to limit the depth of the history,
	which might lead to some problem with `git describe --tag` command.

	test: remove redundant test
	This is due to the rebase between devel and release-2.0.0

	travis: fecth tags

	all: replace deprecated humanoidSimple by humanoidRandom

2018-10-29  gabrielebndn  <gabriele.bndn@gmail.com>

	[pythontest] Moved python tests in unittest folder

	[pythontest] fix tests

2018-10-29  Mansard  <nmansard@laas.fr>

	[parser] Add sample manipulator (with unittest and bindings).

2018-10-29  gabrielebndn  <gabriele.bndn@gmail.com>

	[pythontest] Moved python tests in unittest folder

2018-10-29  Julian Viereck  <jviereck@tuebingen.mpg.de>

	Fix deprication warnings to show correct new function names.

2018-10-29  Gabriele Buondonno  <gbuondon@laas.fr>

	[frames] renaming, bindings, RobotWrapper, deprecating

2018-10-29  Justin Carpentier  <justin.carpentier@inria.fr>

	all: remove duplicates due to git rebase

	cmake: correct ADD_PINOCCHIO_UNIT_TEST macro

	bench/derivatives: update timings derivatives

	joints: start configuration a Joint{Model,Data}Void

	joint/jointFreeFlyer: improve efficiency by setting EIGEN_DONT_INLINE

	ligeroup: start implementation of CartesianProductOperationVariant

	liegroup: use correct Plain type

	test/liegroups: add test on integrateCoeffWiseJacobian

	algo/rnea-derivatives: remove setZero

	python: expose computeGeneralizedGravityDerivatives

	python: expose completely computeRNEADerivatives

	algo/centroidal-derivatives: clean code

	test/centroidal-derivatives: check output with RNEA derivatives

	algo/centroida-derivatives: handle the contribution of gravity in dF_dq

	algo/rnea-derivatives: remove gravity contribution in dA_dq term

	test/rnea-derivatives: test against kinematics derivatives output

	version: cprrect include

	algo: add algo to retrieve centroidal dyn derivativatis from RNEA ones

	doc: update doc of centroidal dyn derivatives

	test: add test of centroidal dynamics derivatives

	cmake: add centroidal dynamics derivatives

	macros: reindent

	macros: project version {MAJOR,MINOR,PATCH} is now generated by cmake

	all: remove some inclusion and use new header extension rule from cmake module

	spatial/explog: change assertion type

	algo/centroidal: add computeCentroidalDynamics algorithms

	algo/com: add missing if(do_acceleration)

	algo/rnea-derivatives: use addSkew to avoid memory allocation

	spatial: add addSkew operation

	algo/centroidal: remove useless CcrbaForwardStep

	algo/centroidal: remove useless CcrbaForwardStep

	cmake: set PROJECT_CUSTOM_HEADER_EXTENSION

	python/version: fix overloading of printVersion

	all: use RowMatrixXs instead of RowMatrixXd

	liegroups: update integrate coeffWise with the new explog quaternion operators

	spatial/explog: add Jlog3 for quaternions

	spatial/explog: remove former version of Jexp3 for quat

	spatial/explog: move explog operations for quat to a dedicated file

	quaternion/explog: add derivative of the exp3 that returns the coeff wise variations

	math/quaternion: move {exp,log} dedicated to Quaternions to quaternion.hpp

	spatial/se3: use quaternion::uniformRandom

2018-10-29  Justin Carpentier  <justin.carpentier@inria.fr>

	math/quaternion: add an explicite quaternion namespace
	To clean the code, I added a dedicated namespace for quaternion.
	I have made deprecated previous functions related to quaternions and they now refer to their implementation inside the quaternion namespace.

	It was then required to include in the main stream additionnal include that have  been put in the fwd.hpp file

2018-10-29  Justin Carpentier  <justin.carpentier@inria.fr>

	algo/joint-configuration: add integrateCoeffWiseJacobian algo

	multibody/liegroup: add IntegrateCoeffWiseJacobianAlgo

	algo/aba-derivatives: add with external forces version

	algo/rnea-derivatives: add with external forces version

	multibody/liegroups: add integrateCoeffWiseJacobian method

	test/explog: add test for Jexp3 dedicated to quaternions

	math/quaternion: add static keyword for Pi_value

	multibody/liegroups: correct return type of integrate for SE(3)

	multibody/liegroups: use EIGEN_CONST_CAST

	multibody/liegroups: make some method static

	spatial/explog: simplify computations

	spatial/explog: correct Jexp3 for quaternions

	test/explog: add finit differences test on the Jacobian of exp3

	multibody/liegroups: use EIGEN_C0NST_CAST

	spatial/explog: fix bug in exp3

	test/liegroup: use col accessor

	doc/liegroup: improve documentation of dIntegrate_{dq,dv}

	multibody/model: add FrameVector typedef

	test/liegroup: increase test inetgrate Jacobians around identity

	test/liegroup: make the test clearer

	mutlibody/liegroup: simplify expression
	Remove unecessary allocation

	multibody/liegroup: simplify computations

	multibody/iiegroup: fix include path

	spatial/explog: add Jexp3 for quaternions

	test/explog: add exp3/log3 mutual check

	test/explog: add test over log3

	explog: add log3 for quaternions

	math: define new shorcut for std/cppad atomic functions

	test/explog: add test of new exp3 returning quaternion

	explog: add exp3 operator that returns a quaternion

	explog: remove useless initialization to zero

2018-10-29  Justin Carpentier  <jcarpent@laas.fr>

	[Test/ABA] Simplication of simple test

	[Algo/ABA] Fix bug

	[Spatial/CartesianAxis] Add setTo method

	[Bench] Add option to basic timings for loading robots witout adding  freeflyer

	[Bench/CodeGen] Use new classes to bench algo and their code generation

	[CodeGen] Add classes to generate code for main algos

	[Algo/CodeGen] Fix cast issue

	[Utils/Timer] Add toc method without args

	[Test/CodeGen] Test abs function

	[Test/CodeGen] Remove using namespace

	[Algo/ABA] Add overloading of SE3actOn

	[Joint] Use right typedef

	[Joint/All] Fix cast by Scalar
	This was producing a bug in autodiff

	[Utils/Timer] Add default factor to toc method

	[Bench/CodeGen] Start implementation of benchmarking of algos

	[CMake/Bench] Remove useless line

	[CMake/Bench] Remove bad indent

	[Test/CodeGen] Add test on casting of objects

	[Algo/RNEA] Improve efficiency

	[Test/AutoDiff] Test abs call

	[CodeGen] Improve inclusion of CppADCodeGen before CppAD itself

	[All] Remove useless includes

	[Macros] Add dedicated file to contain Eigen macros
	This splitting is mandatory with CPPAD support.

	[CodeGen] Add support of Eigen

	[Test/CodeGeneration] Add code generation of algo

	[Test/AutoDiff] Test support of Eigen

	[Test/CodeGeneration] Test support of Eigen

	[AutoDiff/Joint] Add explicit Scalar cast

	[Model] Use explicit cast for initializing gravity981

	[Joints/All] Remove default init with NAN
	Because NAN is a float and may not be converted as it as a CppAD::AD<CppAD::cg::CG<T> > type

	[Macros] Add macro to avoid macro expansion

	[AutoDiff] Include first CppADCG

	[Macros] Add macro to check if the compiler is C++11 compatible

	[AutoDiff] Comment CPPAD_EIGENVECTOR
	This feature is not yet supported by CppAD.
	It has to be defined at the install time of CppAD and cannot be defined later.

	[CMake] Remove model.cpp from pinocchio lib

	[Test/Geom] Remove use of deprecated functions

	[Parsers] Add missing #ifndef

	[Python/Deprecated] Improve documentation

	[Parsers/SRDF] Uniformize function naming
	Older functions have been set to deprecated

	[Python] Simplify exposition of SRDF parsers

	Add geomIndex

	[Model/Geometry] Add typedef GeomIndex

	[Model/Geometry] Add missing inline

	[Python] Correct exposition to addGeometryObject

	[Model/Geometry] Small indent cleaning

	[Parsers/SRDF] Full templatization of SRDF parsers

	[Parsers/URDF] Use non-deprecated method addGeometryObject

	[Model/Geometry] Set back default value

	[Parsers/SRDF] Move .cpp file as .hxx files

	[Parsers/URDF] Full templatization of URDF parsers

	[Python] Adjust change in GeomModel::addGeometryObject

	[Model/Geometry] add new signature for addGeometryObject
	and set the older one DEPRECATED

	[Algo/geometry] Add typedef SE3 for GeomModel and GeomData

	[Python] Switch include
	There is a bug in Python that also defines some public macro with names matching some std:: functions

	[Parsers/URDF] Move .cpp file as .hxx files
	The parsers will be templatized

	[Test/CodeGen] Add second example of generating dynamic lib

	[Test/CodeGen] Add simple example using CppADCG

	[CMake] Add CppADCG as optional dependency

	[Math/AutoDiff] Use Eigen vector for in CPPAD

	[Test/AutoDiff] Add test of aba derivatives

	[Algo/Kinematics] Try to align call

	[Multibody/Data] Add initialization of variables

	[Test/AutoDiff] Add test of algo derivatives

	[LieGroup] Fix type for complete templatization

	[Math/AutoDiff] use correct pow functions

	[Test/AutoDiff] Add test on spatial operators explog

	[Algo/Kinematics] Remove args for the empty pass

	[Spatial/Explog] Cosmetic change

	[Spatial/Explog] Improve numerical stability of exp3

	[Spatial/Explog] Improve numerical stability of exp6

	[Math/AutoDiff] Add common sqrt

	[Math] Partial specilazation of pi constant for CppAD::AD types

	[All] Define math::fabs function
	This is mandatatory to use AutoDiff

	[Multibody/Visitor] Fix issue in append and remove useless includes

	[Test/AutoDiff] Add test to retrieve Mass Matrix and its inverse

	[Joint/All] Update calc_aba methods to take into account template Matrix6 input

	[Joint/JointPlanar] Fix constructor of MotionPlanar

	[Test/AutoDiff] Add test over algorithms

	[Joint/JointRevolute] Simplify computations

	[Multibody/All/Joints] Correct  __mul__ method in Joint Constraints

	[Joint/All/Motion] Use sparse operation for operator^

	[Algo/Derivatives] Improve efficiency of RNEA derivatives algo

	[LieGroup] Fix compilation issue on Eigen 3.3.5

	[Doc] Fix in Model

	[Algo/Check] Fix type for templatized algo checkData

	[Data] Fix type of Matrix

	[Macros] Add helper struct to remove typename warning comming from c++03 compilers

	[Spatial/Force] Correct naming in ForceDense

	[Spatial/Force] Improve efficiency of operator=

	[Parsers] Fix compatibility with old Eigen versions

	[AutoDiff] Fix compatibility with old Eigen versions
	EIGEN_DEVICE_FUNC has been introduced in Eigen 3.3.0

	[CMake] Comment lines

	[Test/Autodifff] Check all the joints

	[Joint/JointPlanar] Remove useless include

	[Joint/JointComposite] Fix type of temporary variable

	[Joint/All] Clean Macro + adjust accessors for JointDataBase

	[Joint/JointGeneric] Fix template when calling function createData

	[Joint/JointGeneric] Fix method constness

	[Eigen] Fix plain_matrix_type_row_major::type
	This fix should be used until a PR in Eigen has been merged

	[Eigen] Add a file dedicated to fix of Eigen library

	[Macros] Add two macros to get plain matrix type eitheir column major or row major

	[Test] Fix compilations issue due to API modifications

	[Test/AutoDiff] Fix compilation issues

	[Joint/JointBase] Minor cleaning

	[Joint/JointBase] FIx return type of finiteDifferenceIncrement method

	[Joint/MotionSpherical] Add missing isEqual_impl method

	[Joint/MotionSpherical] Add missing __plus__ method
	This operator is required for MotionSpherical + BiasSpherical operation

	[Spatial/MotionBase] Fix return type of operator{+,-}

	[Joint/JointSphericalZYX] Correct return type of Constraint*vector operator

	[Joint/JointSphericalZYX] Use Motion and Bias classes from JointSpherical

	[Spatial/Motion] Add setZero to MotionBase

	[All/Motion] Add setTo method to each sparse Motion class

	[All/Motion] Remove implicit cast
	It will be replaced by an explicit constructor on MotionTpl and a setTo method for each joint Motion class.

	[AutoDiff] Handle correctly CppAD::AD types in Eigen

	[Joint/JointComposite] Fix cast method

	[Test] Rename joint.cpp into joint-generic.cpp

	[Spatial/ActOnSet] Full templatization of SE3 actions

	[All] Rename joint/joint.hpp into joint/joint-generic.hpp

	[Joint/{Spherical,Translation}] Fix constructor for Motion types

	[Joint/Unaligned] Fix JointData constructor

	[Joint/Planar] Fix Transform templatization

	[Test/AutoDiff] Clean test

	[Multibody/Model] Add cast method

	[Multibody/Model] Add operator==

	[Multibody/Model] Fix templatization by Scalar

	[Multibody/Model] Make FilterFrame templated by Scalar,Options

	[Spatial/Inertia] Add cast method

	[Spatial/Inertia] Renaming of class members

	[Spatial/Symmetric3] Add cast method

	[Test/Symmetric] Add test on comparison operators

	[Spatial/Symmetric] Add missing operator!=

	[Spatial] Rename data_ into m_data in {Model,Force,Symmetric3}Tpl

	[Model] Remove last double and replace by Scalar

	[Multibody/Frame] Add cast method to FrameTpl

	[Test/Joint] Add test of cast operator

	[Joint/Joint{Revolute,Primsmatic}Unaligned] correct isEqual method

	[Joint] Add cast operator to JointModelTpl

	[Joint] Add cast operator to basic joints

	[Joint/Visitor] Allows for empty argument in Joint visitors

	[Joint/Visitor] Add missing return type to InternalVisitor

	[Joint/Visitor] Handle return type in JointVisitorBase

	[Doc] Improve documentation of joint basic visitors

	[Joint/Visitor] Correct include

	[Test/Joint] Also test isEqual

	[Test/Joints] All test isEqual for JointModelTpl

	[Joint/JointModelBase] Fix bug in operator==

	[Test/Joints] Add test of operator== and operator!= for JointModelBase

	[Joint/JointComposite] Add isEqual method

	[Joint/JointComposite] Correct operator<<

	[Joint/JointModelComposite] Add constructor with allocation

	[Joint/JointComposite] Add number of joints info

	[Joint/JointModelBase] Add operator!=

	[Test/joints] Minor cleaning of the file

	[All] Improve templatization of Model and Data struct

	[Macros] EIGEN_PLAIN_TYPE can now handle input templated types

	[Macros] Add struct to retrieve argument type

	[Joint/JointTpl] Improve templatization of Joint{Model,Data}Tpl

	[Joint/JointComposite] Improve templatization of JointComposite
	It now takes Scalar and Options as input template parameters

	[Joint/JointComposite] Fix copy operator

	[Joint/JointComposite] Put dimension of config and tangent space as protected data

	[Joint/Composite] Fix copy operator

	[All] Move forward declaration of se3::traits to main fwd.hpp

	[Test/AutoDiff] Add minimal test on JointRevoluteConstraint

	[Spatial/Force] Remove templated scalar

	[Test/spatial] Add test on SE3Tpl::cast

	[Spatial/Force] Add cast method

	[Spatial/Motion] Add cast method

	[Spatial/SE3] Uniformize API to handle unique Scalar per class
	To use other scalar types, one should use the new cast operator.

	[Spatial] Add cast<NewScalar> method

	[AutoDiff] Add specialization of cast for CppAD::AD types

	[All] Add missing Eigen/Core include if CppAD is missing

	[All] Add dedicated include file for CppAD

	[AutoDiff] Support SINCOS for CppAD

	[AutoDiff] Add second example of CPPAD lib with eigen

	[Test] Add basic test for Cppad

	[All] Start support of CPPAD
	This initial commit allows to support of CPPAD in order to implement automatic differentiation inside Pinocchio

	[CMake] Remove dependecy to metapod

	[Joint/freeflyer] Return Identity matrix expression for ConstraintFreeFlyer::matrix()

	[Joint/Prismatic] Simplify call to operator^
	It now uses the motion action implemented in MotionPrismaticTpl

	[Joint] Use TransformTranslationTpl in JointPrismaticUnaligned

	[Joint] IntroduceTransformTranslationTpl

	[Joint] Use TransformPrismaticTpl as transform for JointPrismaticTpl

	[Joint] Correct return type of TransformPrismaticTpl

	[Joint] Add TransformPrismaticTpl

	[Joint] Fix inversion

	[Joint] Improve efficiency of calc_aba methods
	It now uses LLT decomposition for inverting D

	[Joint] Avoid unecessary copy with boost::variant

	[Math] Use SINCOS with only std::{cos,sin} call
	This becomes mandatory for scalar overloading

	[Joint] Reorder joints in JointCollectionTpl

	[Test] Fix bug in copy test - initialized some variables

	[Joint] Make setValues templated for TransformRevoluteTpl

	[Joint] Set TransformRevoluteTpl as transform for JointRevoluteUnbounded

	[Spatial] Improve efficiency of InertiaTpl * Motion operation

	[Joint] Use alphaCross operators from CartesianAxis3

	[Joint] Use TransformRevoluteTpl as joint transform
	This improves a lot the efficiency of model.jointPlacements[jointId] * jdata.M() operation!

	[Joint] Introduce TransformRevoluteTpl

	[Joint] Use MotionRevolute motionAction instead of handmade operator^
	This improves the efficiency of the approach and simplifies the code.

	[Parsers] Use already defined typedef

	[Parsers] Remove specialization for JointComposite
	There is still an implementation of JointRevoluteUnboundedUnaligned to do!

	[Joint] Use new typedef naming of SE3 classes

	[All] Follow new API of SE3Tpl class

	[Spatial] Split se3 in se3-base and se3-tpl files

	[Geom] add typedef for vector types

	[Spatial] Add missing noalias()

	[Joints] Aligned structures

	[Joint] use new alphaCross method

	[Spatial] Add alphaCross operations to CartesianAxis3

	[all] Use .derived() operator to improve performances

	[Algo] Full templatization of Geom algos

	[Collision] Fix appendGeometryModel function prototype

	[Algo] Full templatization of Jacobian algos

	[Algo] Full templatization of Frame algos

	[Algo] Remove template reference frame from Jacobian algos

	[Algo] Full templatization of finite-differences algo

	[Algo] Full templatization of energy algo

	[Algo] Full templatization of contact dynamics algorithm

	[Algo] Full templatization of computeAllTerms

	[Algo] Fix some typedef in RNEA algos

	[Algo] Full templatization of Centroidal algo

	[Algo] Full templatization of CoM algos

	[Algo] Full templatization of Cholesky algo

	[Doc] Add documentation of template

	[Algo] Full templatization of copy

	[Algo] Remove template LEVEL in copy algo
	This is justified by the next templatization of copy arguments

	[Test] Add copy unit test

	[Algo] Fix bug in Data copy algo

	[Algo] Full templatization of Kinematics derivatives

	[Algo] Remove templatization by ReferenceFrame

	[Algo] Full templatization of Regressor algo

	[Algo] ABA derivatives are now independant from RNEA derivatives

	[Algo] Full templatization of RNEA derivatives algos

	[Algo] Full templatization of CRBA algos

	[LieGroup] Remove double and use Scalar

	[Python] Update joint-configurations bindings

	[Algo] Follow new API of LieGroup algos

	[LieGroup] Full templatization of LieGroup algos

	[Spatial] Improve genericity of exp, log operators

	[Test] Remove lines that are no more useful

	[LieGroup] Templatization of run methods

	[Examples] Update according to the new constructor of RobotWrapper

	[Parsers] Replace runtime_error with much precise exeception

	[Python] Expose compute{GeneralizedGravity,CoriolisMatrix}

	[Algo] Full templatization of RNEA algo

	[Algo] Fix compilation issue in KinematicsStep

	[Algo] Minor renaming in KinematicsSteps

2018-10-29  jcarpent  <jcarpent@laas.fr>

	[Doc] Minor correction

	[Doc] Update ABA derivatives doc with new templatization

	[Doc] Update ABA doc with new templatization

	[Algo] Full templatization of ABA derivatives algo

	[Algo] Full templatization of ABA algo

	[Macros] Add EIGEN_CONST_CAST for easy cast

	[Algo] Remove useless lines in ABA

	[Data] Introduce the notion of dense {Config,Tangent} vectors

	[Model] Introduce the notion of dense {Config,Tangent} vectors

	[Joint] Use Base typedef

	[Multibody] JointVisitorBase is no more a static_

	[Joint] Templatization of calc methods in JointModelBase

	[Joint] Templatization of calc methods in JointModelCompositeTpl

	[Joint] Remove EIGEN_STATIC_ASSERT_VECTOR_ONLY for calc methods

	[Joint] Fix bug in visitors + doc

	[Joint] Remove useless line

	[Joint] Full templatization of Joint Basic Visitors

	[Test] Use VectorXd::Zero for real zero vectors

	[Algo] Fix bug in templated forwardKinematics

	[Python] Fix documentation of forwardKinematics

	[Python] Expose updateGlobalPlacements

	[Algo] Full templatization of kinematics algo

	[Test] Add kinematics test

	[Multibody] Use JointVisitorDerived naming convention in JointVisitorBase

	[Multibody] Remove useless lines

	[All] Rename JointVisitor in JointVisitorBase

	[Multibody] Clean joint visitor
	There is no need of JOINT_VISITOR_INIT
	The new JointVisitor allows to directly tackle both JointModel and {JointModel,JointData} runners.
	The API is made simpler and ready for templated arguments.

	[LieGroup] Make default LieGroupCollectionDefault

	[LieGroup] Add LieGroupGeneric class

	[LieGroup] Introduce the notion of LieGroupCollection
	Very similar to JointCollection

	[LieGroup] Rename operation-base.h{pp,xx} in liegroup-base.h{pp,xx}

	[LieGroup] use Options in LieGroupBase

	[Mulibody] Remove useless include

	[LieGroup] Templatization of remaining Special{Orthogonal,Euclidian}OperationTpl

	[Joint] Add Scalar and Options typedef in Joint{Revolute,Prismatic}Tpl

	[LieGroup] Templatization of VectorSpaceOperationTpl by Scalar and Options

	[Joint] Add Options enum in JOINT_TYPEDEF macro

	[LieGroup] Start templatization of LieGroup structures

	[LieGroup] Templatization of basic operation in SE and SO implementations

	[Spatial] Remove last hand written double

	[Test] Remove useless warning

	[Joint] Remove joint-variant.hpp
	It has been replaced by joint-collection.hpp

	[Test] Follow change in the API

	[LieGroup] Update LieGroup structure and algo to account for new templatization of Joints

	[Joint] JointComposite does not rely on JointBasicVisitors

	[Joint] Add constructor for JointDataTpl from JointDataBase

	[Joint] Update Joint Basic Visitors to use Joint{Model,Data}Tpl as input

	[Test] Test {SE3,Motion} action on sparse JointMotion

	[Joint] Add {SE3,Motion} action on sparse JointMotion

	[Joint] Use rate denomination for the linear part of MotionTranslationTpl

	[Joint] Rename MotionSpherical in MotionSphericalTpl

	[Joint] Rename MotionPrismaticUnaligned in MotionPrismaticUnalignedTpl

	[Joint] Rename MotionPrismatic in MotionPrismaticTpl

	[Spatial] Remove indent

	[Spatial] Minor change of naming of templated types

	[Spatial] Templatization of BiasZero + renaming in BiasZeroTpl
	This templatization is mandatory for JointCompositeTpl

	[Spatial] Add SE3 action and Motion action on BiasZero

	[Spatial] Fix correct return type for se3Action{.,Inverse}

	[Joint] Update Joint{Model,Data}Tpl to correctly work with JointModelCompositeTpl

	[Joint] Update JointVisitor base classe to take as input JointModelTpl

	[Joint] Fix compilation bug in JointCompositeTpl

	[Joint] Remove last hard written double type

	[Joint] Remove class CartesianVector3

	[Multibody] Small reindentation

	[All] Continue templatization of ModelTpl and DataTpl

	[Joint] Templatization by JointCollection of Joint{.,Model,Data}
	with renaming into Joint{.,Model,Data}Tpl

	[Joint] Remove useless include

	[Joint] Add JointDataVariant inside JointCollection

	[Joint] Start templatization of JointModelComposite
	Introduce the notion of JointModelCollection

	[Test] Increase test for centroidal dynamics with wellknown equalities

	[Test] Increase kinematics derivatives test

	[Data] Remove useless includes

2018-10-29  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[Doc] Fix doxygen warnings
	- remove leftidx package, not available in MathJbx
	- replace `\leftidx{^` by `{}^{`
	- fix param lists
	- comment documentation of commented code
	- replace `<i>` & `<li>` with `*i*` & `*li*`, that are valid in html & md

2018-10-29  jcarpent  <jcarpent@laas.fr>

	[Examples] Update example of loading URDF

	[Examples] Rename load-romeo into load-urdf

	[Joints] Remove methods {integrate,differentiate,interpolate,neutral,random} from JointModels
	One should now use the LieGroup methods instead in order to use the previous methods or implement his or het own methods.

	[Spatial] Introduce ForceDense and ForceRef

	[Python] Uniformize init and load of model inside the GUI   Now:     - initDisplay just create a window and a scene which is automatically   added to the window     - loadDisplayModel create a group node for the robot and load visual   geometries

2018-10-29  gabrielebndn  <7643149+gabrielebndn@users.noreply.github.com>

	Merge pull request #567 from gabrielebndn/topic/doc-v2
	[doc] update topic/doc-v2 with devel and use new sample models in examples

2018-10-29  Gabriele Buondonno  <gbuondon@laas.fr>

	Merge branch 'devel' into topic/doc-v2

2018-10-29  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: sync submodule

2018-10-29  Gabriele Buondonno  <gbuondon@laas.fr>

	Merge branch 'devel' into topic/doc-v2

2018-10-29  Justin Carpentier  <justin.carpentier@inria.fr>

	cmake: explicitely link to eigenpy for Python tests

	cmake: sync submodule

2018-10-29  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #568 from jcarpent/devel
	Fix compatibility when HPP-FCL is missing

2018-10-27  Justin Carpentier  <justin.carpentier@inria.fr>

	test/frames: fix unit test

	test/sample-models: remove useless includes

	parsers/sample-models: handle the case where FCL is missing

	parsers/sample-models: correct spaces

2018-10-26  Gabriele Buondonno  <gbuondon@laas.fr>

	[doc] Updated examples with sample models

	Merge branch 'devel' into topic/doc-v2

2018-10-26  Justin Carpentier  <justin.carpentier@inria.fr>

	version: set correct release version

2018-10-25  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #564 from gabrielebndn/topic/fixunittest
	[python] Remove calls to deprecated methods

2018-10-25  Gabriele Buondonno  <gbuondon@laas.fr>

	[python] Remove calls to Model.BuildEmptyModels

	[sample models] Using joint composite in random humanoid

	[python] Fixed examples

	[pythontest] Fix python unit tests

2018-10-25  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #563 from jcarpent/devel
	Fix sincos for floats

2018-10-25  Justin Carpentier  <justin.carpentier@inria.fr>

	test/sincos: add test on sincos function

	math/sincos: add overloading of sincos for {float,double, long double}

2018-10-25  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #560 from jcarpent/devel
	Remove warnings

2018-10-25  Justin Carpentier  <justin.carpentier@inria.fr>

	parsers/samples: remove useless typename keyword

	all: replace deprecated humanoidSimple by humanoidRandom

2018-10-25  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #558 from gabrielebndn/topic/samplemodels
	[bindings] [sample models] Manage deprecation and overloads in python

2018-10-24  Gabriele Buondonno  <gbuondon@laas.fr>

	[bindings] [sample models] Manage deprecation and overloads in python

2018-10-24  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #554 from nmansard/devel
	[parser] Add two sample models 

	Merge pull request #557 from stack-of-tasks/devel-sync
	Devel sync with master

	Merge pull request #550 from gabrielebndn/topic/pythontest
	[python] Fixed python tests and moved them into unit test, fix #533

2018-10-24  gabrielebndn  <gabriele.bndn@gmail.com>

	[pythontest] Moved python tests in unittest folder

2018-10-24  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #543 from gabrielebndn/topic/fixrandom
	[spatial] fixed bug in random force and motion

2018-10-24  gabrielebndn  <gabriele.bndn@gmail.com>

	[pythontest] fix tests

2018-10-24  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #539 from nim65s/devel
	[Coverage] fix regex to find bindings/python in some subdirs, ref #534

2018-10-24  gabrielebndn  <gabriele.bndn@gmail.com>

	[spatial] fixed bug in random force and motion

2018-10-24  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #538 from nim65s/devel
	 [Coverage] Temporarly exclude bindings/python directory from coverage reports, fix #534

2018-10-24  Guilhem Saurel  <guilhem.saurel@gmail.com>

	[Coverage] fix regex to find bindings/python in some subdirs

2018-10-24  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #536 from nmansard/devel
	[parser] Minor modifications in sample humanoid

2018-10-24  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[Coverage] compatibility with gcovr 3.2

	[Coverage] Temporarly exclude bindings/python directory from coverage reports, fix #534

2018-10-24  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #530 from nim65s/devel
	use coverage from gitlab, fix #525

2018-10-24  Mansard  <nmansard@laas.fr>

	[parser] Change sample humanoid robot to add prismatic joints and joint limits. This commit is done in order to make the documentation examples simpler.

2018-10-24  Guilhem Saurel  <guilhem.saurel@gmail.com>

	use coverage from gitlab, fix #525

2018-10-24  Mansard  <nmansard@laas.fr>

	[parser][unittest] Marginal changes in sample-model unittest.

	[parsers][Python] Marginal changes in sample-model python bindings.

	[parser] Marked the se3::humanoidSimple and se3::humanoid2 as deprecated.

2018-10-23  Justin Carpentier  <justin.carpentier@inria.fr>

	README: lower the supporting systems

	README: lower the supporting systems

	README: remove dependencies section

	README: remove dependencies section

	README: add Pinocchi features

	README: add Pinocchi features

	README: Add Florian V. credits

	README: Add Florian V. credits

2018-10-22  gabrielebndn  <7643149+gabrielebndn@users.noreply.github.com>

	Merge pull request #552 from stack-of-tasks/devel
	[doc] Update doc-v2 with devel

2018-10-22  Nicolas Mansard  <nmansard@laas.fr>

	Merge pull request #541 from nmansard/topic/doc-v2
	[doc] Overview section, fix #540

	Merge pull request #4 from gabrielebndn/topic/doc-v2
	[doc] Overview

2018-10-19  Gabriele Buondonno  <gbuondon@laas.fr>

	[doc] Fixed bib

	[doc] Overview

	[doc] Fixed examples

2018-10-19  Mansard  <nmansard@laas.fr>

	[parser] Adding doc in the 2 new models, and shortcuts from Eigen fox X and Y unit vectors.

2018-10-19  Gabriele Buondonno  <gbuondon@laas.fr>

	[doc] Fixed paths and references

2018-10-19  Mansard  <nmansard@laas.fr>

	[parser] Add simple humanoid model (with geometries).

	[parser] Add sample manipulator (with unittest and bindings).

2018-10-17  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #550 from gabrielebndn/topic/pythontest
	[python] Fixed python tests and moved them into unit test, fix #533

2018-10-17  gabrielebndn  <gabriele.bndn@gmail.com>

	[pythontest] Moved python tests in unittest folder

	[pythontest] fix tests

2018-10-16  Mansard  <nmansard@laas.fr>

	[doc] Change ref in intro.

2018-10-15  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #543 from gabrielebndn/topic/fixrandom
	[spatial] fixed bug in random force and motion

2018-10-15  gabrielebndn  <gabriele.bndn@gmail.com>

	[spatial] fixed bug in random force and motion

2018-10-15  Mansard  <nmansard@laas.fr>

	[doc] changed icons.

	[doc] added complete section overview. To be reviewed. References missing.

	[doc] Moved previous overview example to IK example, and added a new example for the overview.

2018-10-05  Mansard  <nmansard@laas.fr>

	[doc] Changed page header.

	[doc] Filled overview section.

2018-10-05  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #539 from nim65s/devel
	[Coverage] fix regex to find bindings/python in some subdirs, ref #534

2018-10-05  Guilhem Saurel  <guilhem.saurel@gmail.com>

	[Coverage] fix regex to find bindings/python in some subdirs

2018-10-05  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #538 from nim65s/devel
	 [Coverage] Temporarly exclude bindings/python directory from coverage reports, fix #534

2018-10-04  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[Coverage] compatibility with gcovr 3.2

	[Coverage] Temporarly exclude bindings/python directory from coverage reports, fix #534

2018-10-04  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #536 from nmansard/devel
	[parser] Minor modifications in sample humanoid

2018-10-04  Mansard  <nmansard@laas.fr>

	[doc] Modify overview and add examples for it.

	[parser] Change sample humanoid robot to add prismatic joints and joint limits. This commit is done in order to make the documentation examples simpler.

2018-10-04  Nicolas Mansard  <nmansard@laas.fr>

	Merge pull request #532 from stack-of-tasks/devel
	Update doc-v2 branch to dev-tree head

2018-10-03  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #530 from nim65s/devel
	use coverage from gitlab, fix #525

2018-10-03  Guilhem Saurel  <guilhem.saurel@gmail.com>

	use coverage from gitlab, fix #525

2018-09-27  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #527 from traversaro/patch-1
	[Readme] Fix typo in examples link

2018-09-27  Silvio Traversaro  <silvio@traversaro.it>

	[Readme] Fix typo in examples link

2018-09-25  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #526 from stack-of-tasks/devel
	Merge devel into master

	[Readme] Update content
	+ add credits section
	+ add ongoing dev section
	+ minor corrections

2018-09-24  Justin Carpentier  <jcarpent@laas.fr>

	[Readme] Update content
	+ add credits section
	+ add ongoing dev section
	+ minor corrections

2018-09-21  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #524 from jviereck/patch-2
	Fix deprication warnings to show correct new function names.

	Merge branch 'devel' into patch-2

2018-09-20  Julian Viereck  <jviereck@tuebingen.mpg.de>

	Fix deprication warnings to show correct new function names.

2018-09-19  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #522 from gabrielebndn/topic/doc-v2
	[doxygen] [minor] replaced \cross with \times in doxygen formulas

2018-09-19  Gabriele Buondonno  <gbuondon@laas.fr>

	[doxygen] [minor] replaced \cross with \times in doxygen comments' formulas

2018-09-18  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #521 from nim65s/topic/doc-v2
	[Doc] Implementation of doc/outline.txt, fix #514

2018-09-18  Guilhem Saurel  <guilhem.saurel@gmail.com>

	[Doc] Implementation of doc/outline.txt, fix #514

	Merge branch 'devel' into topic/doc-v2

2018-09-18  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #520 from nim65s/devel
	Fix Boost 1.58 usage, and update gitlab-ci

2018-09-18  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[CI] Allow failure on Python 3

2018-09-18  Guilhem Saurel  <guilhem.saurel@gmail.com>

	[CI] checkout both pinocchio & py-pinocchio before building

	Avoid segv in Boost 1.58
	Thanks https://github.com/bchretien/choreonoid/commit/709d7db596f3e9ef4793f944a761fe2a35bca133

2018-09-18  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[CI] use make test, sort jobs

2018-09-15  Justin Carpentier  <jcarpent@laas.fr>

	Update readme style

	Merge pull request #519 from jmirabel/devel
	[C++] Fix multiple definition errors

2018-09-15  Joseph Mirabel  <jmirabel@laas.fr>

	[C++] Fix multiple definition errors

2018-09-12  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #516 from gabrielebndn/devel
	[frames] Helper functions for frames

2018-09-12  Gabriele Buondonno  <gbuondon@laas.fr>

	[deprecation] friendlier docstring

	[frames] renaming, bindings, RobotWrapper, deprecating

2018-09-12  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #515 from proyan/devel
	[script/robot_wrapper] add momentum function

2018-09-12  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[script/robot_wrapper] add momentum function. add vcom and acom to separately compute the quantities

2018-09-11  Gabriele Buondonno  <gbuondon@laas.fr>

	[frames] placement, velocity and acceleration

	[jacobian] removed use of deprecated function to avoid spurious warning

2018-09-11  Mansard  <nmansard@laas.fr>

	[doc] Added v2 dependencies.

	[Doc] modification of the outline according to issue 513.

2018-09-10  Justin Carpentier  <justin.carpentier@laas.fr>

	Update README.md

	Add additionnal acknowledgments

2018-09-10  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #510 from gabrielebndn/topic/doc-v2
	[Doc] Revision of outline after discussion with Nicolas.

2018-09-10  Guilhem Saurel  <guilhem.saurel@gmail.com>

	Merge pull request #509 from proyan/devel
	update README

2018-09-10  Gabriele Buondonno  <gbuondon@laas.fr>

	[Doc] Revision of outline after discussion with Nicolas.

2018-09-10  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[README] spellings

	[README] There is no dependency on fcl. hpp-fcl is required

2018-09-08  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #508 from proyan/devel
	Frame Jacobian Time Variation

2018-09-08  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[unittest/frames] add unittest for framejacobiantimederivative

2018-09-07  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[bindings/framejacobiantimevariation] add a function framesJacobianTimeVariation in the groove of framesJacobian that also calls compute and fk.

	[algorithm/frames] add getFrameJacobianTimeVariation in the same groove as getJointJacobianTimeVariation

	[algorithm][DEPRECATED] Fix comment for deprecated jacobian call

	[algorithms][DEPRECATED] make getFrameJacobian as deprecated. getFrameJacobian<referenceframe> already exists.

2018-09-07  Mansard  <nmansard@laas.fr>

	[Doc] Revision of outline after discussion with Guilhem.

	[doc] Added outline of the doc.

2018-09-06  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #506 from proyan/devel
	[minor][robot_wrapper] frameClassicAcceleration requires numpy

2018-09-06  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[minor][robot_wrapper] frameClassicAcceleration requires numpy

2018-09-05  Justin Carpentier  <jcarpent@laas.fr>

	[GitLab] Add missing command build_tests to force building

	[Gitlab] Change make check to make test

2018-08-28  Justin Carpentier  <jcarpent@laas.fr>

	[Test/Version] Add missing include

	[Python] Push back previous init API of RobotWrapper

	[Utils] Fix bug related to bad includes

2018-08-27  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #504 from jcarpent/devel
	Fix bug related to new version of Eigen 3.3.5

	[Test/liegroups] Fix bug related to new version of Eigen 3.3.5

	Merge pull request #503 from jcarpent/topic/release
	Uniformization of git history between master and devel branches

	[CMake] Sync module cmake

	[CMake] Use ADD_UNIT_TEST macro from jrl-cmake-modules
	And then change name of internal ADD_UNIT_TEST to ADD_PINOCCHIO_UNIT_TEST

	[CMake] Sync module cmake

	[Test] Correct error accuracy checking

	Merge branch 'topic/devel' into topic/master
	Merge current devel branch into master for continuous git history.
	Only commits on branch devel have been kepts, devel branch being the most advanced one.

2018-08-24  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #502 from jcarpent/devel
	Fix bugs in exp6

	[Spatial/explog] Fix bug: add missing scalar product in the Taylor expansion

	[Spatial/explog] Fix precision when using the Taylor expansion

2018-08-09  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #501 from proyan/devel
	Documentation and unittest for forward dynamics with damped cholesky inverse

2018-08-09  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[doc][src/algorithm][Dynamics] example of damping value which works

	[unittest/dynamics] remove svd decomposition. only check the residual on constraint and dynamics

	[unittest/dynamics] add test for damped cholesky inverse

	[src/algorithm] Add documentation for damped inverse in forward dynamics

2018-08-09  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #500 from proyan/devel
	[algorithm/dynamics] add option to take damped inverse when doing cholesky factorization of JMinvJt

2018-08-08  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[algorithm/dynamics] add option to take damped inverse when doing cholesky factorization of JMinvJt

2018-08-02  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #499 from jcarpent/topic/explog
	Improve efficiency of exp3 and exp6 operations

	[Spatial] Fix artithmetic precision

	[Spatial] Improve efficiency of exp6 + add its taylor expansion

	[Spatial] Exp3 now uses a taylor expansion

	[Spatial] Avoid unecessary allocations

	Merge pull request #498 from cmastalli/devel
	[core] Efficient implementation of exp6

2018-08-02  Carlos Mastalli  <carlos.mastalli@iit.it>

	[core] Efficient implementation of exp6
	This new expression comes from the fact that [w]x*[w]x = w*w.T -
	\|x\|^2. For more information see "Differential of the Exponential Map":
	http://ethaneade.org/exp_diff.pdf

2018-07-16  jcarpent  <jcarpent@laas.fr>

	[Python] Fix missing namespace

2018-07-11  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #497 from jcarpent/devel
	Change differentiate into difference

2018-07-11  jcarpent  <jcarpent@laas.fr>

	[All] Change differentiate into difference
	Differentiate was not the right term as it is devoded to differential calculus.
	This is related to #432.

2018-07-11  Justin Carpentier  <jcarpent@laas.fr>

	Delete :q!

	Merge pull request #496 from jcarpent/devel
	Remove warnings in unit tests

2018-07-11  jcarpent  <jcarpent@laas.fr>

	[Test] Remove warnings with CLANG

	[Test] Use new API of Jacobian functions

	[Test] Use main macro for Python Wrapper test

2018-07-11  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #495 from jcarpent/devel
	Change naming of LieGroupTpl and LieGroupOberationBase

2018-07-11  jcarpent  <jcarpent@laas.fr>

	[All] Rename LieGroupOperationBase in LieGroupBase

	[All] Rename LieGroupTpl in LieGroupMap
	It follows #432 suggestions

2018-07-10  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #494 from jcarpent/devel
	Update API of Python bindings

2018-07-10  jcarpent  <jcarpent@laas.fr>

	[Python] Update RobotWrapper according to API modifications

	[Python] Fix issue with respect to deprecated called functions

	[Python] Update API of frameJacobian to mimic the C++ one

	[Doc] Fix bug in documentation of frameJacobian

2018-07-10  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #493 from nim65s/devel
	[CI][Gitlab] Use a dedicated target for generating doc and coverage

2018-07-10  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[CI][Gitlab] Use a dedicated target for generating doc and coverage

2018-07-10  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #492 from jcarpent/devel
	Remove lab directory

2018-07-10  jcarpent  <jcarpent@laas.fr>

	[All] Remove lab directory

2018-07-05  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #491 from jcarpent/topic/python
	Fix bug in Python interpreter

2018-07-05  jcarpent  <jcarpent@laas.fr>

	[Python] Fix bug in python interpreter

	[CMake] Sync module cmake

2018-07-04  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #490 from jcarpent/topic/dependency
	Remove now useless dependency to HPP-MODEL_URDF and METAPOD

2018-07-04  jcarpent  <jcarpent@laas.fr>

	[All] Remove dependency from METAPOD
	METAPOD is now outdated.
	Installing it on recent platforms is now tedious.
	The results was only compared for Symmetric3 class.

	[All] Remove dependency from HPP_MODEL_URDF
	As HPP relies on Pinocchio since 2 years, it seems natural to remove the dependency.
	Check and benchmark are no more meaningfull.

2018-07-04  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #489 from jcarpent/topic/version
	Add version utils to check the current version of Pinocchio

2018-07-04  jcarpent  <jcarpent@laas.fr>

	[Python] Expose version function and constants

	[Python] Add function to expose constant variables in the current Python scope

	[Versioning] Change to use MAJOR.MINOR.PATCH convention

	[Test] Add test of Pinocchio versions

	[Utils] Add check version for Pinocchio
	This feature mimics the Eigen checking of version

	[All] Rename tools folder to utils

	[Tools] Rename from StackTicToc to PinocchioTicToc

	[Doc] Update documentation of previous introduced macros

	[All] Add macro to check Pinocchio version

2018-07-04  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #488 from jcarpent/topic/bench
	Update benchmark

2018-07-04  jcarpent  <jcarpent@laas.fr>

	[CMake] Add bench target

	[Bench] Add timings of FK derivatives

	[CMake] Sync module cmake

	[Algo] Update name of input variable for getJointVelocityDerivatives

2018-07-04  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #486 from jcarpent/topic/jacobian
	Update function name when considering joint Jacobian

2018-07-04  jcarpent  <jcarpent@laas.fr>

	[Python] Update script according to new API of Jacobian functions

	[Python] Add deprecated function signatures
	This provides some useful information for end users

	[Python] Use ReferenceFrame to define the frame where the output results are expressed.

	[Python] Update function naming for Jacobian functions

2018-07-04  jcarpent  <jcarpent@laas.fr>

	[All] Update function name when considering joint Jacobian
	Some functions working on Jacobian have been renamed:

	- getJacobian is now getJointJacobian
	- computeJacobians is now computeJointJacobians
	- getJacobianTimeVariation is now getJointJacobianTimeVariation
	- computeJacobiansTimeVariation is now getJointJacobianTimeVariation

2018-07-04  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #485 from jmirabel/devel
	[LieGroups] Replace Jintegrate by dIntegrate_dq and dIntegrate_qv

2018-07-04  Joseph Mirabel  <jmirabel@laas.fr>

	Fix compilation for Eigen version below 3.2.1

2018-07-03  Joseph Mirabel  <jmirabel@laas.fr>

	[unittest] Update unit test liegroups

	[C++] Clean code in CartesianProductOperation

	[C++] Replace Jintegrate by dIntegrate_d[qv] in LieGroupOperation

	[Minor] Fix compilation warning + duplicated function declaration

2018-07-03  jcarpent  <jcarpent@laas.fr>

	[Bench] Miror dense Cholesky test in timings-cholesky

2018-07-03  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #484 from jcarpent/devel
	Split CRBA and centroidal algos

2018-07-03  jcarpent  <jcarpent@laas.fr>

	[All] Split CRBA and centroidal algos

2018-07-03  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #483 from jmirabel/devel
	[C++] Add Jexp3 and Jexp6

2018-07-03  Joseph Mirabel  <jmirabel@laas.fr>

	[Doc] Add doc to Jexp6 and Jlog6

2018-07-03  jcarpent  <jcarpent@laas.fr>

	[Bench] Add bench of Eigen::LDLT call for Cholesky decomposition

	[Bench] Fix bug when calling aba function

2018-07-03  Joseph Mirabel  <jmirabel@laas.fr>

	[C++] Add Jexp3 and Jexp6 + unit tests

	[C++] Optimize Jlo6 and add unit test

2018-07-03  jcarpent  <jcarpent@laas.fr>

	[Python] Use new API for enableEigenPySpecific

2018-07-02  jcarpent  <jcarpent@laas.fr>

	[Python] Use correct se3Action{.,Inverse} operators

	[Spatial] Minor refactoring of {Motion,Force}Base

	[Spatial] Templatize se3Action{.,Inverse}

	[Spatial] Add noalias to avoid uncessary computations

	[Spatial] Use MACRO EIGEN_PLAIN_TYPE to retrieve type info

2018-06-28  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #480 from jcarpent/devel
	Add new version of CRBA and clean a bit the CCRBA code

2018-06-28  jcarpent  <jcarpent@laas.fr>

	[Algo] Use common operators for ccrba

	[Bench] Add benchmark of crbaMinimal

	[Test] Add unit test for minimal CRBA

	[Algo] Add crbaMinimal
	This is a minimal version of CRBA. It also computes for free the centroidal momentum matrix and the kinematic jacobians of all the joints.

	[Algo] Clean code of CCRBA backward pass

2018-06-28  Justin Carpentier  <jcarpent@laas.fr>

	[Git] Update README.md
	Minor correction

2018-06-27  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #479 from jmirabel/devel
	[Minor] Remove an assert and add "Model.name" to Python.

2018-06-27  Joseph Mirabel  <jmirabel@laas.fr>

	[Python] Add property "name" to Model

	[Parser] retrieveResourcePath does not assert
	* when path does not start with "file://" or "package://"

2018-06-25  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #478 from jcarpent/devel
	Python: expose FCL DistanceResult + fix some bugs

2018-06-24  jcarpent  <jcarpent@laas.fr>

	[Python] Expose DistanceResult from FCL

	[Python] Remove useless operator

	[Python] Correct dimension of model

	[Doc] Remove useless input parameter

2018-06-21  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #477 from florent-lamiraux/devel
	In SE(n) and SO(n), difference is exactly zero if operands are equal.

2018-06-21  Florent Lamiraux  <florent@laas.fr>

	In SE(n) and SO(n), difference is exactly zero if operands are equal.

	Add unit test to check that difference operator
	  difference between two equal configurations should be 0.

2018-06-08  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #474 from jcarpent/devel
	[Algo] Add additional signature for computeJacobians

2018-06-08  jcarpent  <jcarpent@laas.fr>

	[Algo] Add additional signature for computeJacobians

2018-06-08  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #473 from jcarpent/devel
	Merge master commits into derivates branch

2018-06-08  jcarpent  <jcarpent@laas.fr>

	[Test] Fix new API for LieGroup functions

2018-06-07  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #472 from jcarpent/master
	[LieGroup] Fix bug related to the Scalar product return type

2018-06-07  jcarpent  <jcarpent@laas.fr>

	[LieGroup] Fix bug related to the Scalar product return type
	This bug is appearing with Eigen3 >= 3.3.4.
	The scalar product return type does not have an Options which is required by exp3.

2018-06-07  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[Doc] install robotpkg-py27-pinocchio & osg-dae

	[CI] update .gitlab-ci.yml for py-pinocchio

	[Doc] use os.path.join

	[Doc] no footnote in Mathjax

	[Doc] update plan

	[Doc] fix labs

	[Doc] add labs, rework structure

	[Doc] Tutorials DG / IK

	[Doc] update creating models

	[Doc] centering maths/se3.md

	[Doc] translate latex/se3.tex to maths/se3.md

	[Doc] maths/ skel

	[Doc] Remove empty files, translate other to md

	[Doc] Remove useless files

	[Doc] Fix doxygen warnings
	- remove leftidx package, not available in MathJbx
	- replace `\leftidx{^` by `{}^{`
	- fix param lists
	- comment documentation of commented code
	- replace `<i>` & `<li>` with `*i*` & `*li*`, that are valid in html & md

	[Doc] Remove tracker

2018-06-07  Joseph Mirabel  <jmirabel@laas.fr>

	[Minor] Default lower position limit should be -infinity, not +infinity

2018-06-07  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #465 from nim65s/topic/python3
	Python 3

2018-06-07  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[Python] make .py scripts compatible with python 2 & 3

	[CMake] Allow any python version

	[CMake] don't compile .py files nor try to install them, fix #464

2018-06-07  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #461 from gabrielebndn/devel
	[Python] Fix RobotWrapper initDisplay and q0

2018-06-07  Gabriele Buondonno  <gbuondon@laas.fr>

	[Python] Fix RobotWrapper initDisplay and q0

	[unittest] [Joint Composite] verify inertia update for calc_aba

2018-06-07  jcarpent  <jcarpent@laas.fr>

	[Python] Uniformize init and load of model inside the GUI   Now:     - initDisplay just create a window and a scene which is automatically   added to the window     - loadDisplayModel create a group node for the robot and load visual   geometries

2018-06-07  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #459 from gabrielebndn/topic/aba
	Topic/aba

2018-06-07  Gabriele Buondonno  <gbuondon@laas.fr>

	[unittest] check calc_aba for each joint

	[calc_aba] fix bug for joint translation and joint spherical

	[unittest] removed commented lines in joint-composite

	[Joint Composite] removed useless helper functions

	[Joint Composite] re-implemented calc

2018-06-06  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #472 from jcarpent/master
	[LieGroup] Fix bug related to the Scalar product return type

2018-06-06  jcarpent  <jcarpent@laas.fr>

	[LieGroup] Fix bug related to the Scalar product return type
	This bug is appearing with Eigen3 >= 3.3.4.
	The scalar product return type does not have an Options which is required by exp3.

2018-06-04  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #469 from jcarpent/topic/derivatives
	Templatization of {exp,log} operations

2018-06-04  jcarpent  <jcarpent@laas.fr>

	[Spatial] Fix static assert when used with dynamic size vector

	[LieGroup] Use new PI function

	[Spatial] Update {exp,log} operations to handle full templatization

	[Math] Update quaternion function according to the new PI function

	[Math] Add function PI to return the value of PI according to the Scalar type

2018-06-01  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[Doc] install robotpkg-py27-pinocchio & osg-dae

2018-06-01  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #468 from nim65s/autodeploy-doc
	Improve Documentation

2018-06-01  jcarpent  <jcarpent@laas.fr>

	[Git] Update main README content

	[Examples] Update REAME.md with details on each example

	[Examples] Update example of loading URDF

	[Examples] Rename load-romeo into load-urdf

	[Examples] Add example for derivatives ofABA

	[Examples] Add example for derivatives of RNEA

	[Examples] Add missing license

	[Python] Fix symmetrization of data.M

	[LieGroup] Fix JointIndex

	[All] Split data and model files

2018-05-30  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #466 from jmirabel/devel
	[Minor] Set lower position limit to -infinity, not +infinity

2018-05-30  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[CI] update .gitlab-ci.yml for py-pinocchio

	[Doc] use os.path.join

	[Doc] no footnote in Mathjax

	[Doc] update plan

	[Doc] fix labs

	[Doc] add labs, rework structure

	[Doc] Tutorials DG / IK

	[Doc] update creating models

	[Doc] centering maths/se3.md

	[Doc] translate latex/se3.tex to maths/se3.md

	[Doc] maths/ skel

	[Doc] Remove empty files, translate other to md

	[Doc] Remove useless files

	[Doc] Fix doxygen warnings
	- remove leftidx package, not available in MathJbx
	- replace `\leftidx{^` by `{}^{`
	- fix param lists
	- comment documentation of commented code
	- replace `<i>` & `<li>` with `*i*` & `*li*`, that are valid in html & md

	[Doc] Remove tracker

2018-05-30  Joseph Mirabel  <jmirabel@laas.fr>

	[Minor] Default lower position limit should be -infinity, not +infinity

2018-05-26  jcarpent  <jcarpent@laas.fr>

	[Examples] Add example on how to use kinematics derivatives in Python
	C++ example is coming soon.

	[Python] Expose kinematics derivatives

	[Doc] Improve doc of getJointAccelerationDerivatives

	[Python] Expose randomConfiguration with single input argument

	[Algo] Correct computeForwardKinematicsDerivatives name

	[Doc] Correct doc of computForwardKinematicsDerivatives

	[Python] Add missing call to exposeABADerivatives()

2018-05-26  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #465 from nim65s/topic/python3
	Python 3

2018-05-25  Guilhem Saurel  <guilhem.saurel@laas.fr>

	[Python] make .py scripts compatible with python 2 & 3

	[CMake] Allow any python version

	[CMake] don't compile .py files nor try to install them, fix #464

2018-05-24  jcarpent  <jcarpent@laas.fr>

	[Python] Expose computeABADerivatives

	[Python] Expose computeMinverse

	[Python] Cleaner indentation

	[Python] Expose new field of Data for analytical derivatives

	[Doc] Minor correction of computeABADerivatives

	[Doc] Correct documentation of computeRNEADerivatives

	[Algo] Remove useless warnings

	[Test] Add unit test for new computeABADerivatives signature

	[Algo] Add another function to compute ABA derivatives
	This function uses the pre-allocated matrix that are inside data

	[Data] Add partial derivatives of ABA inside Data

	[Python] Minor documentation correction

2018-05-22  jcarpent  <jcarpent@laas.fr>

	[Gitlab] Currently disable doc generation
	This feature is not working on 16.04.

2018-05-18  jcarpent  <jcarpent@laas.fr>

	[Joint] Fix return type of Eigen::Product

2018-05-18  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #463 from proyan/topic/robotwrapper
	[Python] Minor. Remove duplicate methods. minor rearrangement

2018-05-18  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[bindings][robot_wrapper] Minor. Remove duplicate methods. small rearrangement

2018-05-18  jcarpent  <jcarpent@laas.fr>

	Scalar templatization of Joint{.,Model,Data}RevoluteUnaligned

	[Joint] Remove empty line

	[Joint] Add Options to JointPrismatic{.,Unaligned}

	[Joint] Update input type of calc methods

2018-05-17  jcarpent  <jcarpent@laas.fr>

	[LieGroup] Adjust template for JointModelRevoluteUnboundedTpl

	[Joint] Scalar templatization of Joint{.,Model,Data}Revolute{.,Unaligned}

	[Joint] Templatization of MotionRevolute

	[Joint] Add missing typename

	[Joint] Change class naming in JointSpherical

	[Joint] Scalar templatization of Joint{.,Model,Data}SphericalZYX

	[Joint] Correct cast for specific MotionJoint

	[Joint] Scalar templatization of Joint{.,Model,Data}Translation

	[Joint] Scalar templatization of ConstraintTranslation

	[Joint] Minor fix in JointSpherical

2018-05-16  jcarpent  <jcarpent@laas.fr>

	[Joint] Templatization of MotionTranslation

	[Joint] Scalar templatization of Joint{.,Model,Data}Spherical

	[Joint] Minor fix in JointFreeFlyer

	[Joint] Templatization of ConstraintRotationalSubspace for JointSpherical

	[Joint] Make generic operator* for JointPrismatic

	[Joint] Add RowsReturn return Types

	[Joint] Remove useless include

	[Joint] Templatization of MotionSpherical and change name for MotionSphericalTpl

	[Joint] Scalar templatization of Joint{.,Model,Data}FreeFlyer

	[Joint] Templatization of ConstraintIdentity and change for ConstraintIdentityTpl

	[Joint] Scalar templatization of Joint{.,Model,Data}Planar

	[Test] Improve output

	[Joint] Templatization of ConstraintPlanar and change for ConstraintPlanarTpl

	[Joint] Templatization of MotionPlanar and change name for MotionPlanarTpl

2018-05-15  jcarpent  <jcarpent@laas.fr>

	[Joint] Scalar templatization of Joint{.,Model,Data}PrismaticUnaligned

	[Joint] Templatization of ConstraintPrismaticUnaligned

	[Joint] Templatization of MotionPrismaticUnaligned

	[Joint] Scalar templatization of Joint{.,Model,Data}Prismatic

	[Tools] Add axisLabel function to retrive the name of an axis

	[Joint] Remove useless methods

	[Joint] Remove useless prismatic::CartesianVector3 class

	[Joint] Use Axis cross action instead of CartesianVector3

	[Test] Add unit test on Motion.cross(SpatialAxis) operation

	[Spatial] Fix bug in typename

	[Spatial] Update operator motionAction of SpatialAxis
	Avoid unecessary allocation

2018-05-14  jcarpent  <jcarpent@laas.fr>

	[Joint] Remove useless include

	[Joint] Change for SpatialAxis operator <<

	[CMake] Sync module cmake

2018-05-13  jcarpent  <jcarpent@laas.fr>

	[Spatial] Add motionAction to SpatialAxis

	[Spatial] Improve genericity of cross operator for SpatialAxis

	[CMake] Sync module cmake

2018-05-13  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #462 from jcarpent/devel
	Handle recent version of boost >= 1.67.0

2018-05-13  jcarpent  <jcarpent@laas.fr>

	[CMake] Correct bug on OSX with ctest
	Under OSX, ctest is not reading the DYLD_LIBRARY_PATH of the current terminal.
	This commit forces the correct export of DYLD_LIBRARY_PATH.

	[CMake] Sync module cmake

	[Spatial] Add scalar product operation to CartesianAxis

2018-05-13  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #462 from jcarpent/devel
	Handle recent version of boost >= 1.67.0

2018-05-12  jcarpent  <jcarpent@laas.fr>

	[CMake] Correct bug on OSX with ctest
	Under OSX, ctest is not reading the DYLD_LIBRARY_PATH of the current terminal.
	This commit forces the correct export of DYLD_LIBRARY_PATH.

	[CMake] Sync module cmake

2018-05-03  jcarpent  <jcarpent@laas.fr>

	[Spatial] Simplify macros SPATIAL_TYPEDEF_{NO}_TEMPLATE

	[Test] Add test on ref() method for Force{Tpl,Ref}

	[Spatial] Add ref() method to Force{Tpl,Ref,Dense} classes

	[Spatial] Change ref to m_ref in ForceRef class

	[Test] Add test on ref() method for Motion{Tpl,Ref}

	[Spatial] Add ref() method to Motion{Tpl,Ref,Dense} classes

	[Spatial] Change ref to m_ref in MotionRef class

2018-05-02  jcarpent  <jcarpent@laas.fr>

	[Spatial] Change name for operator-(), use __opposite__

	[All] Add template parameter to MotionAlgebraAction

	[Test] Fix bug related to size mismatching

	[Spatial] Correct derived()

	To merge with previous

	[Joint] Add Scalar template to MotionPrismatic

	[Spatial] Add operator scalar multiplication to SpatialAxis

2018-04-30  jcarpent  <jcarpent@laas.fr>

	[Gitlab] Currently disable test on 18.04 - image missing

	[Spatial] Add additionnal insight to a serious BUG on Inertia::vxi operation

2018-04-30  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #461 from gabrielebndn/devel
	[Python] Fix RobotWrapper initDisplay and q0

2018-04-30  Gabriele Buondonno  <gbuondon@laas.fr>

	[Python] Fix RobotWrapper initDisplay and q0

2018-04-28  jcarpent  <jcarpent@laas.fr>

	[Spatial] Fix bug related to 16.04 & 17.10

	[Test] Fix operation accuracy for LieGroups

	[Test] Remove verbosity

	[Test] Increase URDF test

	[Spatial] Fix bug due to GCC in Inertia operator vxI

	[Model] Fix initialization of the Coriolis matrix

	[Gitlab] Update script

	[Algo] Remove useless declaration

2018-04-27  jcarpent  <jcarpent@laas.fr>

	[Test] Adjust code to removing of JointModel Lie groups method

	[Joints] Remove methods {integrate,differentiate,interpolate,neutral,random} from JointModels
	One should now use the LieGroup methods instead in order to use the previous methods or implement his or het own methods.

	[LieGroup] Move LieGroup algo code to a dedicated file

	[LieGroup] Continue implementing Variant for LieGroup

2018-04-27  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #460 from gabrielebndn/topic/joint-composite
	[unittest] [Joint Composite] verify inertia update for calc_aba

2018-04-27  Gabriele Buondonno  <gbuondon@laas.fr>

	[unittest] [Joint Composite] verify inertia update for calc_aba

2018-04-27  jcarpent  <jcarpent@laas.fr>

	[Examples] Update python example

	[Python] Uniformize init and load of model inside the GUI   Now:     - initDisplay just create a window and a scene which is automatically   added to the window     - loadDisplayModel create a group node for the robot and load visual   geometries

2018-04-27  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #459 from gabrielebndn/topic/aba
	Topic/aba

2018-04-27  Gabriele Buondonno  <gbuondon@laas.fr>

	[unittest] check calc_aba for each joint

2018-04-26  jcarpent  <jcarpent@laas.fr>

	[Test] Increase test of neutral configuration

	[Model] Use new neutral accessor algo to retrive the neutral configuration

	[Algo] Add neutral algo to compute the neutral configuration of a model

	[Algo] Call non-static method for LieGroup operations

	[LieGroup] Add missing const

2018-04-26  Gabriele Buondonno  <gbuondon@laas.fr>

	[calc_aba] fix bug for joint translation and joint spherical

2018-04-26  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #457 from gabrielebndn/topic/joint-composite
	Topic/joint composite

2018-04-26  Gabriele Buondonno  <gbuondon@laas.fr>

	[unittest] removed commented lines in joint-composite

	[Joint Composite] removed useless helper functions

	[Joint Composite] re-implemented calc

2018-04-26  jcarpent  <jcarpent@laas.fr>

	[Model] Use jmodel methods to simplify code

2018-04-25  jcarpent  <jcarpent@laas.fr>

	[Doc] Minor correction of the documentation for LieGroups

	[Doc] Minor correction of Macro doc

	[LieGroup] Make LieGroupOperation compliant with non-static method
	Some methods must be changed from static to non-static due to JointModelComposite

2018-04-24  jcarpent  <jcarpent@laas.fr>

	[LieGroup] Use Scalar instead double

	[LieGroup] Fix call to non-static member method

	[LieGroup] Start implementing Lie group variant visitors

	[LieGroup] Add Lie group variant

	[LieGroup] Fix bug when size is set to dynamics (i.e. Eigen::Dynamic)

	[CMake] Fix bug related to missing linkage to hpp-fcl

	[LieGroup] Add eval_set_dim to Lie Groups

	[CMake] Fix bug related to missing linkage to hpp-fcl
	Related to #456

2018-04-23  jcarpent  <jcarpent@laas.fr>

	[LieGroup] Small reorganization

	[LieGroup] Simplify PUBLIC_INTERFACE declaration

	[Doc] Correct doc of LieGroups

	[Test] Update LieGroup to be indepedant from joint methods {integrate,difference,interpolate,normalize}.

2018-04-22  jcarpent  <jcarpent@laas.fr>

	[Liegroup] Remove useless lines

2018-04-20  jcarpent  <jcarpent@laas.fr>

	[Test] Fix checking of data.oh

	[Test] Fix accuracy of results

	[Test] Correct Romeo URDF path

2018-04-20  Gabriele Buondonno  <gbuondon@laas.fr>

	Fix TYPEDEF for GNUC 442

2018-04-20  jcarpent  <jcarpent@laas.fr>

	[All] Update Romeo model path

	[Model] Add romeo model as submodule

	[Model] Remove Romeo models

	[Lie Group] Remove useless warning

	[Python] Update robotWrapper

	[Python] Allows stack of model from URDF

	[Frame] Ajust API according to the Joint Jacobian API

2018-04-20  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #454 from gabrielebndn/topic/joint-base
	Fix TYPEDEF for GNUC 442

2018-04-19  Gabriele Buondonno  <gbuondon@laas.fr>

	Fix TYPEDEF for GNUC 442

2018-04-16  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #452 from jcarpent/topic/romeo
	Use ROMEO description as model

2018-04-16  jcarpent  <jcarpent@laas.fr>

	[All] Update Romeo model path

	[Model] Add romeo model as submodule

	[Model] Remove Romeo models

	[Lie Group] Remove useless warning

2018-04-16  Justin Carpentier  <jcarpent@laas.fr>

	[Test] Remove useless warnings

2018-04-03  jcarpent  <jcarpent@laas.fr>

	[Gitlab] Change to make check instead of make test

	[Gitlab] Update to new server configuration

	[CMake] Fix missing dependency

	[Python] Expose getJacobian algo

	[Bench] Update timings of derivatives

	[Python] Correct display

	[All] Remove useless warnings

	[Macro] Fix compatibility with 16.04

	[Spatial] Fix bug with old version of GCC

	[All] Add PINOCCHIO_MACRO_EMPTY_ARG

	[Constraint] Avoid explicit cast of sparse constraint to dense one. Add matrix methods with correct output

	[Constraint] Make constructors explicit

	[Constraint] Use inertiaAction to perform sparse computations

	[Test] Fix missing namespace

	[Bench] Add benchmark of derivatives of ABA

	[Algo] Fix bugs

	[Algo] Remove useless warnings

	[Bench] Bench computation of the inverse of M

	[Parsers] Fix pointer type

	[Algo] Fix matrix type

	[Algo] Add derivatives of the ABA algo

	[Algo] Add algo to compute the inverse of the joint space inertia matrix

	To merge with algo Minv chol

	[Algo] Remove useless computations in ABA

	[Bench] Add benchmark of Cholesky algo

	[Algo] Slightly improve performances of ABA

	[Cholesky] Add algo to invert the joint space inertia matrix

	[Test] Update Cholesky test

	[Cholesky] Add internal struct for taylored computations depending on the Mat::ColsAtCompileTime

	[Model] Use RowMatrix instead of MatrixR naming for Row major matrices

	[Cholesky] Specialize algo for ColXpr too

	[Data] Add explicit data.Dinv quantity for cholesky computations

	[Model] Use o{f,h} instead of local {f,h}

	[Algo] Minor improvement of computation times for ABA

	[All] Change oYo to oYcrb

	[Parsers] Remove useless lines

	[Python] Expose RNEA derivatives

	[Data] Remove data.dtau_da reference on data.M
	It seems that Python does not support at the alignment level such reference.

	[Algo] Add default quantities in Data to store results of rnea-derivatives

	[All] Remove useless warnings

	[Algo] Allows an external third argument for RNEA derivatives

	[Spatial] Use vectorized operations on Motion{Tpl,Ref}

	[Spatial] Remove useless lines

	[Spatial] Avoid division - use multiplacation instead

	[Spatial] Use AlphaSkewSquare struct in Inertia::vxi operator

	[Bench] Add bench for derivatives algo

	[Cmake] Refactorize bench by adding ADD_BENCH macro

	[Joint] Return the right type

	[All] Replace definition EIGEN3_{FUTURE,BETA} by internal Eigen macro

	[CMake] Add SYSTEM info to INCLUDE_DIRECTORIES macro
	It removes useless warnings

	[Spatial] Add default operator{*,/} for Force and Motion classes

	[Algo] Remove usless warning

	[Algo] Add computeRNEADerivatives algo

	[Algo] Correct function name

	[Algo] Avoid useless computations in computeGeneralizedGravityDerivatives

	To merge with [Algo] Add derivatives of compiteGeneralizedGravity

	[Algo] Struct naming fix

	[Doc] Update doc of computeGeneralizedGravityDerivatives

	[Algo] Small improve of computation times in Cholesky algo

	[Bench] Add timings of computeCoriolisMatrix

	[Algo] Add derivatives of compiteGeneralizedGravity

	[Algo] Improve performances of coriolisMatrix algo + minor clean

	[Spatial] Add motionSet action on Force

	[Spatial] Add missing group action return type for {Motion,Force}Dense

	[Spatial] Split act-on-set into declaration and implementation files

	To merge with [Spatial] Overload actOnSet function with optional operator affectati…

	[Algo] Use overloaded motionAction

	[Spatial] Overload actOnSet function with optional operator affectation type: setTo, addTo and rmTo

	[Algo] Use data.ov instead of local variable

	[Spatial] Add missing ReturnType for MotionRef with motionAction

	to merge with [Test] Remove useless BOOST_CHECK

	[Spatial] Add constructor for AlphaSkewSquare struct in Symmetric3Tpl

	[Joints] Correc return of S.transpose()*f operations

	[Test] Remove useless BOOST_CHECK

	[Spatial] Add action of Inertia on MotionSet

	[Spatial] Update operator* to operate on MotioDense

	[Spatial] Minor reorganization of actOnSet operations

	[Parsers] Clean SRDF file

	[Macros] Support older version of Eigen

	[Multibody] Use ActOnSet operators for generic ConstraintTpl

	[Spatial] Use base classes {Motion,Force} motionAction methods

	[Spatial] Update naming of {force,motion}Set::motionAction

	[Test] Add test on MotionRef and ForceRef with columns elements

	[Spatial] Handle carrefully non-const output argument

	[Spatial] Use correct input type for {Motion,Force}Ref types

	[Spatial] Use generic {Force,Motion}Dense classes for SpatialAxis operators

	[Spatial] Fix macro MOTION_TYPEDEF

	[Python] Fix bug related to isApprox for Force class

	[Joints] Uniformize return type with respect to the new API of Force classes

	[Spatial] Introduce ForceDense and ForceRef

	[Motion] Correct return type for toVector return types

	[All] Add macro for return type of dot product

	[Macros] Handle older version of Eigen

	[Spatial] Add specific return type for toVector method

	[Spatial] Forward declaration of Motion{Dense,Ref,Tpl} and BiasZero

	[Test] Add minimal test for BiasZero

	[Spatial] Correct operators

	[Python] Correct isApprox method

	[Spatial] Add method addTo for all non MotionDense types

	[Spatial] Uniformize operator== for all Motion types

	[Spatial] Remove useless includes

	[Spatial] Add MotionRef class

	[All] Add macro to get ref on Eigen objects

	[Spatial] Add missing operators for MotionDense class

	[Spatial] Correct return type of basic operations on Motion

	[All] Introduce MOTION_TYPEDEF macro to replace the generic SPATIAL_TYPEDEF

	[Spatial] Split Motion in several files and add MotionDense class

	[CMake] Fix EXCLUDE_FROM_ALL option

	[Spatial] Add spatial axis struct

	[Spatial] Add cartesian axis struct

	[Test] Add test for forward kinematics derivatives algo

	[Algo] Add derivative of spatial velocity and acceleration

	[Spatial] Add {motion,force}set::se3ActionInverse

	[Test] Update template parameters to use LOCAL or WORLD

	[Python] Uniformize init and load of model inside the GUI   Now:     - initDisplay just create a window and a scene which is automatically   added to the window     - loadDisplayModel create a group node for the robot and load visual   geometries

	[Doc] Correct doc for kinematics algo

	[Test] Test computeJacobiansTimeVariation against finite differences

	[Algo] Correct algo for computing dAg

	[Joints] Use the right methods for columns selection

	[Algo] Add algo to compute the Coriolis matrix

	[Spatial] Add templated operator* for Symmetric3Tpl class

	[All] Replace variation naming of methods by motionAction

	[Motion] Introduce the notion of MotionAlgebraAction
	This allows to write for each Spatial structure its own overloading of
	cross operator

	[All] Change ActionReturn for SE3GroupAction and Type for ReturnType

	[Algo] use motionSet::se3Action

	[Spatial] Add se3action for action of motion onto {motion, force}sets

	[Spatial] Add ivx operator for Inertia

	[Python] Add missing exposition of std::vector<int>

	[Spatial] Add method svx to Symmetric3 class

	[Spatial] Change name of method. Use vxs instead of cross

	[Python] Expose operators vtiv and vxiv of Inertia class

	[Python] Minor clean of the doc of data

	[Data] Add Coriolis matrix inside Data

	[Spatial] Add time derivatives of the Inertia matrix (vxi operator)

	[Spatial] use EIGEN_PLAIN_TYPE macro in skew operations

	[Spatial] Add optimized cross operator to Symmetric3

	[Spatial] Uniformize API of cross operations

	[All] Add macro to define the equivalent plain type of a given matrix

	[Test] Add computeGeneralizedGravity algorithm test

	[Algo] Add algo to compute the generalized gravity vector
	This algo is extracted from RNEA directly

	[Model] Introduce the generalized gravity vector

	[Doc] Add important remark related to getJacobianComFromCrba

	[Algo] Add additional extraction for getJacobianComFromCrba

2018-04-02  Justin Carpentier  <jcarpent@laas.fr>

	[Test] Remove useless warnings

2018-03-21  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #447 from jcarpent/topic/urdf
	Handle XML stream inside URDF parsers

2018-03-21  jcarpent  <jcarpent@laas.fr>

	[Python] Expose new URDF parsers

	[Test] Add additionnal test to URDF parsing

	[URDF] Add XML loader from string input

	[Test] Refactor URDF

	[URDF] Add default function to load geometries from a string path

2018-03-21  Justin Carpentier  <jcarpent@laas.fr>

	Add tutorial information

2018-03-09  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #443 from jmirabel/devel
	Add derivative of the difference operation.

2018-03-09  Joseph Mirabel  <jmirabel@laas.fr>

	[unittest] Add unit test for LieGroupOperationBase::Jdifference

	[Minor][C++] Update function prototype.

	[C++] Implement SpecialEuclideanOperation::Jdifference_impl

	[C++] Implement SpecialOrthogonalOperation::Jdifference_impl

	[C++] Implements CartesianProductOperation::Jdifference_impl

	[C++] Implement VectorSpaceOperation::Jdifference_impl

	[C++] Add LieGroupOperationBase::Jdifference

	[C++] Add Jacobian of log3 and log6

	[C++] Update SpecialEuclideanOperation and SpecialOrthogonalOperation

2018-03-07  jcarpent  <jcarpent@laas.fr>

	[Model] Change naming of rotor inertia

2018-03-06  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #442 from proyan/topic/srdfrotorparams
	Topic/srdfrotorparams

2018-03-06  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[parsers/srdf] parse rotor mass and gear params from srdf

2018-02-23  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #441 from jcarpent/topic/pickle
	Add pickle support for Spatial classes in Python

2018-02-23  jcarpent  <jcarpent@laas.fr>

	[Python] Add Pickle for basic spatial classes

2018-02-15  Nicolas Mansard  <nmansard@laas.fr>

	Merge pull request #439 from jmirabel/devel
	[Python] Fix RobotWrapper constructor when package_dirs is None

2018-02-14  Joseph Mirabel  <jmirabel@laas.fr>

	[Python] Fix RobotWrapper constructor when package_dirs is None

2018-02-07  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #435 from jmirabel/devel
	Add algo to compute the Jacobian of the integration operation + some code cleaning.

2018-02-07  Joseph Mirabel  <jmirabel@laas.fr>

	[Minor][C++] Minor optimization in SpecialEuclideanOperation<2>

2018-02-06  Joseph Mirabel  <jmirabel@laas.fr>

	[Minor][C++] Make static assertion permissive

	[C++] Simplyfy SpecialEuclideanOperation<2>::integrate

	[C++] Fix SpecialEuclideanOperation<2>::exp

	[unittest] Fix joint-configurations

	[C++] Fix SpecialEuclideanOperation<2>::log

	[unittest] Minor change

	[C++] Improve SE(2) Lie group operation

	[C++] Improve log3 and log6

	[unittest] Add unit tests for Jintegrate of LieGroupOperationBase

	[C++] Add Jintegrate in LieGroupOperationBase and derived class

	[C++] Minor bug fixes in LieGroup classes

2018-02-05  Joseph Mirabel  <jmirabel@laas.fr>

	[C++] Fixed size VectorSpaceOperation does not have a size dynamic member.

	[C++] Clean code in Lie Group classes

2018-01-19  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #433 from jcarpent/devel
	Add static regressor

2018-01-18  jcarpent  <jcarpent@laas.fr>

	[Algo] Add algo to compute the static regressor of the center of mass

2018-01-16  jcarpent  <jcarpent@laas.fr>

	[Doc] Precise output of getFrameJacobian

2018-01-15  jcarpent  <jcarpent@laas.fr>

	[Gitlab][Travis] Use urdfdom from official repository

	[Parsers] Fix bug related to old version of urdfdom

2018-01-14  Justin Carpentier  <jcarpent@laas.fr>

	[Joints] Fix warning.
	I don't know why, but for some old compiler, they cannot guess right template arguments.
	Should be fixed later.

2018-01-14  jcarpent  <jcarpent@laas.fr>

	[Doc] Specify the frame in which the quantities are expressed

	[Travis] Increase travis_wait time

	[Test] Increase URDF test with input joint

	[Checker] Authorize variadic macro
	This fix a bug in 16.10 and later with compiling issues

	[Model] Add missing template specialization
	This fix a bug related to recent versions of GCC under 16.10 and more

	[Multibody] Remove useless warning

	[Spatial] Fix compatibility with 17.04

2018-01-14  Joseph Mirabel  <jmirabel@laas.fr>

	[fcl] Remove unnecessary conversion functions

	[FCL] Flag FCL_HAVE_EIGEN does not exist anymore

2018-01-14  Olivier Stasse  <ostasse@laas.fr>

	[c++11] Making pinocchio compiles with c++11 Fix access to boost::variant::extract in model.hpp and parsers.hpp.

2018-01-14  jcarpent  <jcarpent@laas.fr>

	[Travis] Fix bug related to new Ubutun 14.04 image

	[Python] Add SE3*Vector3 operator

	[All] Use the notion of LOCAL and WORLD frame
	It replaces the old way to access this frame through a boolean
	templated parameter

	[Multibody] Introduce the notion of LOCAL and WORLD frames

	[Algo] Split frames into two files .hpp and .hxx

	[Algo] Remove overloading of getFrameJacobians
	It now only returns the Jacobian of the FRAME expressed in the local
	coordinate frame of the FRAME itself.

2018-01-11  Guilhem Saurel  <guilhem.saurel@gmail.com>

	[Gitlab-ci] use CI_REGISTRY_IMAGE

2017-12-18  Guilhem Saurel  <guilhem.saurel@gmail.com>

	[Gitlab-ci] build pages

2017-12-13  Guilhem Saurel  <guilhem.saurel@gmail.com>

	[Gitlab-ci] use ccache

2017-12-12  Guilhem Saurel  <guilhem.saurel@gmail.com>

	use robotpkg-urdfdom in 14.04

	[Gitlab-ci] add zesty

	[Gitlab-ci] Create .gitlab-ci.yml & Dockerfiles

2017-12-06  jcarpent  <jcarpent@laas.fr>

	[Python] Use correct setter for the inertia parameter of a spatial Inertia

2017-12-05  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #425 from jmirabel/devel
	Handle capsules and cylinders in a cleaner way.

2017-12-05  Joseph Mirabel  <jmirabel@laas.fr>

	[URDF] Do not throw when the list of package directory is empty.

	[URDF] Throw exception when URDF could not be read.

	[models] Add a geometry in simple_humanoid.urdf

	[unittest] URDF unittest reads collision geometry

	[URDF] Add class UrdfTree to enable reading extra tags in URDF

2017-12-04  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #422 from jcarpent/topic/clean
	Clean code + add normalize method inside Lie Groups

	Merge pull request #420 from jcarpent/topic/devel
	Fix several issues + add target python

2017-12-01  jcarpent  <jcarpent@laas.fr>

	[Algo] Add missing declaration of distance function

	[Algo] Remove useless lines

	[Algo] Change normalize algo to directly work with LieGroups

	[Algo] Add additional MACROS

	[Test] Add test for normalize method in LieGroups

	[Joints] Add missing normalize method

	[LieGroups] Add normalize methods in LieGroups

	[LieGroups] Fix interpolate metod

	[LieGroups] Correct integrate method

	[Doc] Correction of the doc for LieGroups

	[Algo] Split joint-configuration into .hpp and .hxx

2017-11-30  jcarpent  <jcarpent@laas.fr>

	[CMake] Add python target
	Now it sufficient to make python to compile the Python bindings

	[Test] Correct test for RNEA with forces

	[Algo] uniformize API for jacobian algo with respect to getJacobian

	[Algo] Fix naming issue

2017-11-29  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #419 from jcarpent/topic/python
	Add missing evaluation of the Frame Forward Kinematics

2017-11-28  jcarpent  <jcarpent@laas.fr>

	[Python] Add missing evaluation of the Frame Forward Kinematics

2017-11-14  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #415 from proyan/devel
	[bindings][robot_wrapper] add framePosition

2017-11-14  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[bindings][robot_wrapper] add framePosition

2017-11-10  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #414 from proyan/devel
	Add frame{Velocity,Acceleration} methods to robot_wrapper.

2017-11-10  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[bindings][robot_wrapper] add frameVelocity

	[bindings][robot_wrapper] add frameAcceleration to robot_wrapper. Currently only jointAccelerations are supported

2017-11-09  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #413 from proyan/devel
	Handle external forces in ABA

2017-11-09  Rohan Budhiraja  <proyan@users.noreply.github.com>

	[aba] accept external forces in aba. [unittest][aba] check aba with external force [bindings][aba] create binding for aba with ext force

2017-11-07  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #412 from jmirabel/devel
	[Documentation] Turn off verbosity.

2017-11-07  Joseph Mirabel  <jmirabel@laas.fr>

	[Documentation] Turn off verbosity.

2017-10-31  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #411 from jcarpent/topic/devel
	Update container aligned_vector 

2017-10-30  jcarpent  <jcarpent@laas.fr>

	[Container] Add operator== for aligned_vector

2017-10-27  jcarpent  <jcarpent@laas.fr>

	[Container] Make aligned-vector as struct with only public field

	[CMake] Sync module cmake

2017-10-20  jcarpent  <jcarpent@laas.fr>

	[CMake] Remove useless include

	[CMake] Use directly IDE macros fron cmake modules

	[CMake] Sync submodule

2017-10-09  jcarpent  <jcarpent@laas.fr>

	[Spatial] Fix bug related to Eigen >= 3.3.x

	[CMake] HPP-FCL required version is now 0.5.1

2017-10-09  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #410 from jcarpent/topic/devel
	Fix bug in distance computation

2017-10-09  jcarpent  <jcarpent@laas.fr>

	[Unit Test] Add distance algo checking

2017-10-05  jcarpent  <jcarpent@laas.fr>

	[Python] Correct exposition of distance algo + add squaredDistance

	[Algo] Add distance algo and its default version

2017-10-04  jcarpent  <jcarpent@laas.fr>

	[Multibody] Partial remove of operator== for DistanceResult

2017-10-02  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #409 from jcarpent/topic/devel
	Fix bug related to joint Spherical

2017-10-02  jcarpent  <jcarpent@laas.fr>

	[Unit Test] Make dccrba test more robust

	[Unit Test] Add test on the operation Ydense*S

	[Joints] Add missing operator Ydense*S for Spherical Joint

	[Python] Add missing comments

	[Joints] Fix potential bug with old version of GCC when using block selector

2017-09-29  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #408 from jcarpent/topic/devel
	Fix bug related to HPP-FCL

2017-09-29  jcarpent  <jcarpent@laas.fr>

	[Test] Use random in dCCRBA unit test

	[Python] Fix bug when hpp-fcl is missing

2017-09-28  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #407 from jmirabel/devel
	Add overload of buildModel and buildGeom

2017-09-28  Joseph Mirabel  <jmirabel@laas.fr>

	[SRDF] Support SRDF as XML string and split declaration and definition

	Add overload of buildModel and buildGeom
	* in order to build model from XML string (standard in ROS)

2017-09-28  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #406 from florent-lamiraux/devel
	Add methods "name" and "neutral" in OperationBase and derived classes

2017-09-28  Florent Lamiraux  <florent@laas.fr>

	Add neutral element in OperationBase and derived classes.

	Cosmetic : fix documentation and compilation warnings.

	Add method name () in OperationBase and derived classes.

2017-09-28  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #405 from jcarpent/topic/ag-variation
	Implement time derivative of the centroidal momemtum matrix

2017-09-28  jcarpent  <jcarpent@laas.fr>

	[Python] Expose the algo for derivation of the centroidal momentum matrix

	[Joint] Expose missing operator Ydense * S

	[Algo] Add algo to compute the time derivative of the Centroidal Momentum Matrix

	[Joints] Add variation operation for Constraints struct

	[Spatial] Make skew functions compatible with block structures

	[Spatial] Add time variation of a Inertia according to the current spatial velocity of a the body

	[Spatial] Add scalar multiplication of a motion vector

	[Python] Expose to{Dual}ActionMatrix for Motion class

	[Spatial] Add dualActionMatrix to Motion class

2017-09-27  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #403 from florent-lamiraux/devel
	Fix bug in parser urdf + add copy constructor in VectorSpaceOperation

2017-09-27  Florent Lamiraux  <florent@laas.fr>

	Add copy constructor in VectorSpaceOperation.

	In urdf parser, handle failure to insert an already existing frame.
	  - in function addJointAndBody, when add frame with name joint_name, if the
	    joint already exists, method Model::addJointFrame returns -1. This event was
	    not detected leading to undefined behavior.
	  - this commit detects this error and throws an exception.

2017-09-27  jcarpent  <jcarpent@laas.fr>

	[Spatial] Add new skewSquare linear operator from two 3d vectors

	[Spatial] Simplify operations for matrix implementation in InertiaTpl

2017-09-26  jcarpent  <jcarpent@laas.fr>

	[Doc] Minor correction of the doc for ccrba

2017-09-26  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #402 from jcarpent/topic/jacobian-variation
	Add algo to compute [inefficiently] the time variation of the joint jacobian

2017-09-26  jcarpent  <jcarpent@laas.fr>

	[LieGroup] Fix some bugs

	[Algo] Improve Motion cross operation

2017-09-24  jcarpent  <jcarpent@laas.fr>

	[Spatial] Fix bug in templated method

	[Bench] Add computeJacobiansTimeVariation to the bench

	[Python] Expose algo to derived with respect to time the joint Jacobian

	[Unit test] Add unit test of the time derivative of J

	[Algo] Add algo to compute inefficiently the time derivative of the joint Jacobian

	[Model] Add time derivative quantity of the joint Jacobian J

	[Git] Sync submodule cmake

2017-09-18  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #400 from florent-lamiraux/fix-assertion
	In exp3, modify assertion

	Merge pull request #399 from florent-lamiraux/devel
	Lie group operation struct are aware of the dimension of the element they manipulate

2017-09-13  Florent Lamiraux  <florent@laas.fr>

	In exp3, modify assertion
	  Previous implementation did not accept a vector of dynamic size of size 3.
	  This commit fixes the issue.

2017-09-04  Florent Lamiraux  <florent@laas.fr>

	Make random sampling methods non-static and const.
	  - This is necessary to correctly implement random sampling in dynamic-sized
	    vector space.

	In Lie group operation, add method derived to get object cast in derived type.

2017-09-02  Florent Lamiraux  <florent@laas.fr>

	Add dimension getters in LiegroupOperation classes

	Add member size in VectorSpaceOperation
	  - VectorSpaceOperation <-1> corresponding to operations on dynamic size
	    vectors now handles vectors of given size.

2017-07-27  jcarpent  <jcarpent@laas.fr>

	[Multibody] Minor correction of English typo

2017-07-20  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #395 from jcarpent/topic/devel
	Handle the new convention for quaternion representation with the viewer

2017-07-19  jcarpent  <jcarpent@laas.fr>

	[Python] Handle the new convention for quaternion representation with the viewer

2017-06-26  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #393 from jcarpent/topic/devel
	Minor fix of bugs with c++11

2017-06-25  Nicolas Mansard  <nmansard@laas.fr>

	Merge pull request #394 from nmansard/devel
	[Python] Added static method in geometry API to create a capsule object

2017-06-25  Mansard  <nmansard@laas.fr>

	[Python] Added static method in geometry API to create a capsule object and add it to GeomModel.

2017-06-23  jcarpent  <jcarpent@laas.fr>

	[Parsers] Fix bug in the use of std::ostringstream

	[Algo] Correct jacobian of frames algo

2017-06-21  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #392 from jcarpent/topic/devel
	Correct frameJacobians

2017-06-19  jcarpent  <jcarpent@laas.fr>

	[Unit Test] Correct unit test on frame jacobians

	[Algo] Correct jacobian of frames algo

2017-06-16  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #391 from jcarpent/topic/fix
	Fix bug with SRDF parsers and handle bug in Eigen 3.2.9x pre-release version

2017-06-14  jcarpent  <jcarpent@laas.fr>

	[CMake] Handle precise version of Eigen

	[All] Add generic macro to support bug in Eigen 3.2.9x

	[Parsers] Add missing include

2017-06-08  jcarpent  <jcarpent@laas.fr>

	[Examples] Add example on how to load a Romeo with Python

	[Parsers] Add default verbose for SRDF

	[Algo] Update centerOfMass algo with a single function

	[Python] Set joint FreeFlyer as default for RomeoWrapper

	[Unit Test] Add tests on skew function

	[Spatial] Handle block quantity as input of skew function

2017-06-08  Justin Carpentier  <jcarpent@laas.fr>

	Add Questions section in Readme

2017-06-07  Justin Carpentier  <jcarpent@laas.fr>

	Update README.md

2017-05-24  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #388 from olivier-stasse/devel
	Add name to model and set it when loading a urdf file.

2017-05-24  Olivier Stasse  <ostasse@laas.fr>

	Add name to model and set it when loading a urdf file.
	Useful when one does not known which robot will be loaded.

2017-05-22  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #387 from jmirabel/devel
	Update to last changes in hpp-fcl

2017-05-10  Joseph Mirabel  <jmirabel@laas.fr>

	Update to last changes in hpp-fcl
	* hpp-fcl uses only Eigen types in future version.
	* The FCL_HAVE_EIGEN makes it compatible with older version of hpp-fcl.
	* See comment in src/spatial/fcl-pinocchio-conversions.hpp
	* for more details.

2017-04-10  jcarpent  <jcarpent@laas.fr>

	[Spatial] Force evaluation of expressions

2017-03-31  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #383 from jcarpent/devel
	Handle FCL exposition if hpp-fcl is not found

2017-03-31  jcarpent  <jcarpent@laas.fr>

	[CMake] Handle FCL exposition if hpp-fcl is not found

2017-03-30  jcarpent  <jcarpent@laas.fr>

	[Python] Use .osg objects if they exist instead of .dae

	[Parser] Fix value of the mesh scale

	[Algo] Remove useless ifndef

	[Parsers] Fix bug in the cast using right caster

	[Parsers] Move URDF types to a dedicated file

	[Parsers] Use right shared_ptr type according to the URDFDOM version

	[Parsers] Fix bug when using std::shared_ptr

	[Algo] Add check of data consistency wrt model

	[Multibody] Add check of data with respect to model
	Call simply model.check(data)

	[Algo] Add missing include + improve doc

	[Algo] Add missing inline

	[Spatial] Add missing const operator

2017-03-30  Justin Carpentier  <jcarpent@laas.fr>

	Update README.md

2017-02-02  jcarpent  <jcarpent@laas.fr>

	[Python] Fix missing file

	[Python] Move exposition of CollisionResult vector

	[Python] Start to expose FCL objects

	[Python] Clean code

	[Python] Allow alignment allocation

	[Python] Move enum GeometryType to GeometryObject

	[Joint] Correct arg for copy constructor

	[Joint] Correct bug in typedef call for templated struct

	[CMake] Sync submodule cmake

	[Python] Homogenise variable names

	[Spatial] Add SE3 method to generate the dual action matrix

2017-02-01  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #372 from jmirabel/devel
	Minor changes

2017-02-01  Joseph Mirabel  <jmirabel@laas.fr>

	[C++][Parser] Throw exception when mesh file is not found

	[C++][Minor] Change threshold in firstOrderNormalize

2017-01-24  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #370 from proyan/devel
	[C++][Visual] Save "Material" information in geometry object

2017-01-24  Rohan Budhiraja  <budhiraja@laas.fr>

	[C++][Minor] Use fixed size eigen vectors instead of dynamic size vectorxd

2017-01-23  Rohan Budhiraja  <budhiraja@laas.fr>

	[C++][Visual] Save "Material" information in geometry object

2017-01-18  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #369 from proyan/devel
	[Minor][Spelling] biais in english is bias.

2017-01-18  Rohan Budhiraja  <budhiraja@laas.fr>

	[Minor][Spelling] biais in english is bias.

2017-01-17  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #368 from jmirabel/devel
	[Minor][C++] Homogenize behaviour of URDF regarding root joint.

2017-01-16  Joseph Mirabel  <jmirabel@laas.fr>

	[Minor][C++] Homogenize behaviour of URDF regarding root joint.
	* In both cases, the frame tree starts with frame "root_joint"

2017-01-12  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #367 from proyan/devel
	Update viewer method according to the new Gepetto-Viewer API

2017-01-12  Rohan Budhiraja  <budhiraja@laas.fr>

	[Python] Fix robot_wrapper binding
	* addMesh returns boolean. Proceed only if addMesh is True

2017-01-10  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #366 from jmirabel/devel
	[Minor][C++] URDF parser uses JointModelRevoluteUnbounded for continuous

2017-01-09  Joseph Mirabel  <jmirabel@laas.fr>

	[Minor][C++] URDF parser uses JointModelRevoluteUnbounded for continuous
	* When not set, the limits are set to infinity.

2017-01-06  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #365 from jmirabel/devel
	[C++] Move space operation to new class LieGroup and inherited classes.

2017-01-05  Joseph Mirabel  <jmirabel@laas.fr>

	[C++] Add unit test for VectorSpaceOperation::randomConfiguration

	[Python] Fix Python bindings

	[C++] Add precision argument to isSameConfiguration

	[Minor][C++] Fix compilation issues

	[Minor][C++] Forward declare joints in joint/fwd.hh

	[Minor][C++] Clean code of LieGroupOperationBase

	[C++] Rename special orthogonal and euclidean class
	* SE(n) -> SpecialEuclideanOperation<N>
	* SO(n) -> SpecialOrthogonalOperation<N>

	[C++] Implement algorithms in src/algorithm/joint-configuration.hpp

	[C++] Add size checks in LieGroupOperationBase

	[C++] Clean code of lie groups

	[Minor][C++] Add precision argument in defineSameRotation(Quat,Quat)

2017-01-03  Joseph Mirabel  <jmirabel@laas.fr>

	[Minor][C++] Fix random methods of JointModelPlanar

	[C++] Move space operation to new class LieGroup and inherited classes.
	* The spaces taken into account are SO1, SO3, SE1, SE3, vector spaces
	* and Cartesian product of two of them.

2017-01-03  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #364 from jmirabel/devel
	Planar joint uses cosine and sine of the angle.

2017-01-03  Joseph Mirabel  <jmirabel@laas.fr>

	[Minor][C++] Add missing cast and clean code.

2016-12-20  Joseph Mirabel  <jmirabel@laas.fr>

	[C++] Fix JointModelPlanar and update unit tests

2016-12-19  Joseph Mirabel  <jmirabel@laas.fr>

	[C++] Planar joints uses (cos,sin) instead of angle.

	[C++] Fix JointModelPlanar::isSameConfiguration_impl

	[C++] log3 the shortest possible vector.

2016-12-13  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #363 from proyan/devel
	[Geometry] [Viewer] add scaling parameter to GeometryObject.

2016-12-13  Rohan Budhiraja  <budhiraja@laas.fr>

	[Geometry] [Viewer] add scaling parameter to GeometryObject.

2016-12-07  jcarpent  <jcarpent@laas.fr>

	[CMake] Lua is now optional.
	One has to set explicitely BUILD_WITH_LUA_SUPPORT ON to build the Lua parsers.

2016-11-30  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #361 from jcarpent/devel
	Improve compatibility of the lib + fix bug in potential energy

2016-11-30  jcarpent  <jcarpent@laas.fr>

	[Algo] Fix computation of potential energy

	[Multibody] Correct frame print operator

	[Unit Test] Change precision of the expected results to comply with Eigen 3.3.0

	[Lua] Ensure compatibility with lua 5.2

	[CMake] Add option to tag library version

2016-11-28  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #360 from florent-lamiraux/devel
	Fix bug in computeBodyRadius

2016-11-28  Florent Lamiraux  <florent@laas.fr>

	Fix bug in computeBodyRadius
	  There was a confusion between radius and radius squared.

2016-11-18  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #359 from jcarpent/devel
	Add isApprox and comparison operators to Spatial classes

2016-11-18  jcarpent  <jcarpent@laas.fr>

	[Python] Expose comparison operators

	[Spatial] Add comparison operator

	[Unit Test] Add test for isApprox operator

	[Python] Expose isApprox for Spatial classes

	[Spatial] Add isApprox method in Motion, Force, Symmetric3 and Inertia

	[Spatial] Add temporary operator to act ont Eigen object

2016-11-10  jcarpent  <jcarpent@laas.fr>

	[Joints] Fix alignment issue in JointModelComposite

2016-11-09  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #358 from jcarpent/devel
	Add default value to JointModelBase indexes

2016-11-08  jcarpent  <jcarpent@laas.fr>

	[Unittest] Increase JointModel tests

	[Algo] Fix bug in the use of BOOST_FOREACH

	[Joint] Set default value for indexes in JointModelBase

2016-11-07  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #357 from jcarpent/devel
	Multiple fixes

2016-11-06  jcarpent  <jcarpent@laas.fr>

	[Algo] Add a simple algo to update the global placement of the joints when only relative placement are computed

2016-11-04  jcarpent  <jcarpent@laas.fr>

	[Algo] Avoid useless computations with frame index 0

	[Spatial] Remove useless warning by forcing cast

	[Geometry] Clean FCL conversion tools

	[Python] Use the right increment method

	[Python] Make Model copiable

	[Python] Expose shortname method to JointModel

2016-10-27  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #356 from jcarpent/devel
	Clean Joint{Model,Data}Base + refactor Joint{Model,Data}Composite

2016-10-26  jcarpent  <jcarpent@laas.fr>

	[Joints] Correct assignment

	[Unittest] Update tests according to JointCompite new API

	[Joints] Update JointCompsite
	It now properly does right computation.

	[Joints] Add isApprox operator

2016-10-25  jcarpent  <jcarpent@laas.fr>

	[C++] Add missing include

	[Spatial] Use const_cast to allow block passing arguments

	[Joints] Use correct setIndexes setter for operator= in JointModelBase

	[Joints] Fix bug in visitor signature

2016-10-22  jcarpent  <jcarpent@laas.fr>

	[Joints] Clean JointModelBase

	[Joints] Refactoring JointDataBase

2016-10-21  jcarpent  <jcarpent@laas.fr>

	[Multibody] Refactoring of class Frame

2016-10-20  jcarpent  <jcarpent@laas.fr>

	[Python] Update Inertia methods

	[Python] Fix bug in exposing subtrees quantity

	[Python] Fix bug in bindings

2016-10-19  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #355 from florent-lamiraux/devel
	Fix bug in parsing of ROS_PACKAGE_PATH variable

2016-10-19  Florent Lamiraux  <florent@laas.fr>

	Fix bug in parsing of ROS_PACKAGE_PATH variable
	  - last path was not retrieved.

2016-10-19  Mansard  <nmansard@laas.fr>

	[PY] Add derivative algorithms (prototypes in beta version).

2016-10-18  jcarpent  <jcarpent@laas.fr>

	[Python] Fix missing operators for SE3 class

2016-10-18  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #354 from jcarpent/devel
	Fix some bugs in bindings for overloaded methods

2016-10-18  jcarpent  <jcarpent@laas.fr>

	[Python] Expose the default argument version of jacobianCenterOfMass

	[Python] Expose default argument version of getFrameId

	[Python] Add act method on Force and Motion

	[Python] Expose default signature of existFrame

2016-10-14  Justin Carpentier  <jcarpent@laas.fr>

	[CMake] hpp-fcl depency is needed

2016-10-14  jcarpent  <jcarpent@laas.fr>

	[CMake] Use ADD_COMPILE_DEPENDENCY

2016-10-14  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #353 from jcarpent/devel
	Clean Python bindings by removing useless proxy

2016-10-14  jcarpent  <jcarpent@laas.fr>

	[Python] Remove useless proxy

	[Python] Correct exposition of config vector normalisation

2016-10-14  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #352 from jcarpent/devel
	Solved bugs relative to 32bits handling

2016-10-13  jcarpent  <jcarpent@laas.fr>

	[Algo] Fix alignment issue by using correct allocator

	[Multibody] Add missing include

2016-10-12  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #351 from jcarpent/topic/python
	Clean Python bindings

2016-10-12  jcarpent  <jcarpent@laas.fr>

	[Python] Clean GeometryData bindings

	[Python] Clean CollisionPair bindings

	[Python] Clean GeometryModel bindings

	[Python] Clean Data bindings

	[Python] Clean Model bindings

	[Python] Clean GeometryObject bindings

	[Python] Clean the exposition of aligned vector

	[Python] Introduce struct to expose both std::vector and aligned_vector

	[Python] Clean Frame bindings

	[Python] Clean Inertia bindings

	[Python] Clean Force bindings

	[Python] Remove useless overloading methods

	[Python] Clean Motion bindings

	[Python] Clean SE3 bindings

	[Python] Add printable visitor

	[Python] Change python.hpp to fwd.hpp

	[Python] Correct exposition of Frame class

	[Python] Add copyable method to create a raw copy of Spatial classes

	[CMake] Correct project group

	[Python] Reorganize bindings

	[Python] Remove unaligned conversion

	[CMake] Sync submodule cmake

2016-10-10  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #350 from jcarpent/devel
	Ensure compatibility with OpenNao

2016-10-10  jcarpent  <jcarpent@laas.fr>

	[CMake] Sync submodule cmake

2016-10-07  jcarpent  <jcarpent@laas.fr>

	[Unit Test] Correct instantiation of TEST
	To comply with OpenNao and its BOOST version, the BOOST_TEST_MODULE
	must be used as TEST_SUITE name

	[CMake] Remove useless definition

	[CMake] Clean dependencies in Benchmark

2016-10-06  jcarpent  <jcarpent@laas.fr>

	[CMake] fix path for install Python wrapper

2016-10-04  jcarpent  <jcarpent@laas.fr>

	[CMake] Ensure compatibility with Eigen 3.2.10

2016-09-30  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #349 from jcarpent/devel
	Fix bug in alignment of std::vector

2016-09-30  jcarpent  <jcarpent@laas.fr>

	[Alignment] Introduce aligned_vector to specialize std::vector with aligned types

2016-09-30  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #346 from jcarpent/devel
	Set installation of documentation as an option

	Merge pull request #348 from jcarpent/topic/joint-dense
	Remove JointDense

	Merge pull request #347 from jcarpent/topic/joint
	Change assert accuracy to 1e-4 in forwardKinematics

2016-09-30  jcarpent  <jcarpent@laas.fr>

	[Travis] Install doc only on master branch

	[CMake] Sync submodule cmake

	[Joint] Change assert accuracy to 1e-4 in forwardKinematics

	[CMake] Set documentation optional

	[Joint] Remove JointGeneric

	[Joint] Remove JointDense

	[CMake] Remove useless line

2016-09-29  Mansard  <nmansard@laas.fr>

	[Python][Minor] Modified mprint function (for pretty matlab print of matrices).

	[Python] Correct bug in visualization of models having less collision objects than visual objects.

2016-09-29  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #343 from jcarpent/devel
	Fix packaging issues

2016-09-28  Justin Carpentier  <jcarpent@laas.fr>

	[CMake] Correct variable definition

2016-09-28  jcarpent  <jcarpent@laas.fr>

	[Python] Remove useless print

	[CMake] Clean Python cmake

	[CMake] Fix bugs

	[Python] Move Python scripts to a dedicated directory

	[CMake] Set unit test CXX targets (needed by robotpkg)

2016-09-27  jcarpent  <jcarpent@laas.fr>

	Merge remote-tracking branch master into devel

2016-09-27  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #342 from jcarpent/devel
	Add SRDF unit test

2016-09-27  jcarpent  <jcarpent@laas.fr>

	[Parsers] Fix bug for the return value of getNeutralConfig

	[Parsers] Fix bug when parsing the neutral config

	[Parsers] Remove useless variables

	[Unit Test] Add SRDF unit test

	Move romeo models to a dedicated directory

	[Python] Fix relative path for model files and dirs

2016-09-27  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #337 from jcarpent/topic/packaging
	Move Python parser to Python bindings

2016-09-27  jcarpent  <jcarpent@laas.fr>

	[CMake] Correct python_parser unit test build

	[CMake] Add packaging of the Python wrapper

	[CMake] Move Python wrapping dependencies to binding/python

	[CMake] Move CFLAGS definition in their respective block

	[CMake] Move conditionnal to parent directory

	[CMake] eigenpy 1.3.1 is required to avoid crash with dynamic linkage

	[CMake] Remove useless dependencies

	[Unit test] Update python parser unit test to reflect change

	[Parsers] Move Python parsers to bindings/python
	Add a new macro SYMLINK_AND_INSTALL_HEADERS to the SYMLINK and install
	procedure of headers

	[Algo] Add missing return

2016-09-27  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #341 from jcarpent/devel
	Remove default name for joint

2016-09-27  jcarpent  <jcarpent@laas.fr>

	[Model] Remove default name for joint

2016-09-27  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #340 from jcarpent/devel
	Replacement Joint{Model,Data} with Joint{Model,Data}Variant in JointModelComposite

2016-09-26  jcarpent  <jcarpent@laas.fr>

	[Joint] Replace vectors of Joint{Model,Data} with vectors of Joint{Model,Data}Variant

	[Joint] Add forward declaration of Joint{Model,Data}

	[Python] Fix bug in exposition of geometries and for the visuals

2016-09-22  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #335 from jcarpent/topic/rnea
	Add RNEA with external forces algo

	Merge pull request #333 from jcarpent/topic/packaging
	Improve packaging

2016-09-21  jcarpent  <jcarpent@laas.fr>

	[Python] Expose RNEA with external forces argument

	[Algo] Add RNEA with external forces

	[Spatial] Add operator-= to Force and Motion classes

	[C++] Fix missing #ifdef WITH_HPP_FCL

2016-09-21  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #334 from jcarpent/devel
	Fix alignment issue for the JointComposite

2016-09-21  jcarpent  <jcarpent@laas.fr>

	[Joint] Fix alignment issue for the JointComposite

	[CMake] Split boost components

	[CMake] Make eigenpy a separate dependency

	[CMake] Set minimal decency regarding to boost components

2016-09-21  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #332 from jmirabel/devel
	Update quaternions related operations

2016-09-21  Joseph Mirabel  <jmirabel@laas.fr>

	[Minor][C++] Clean code and fix conversion issue.

2016-09-21  jcarpent  <jcarpent@laas.fr>

	[CMake] Set Python parser optional (and depending on the Python Bindings)

2016-09-21  Joseph Mirabel  <jmirabel@laas.fr>

	[Doc] Add doc for firstOrderNormalize

	[C++] Update firstOrderNormalize doc and assertions.

	[C++] Factorize uniform random configuration.

2016-09-20  jcarpent  <jcarpent@laas.fr>

	[C++] Remove warnings - either cast or not used typedef

2016-09-20  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #302 from stack-of-tasks/hpp-devel
	Hpp devel

2016-09-20  jcarpent  <jcarpent@laas.fr>

	[C++] Update checker to new naming convention

	Merge hpp-devel into devel

2016-09-19  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #329 from fvalenza/topic/bindingsUpdate
	update python's API + minor modifs on name conventions

2016-09-19  Valenza Florian  <fvalenza@laas.fr>

	[Python] Adding missing algorithm working on configurations

	[C++][eigen] Remove call to eigen method hasNaN to ensure compatibility with eigen 3.0.5. Provide our own implementation

	[Python] Update python's API to C++'s one

	[C++] Corrected naming conventions for Model:: nframes, njoints, nbodies

2016-09-19  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #326 from fvalenza/topic/JointComposite
	Topic/joint composite

2016-09-19  Valenza Florian  <fvalenza@laas.fr>

	[Minor] Cleaning unittest jointcomposite

	[C++][unittest] Fix quaternion norm assertions by normalizing config vector

	[C++] Specialized setIndexes for JointComposite

2016-09-16  Valenza Florian  <fvalenza@laas.fr>

	[C++] Fixing compilation errors, temporary commenting unittests related to jointComposite

	[C++]Removed non critic if/else to increase maintanability

	[C++][Minor] Added doc for using boost make_recursive_variant + minir clean

	[C++][unittest] Fix computations in jointcomposite::calc() + reworked unittest (comparison of R3xSO3 (either two joints with no inertia between them or Jointcomposite))

	[C++] Removed default parameters for bounds when adding joint and created an overloaded method instead. Switched the order for addJoint method (put the default valued argument at last position)

	[C++] Reworked inclusion tree for joints, added visitors + minor fixes

	Added JointComposite and partial unittest.
	[C++] Make JointComposite part of the JointVariant. Reoganized some include to avoid circular dependencies

2016-09-16  Nicolas Mansard  <nmansard@laas.fr>

	Merge pull request #325 from nmansard/topic/algocheck
	Add algorithm to check the validity of model

	Merge pull request #324 from fvalenza/topic/hpp-devel
	removing deprecated methods + change unaligned joints with boost fusion fix

2016-09-15  Mansard  <nmansard@laas.fr>

	[C++] Added checkers to validate a particular model with respect to the needs of some algorithms.

2016-09-15  Nicolas Mansard  <nmansard@laas.fr>

	Merge pull request #307 from fvalenza/topic/Dox
	Topic/dox

2016-09-14  Valenza Florian  <fvalenza@laas.fr>

	[C++] Removed deprecated functions

	[C++] Removed duplication of information about axis in JointData for joints unaligned

2016-09-14  fvalenza  <florian.valenza@gmail.com>

	[Python][hpp-fcl] Provide temporary operator== for DistanceResult. (#322)

2016-09-13  Nicolas Mansard  <nmansard@laas.fr>

	Merge pull request #319 from fvalenza/topic/hpp-devel
	[C++] Fixed compilation errors due to changes of API

2016-09-13  Mansard  <nmansard@laas.fr>

	[C++] Introduce API for Data check.

2016-09-13  Valenza Florian  <fvalenza@laas.fr>

	[C++] Fixed compilation errors due to changes of API

2016-09-09  Valenza Florian  <fvalenza@laas.fr>

	[DOC] Reworked layout and pages

2016-09-09  Nicolas Mansard  <nmansard@laas.fr>

	Merge pull request #316 from jmirabel/devel
	Fix unit test and merge devel into hpp-devel

2016-09-08  Joseph Mirabel  <jmirabel@laas.fr>

	[C++] Fix removeCollisionPairsFromSrdf (update to API changes)

	Merge remote-tracking branch 'origin/devel' into 'devel'
	Conflicts:
		src/parsers/urdf/geometry.cpp
		unittest/geom.cpp

	[C++] Fix unit test geom

2016-09-08  Joseph Mirabel  <josephmirabel@gmail.com>

	Merge pull request #314 from nmansard/topic/refacgeom
	Refactorize geometry module

2016-09-08  Mansard  <nmansard@laas.fr>

	[C++] Geom: remove stupid comparisons of unsigned int with -1, and consequently modified the signature of GeomModel::addGeometryObject with an optional argument.

	[C++][Minor] Removed the appendGeometryModel methods that was partially updating geomData.

	[C++] Geom: remove resetDistance and reset the distanceResult in computeDistance.

	[C++][Minor] Corrected bugs in assert that prevented compilation in debug mode.

2016-09-07  Mansard  <nmansard@laas.fr>

	[C++] Fix computeCollision.

	[C++] Geom: modify GeomModel API of method addGeometryObject. Issue 281.12.

	[c++] Geom: modified multibody/geometry.hpp so that _ are removed from var names + unified the way geometry model and data are named (resp geomModel and geomData) through all the code. Issue 281.5.

	[C++] Corrected bug when parsing non-dae collision objects from urdf.

	[C++] Modified the naming standard in fcl.hpp to remove _ in variable names. Issue 281.5.

	[C++][Minor] Moved code from fcl.hpp to fcl.hxx to improve readibility.

	[C++] Geom: remove geomModel ref from geomData. Issue 281.7.

	[c++][Minor] Geom: moved constructor implementation from hpp to hxx.

	[C++] Geom: major change in the API. Moved compute collision|distance from methods of GeomData to algorithms in geometry.hpp. Issue 281.9.

	[Doc] Changes Index types to (mostly) PairIndex and GeomIndex to better document the API. Issue 281.11

	[Doc] added doc for GeomData::activatedPair.

	[C++] Geom: remove computeAllDistance and computeAllCollisions from GeomData. Issue 281.8.

	[Doc] Modified the header of algo/geom to improve doc and readibility of API.

	[C++] Geom: moved inner/outer objects from GeomModel to GeomData. Issue 281.4.

	[C++] Geom: Removed DistanceResult from GeomData. Issue 281.1.

	[C++] Geom: removed NONE from enum GeometryType and propagate modifs. Issue 281.2.

2016-09-07  Joseph Mirabel  <jmirabel@laas.fr>

	[C++] Fix URDF parser: addFixedJointAndBody

	[C++][Minor] Fix unittest and suppress some warnings

	[C++] Fix issues related to frame "universe"

	[C++] Frame in Model are identified by their name + their type.

	[C++] In Model, remove accessors of frame attribute using frame name

	[C++] Model::addFrame return the index of the new frame or -1 when error.

	[C++] Fix GeometryData::computeCollision

2016-09-06  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #310 from nmansard/topic/bugvisitor
	Bug correction in joint visitor

2016-09-06  Joseph Mirabel  <jmirabel@laas.fr>

	[C++] Fix assert

	[Doc] Update FIXME in URDF parser

	[C++] assert rather than throw invalid_argument

	[C++] Inertia of the world is initialized with NaN.

	[Minor][C++] Update firstOrderNormalize

	[Doc] Add developer doc to JointModelFreeFlyer::integrate_impl

2016-09-06  Mansard  <nmansard@laas.fr>

	[C++] Corrected a bug in joint visitor preventing proper access to attribute of joint models.

2016-09-06  Joseph Mirabel  <jmirabel@laas.fr>

	[Doc] Update doc of GeometryObject::parentFrame

	[Minor][C++] Add assert to check norm in firstOrderNormalize

	[C++] GeometryData contains a fcl::CollisionRequest

2016-09-05  Joseph Mirabel  <jmirabel@laas.fr>

	[C++] Update unittests to previous change in class Frame and Model

	[C++] Update parsers to previous change in class Frame and Model

	[C++] Add Frame::previousFrame and update class Model

	[C++] Remove deprecated Model::addFrame

	[C++] Remove unnecessary test in URDF parser

2016-09-05  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #304 from fvalenza/devel
	[C++] Added methods & algo to test if 2 configs are equivalent

	Merge pull request #309 from jmirabel/topic/planar_integrate
	Topic/planar integrate

2016-09-05  Joseph Mirabel  <jmirabel@laas.fr>

	[Minor][C++] Minor optimization of exp6

	[C++] Fix JointModelPlanar::integrate and update unit test

2016-09-01  Valenza Florian  <fvalenza@laas.fr>

	[DOC] Added organisation by modules. First proposition with Force

2016-09-01  Joseph Mirabel  <jmirabel@laas.fr>

	[C++] Remove GeometryData::isColliding(Index&)

	[C++] Fix JointModelFreeFlyer::interpolate_impl

2016-09-01  Valenza Florian  <fvalenza@laas.fr>

	[DOC] Reworked configuration files

	Added methods in joints and algorithm working on Model to determine if two configurations are equivalent

2016-09-01  Joseph Mirabel  <jmirabel@laas.fr>

	[C++] Normalize (using 1-order DL) integration for FreeFlyer, Spherical and Unbounded rotations

	[C++] Add firstOrderNormalize for quaternion whose norm is almost 1.

	[C++] Initialize inertia, jointPlacements and parent of universe joint in Model

2016-08-31  Joseph Mirabel  <jmirabel@laas.fr>

	[C++] Fix uses of forwardKinematics in JointModelFreeFlyer, JointModelSpherical

	[C++] Update unittest

2016-08-30  Joseph Mirabel  <jmirabel@laas.fr>

	[C++] GeometryData::computeCollision takes an index as argument

	[Doc] Add doc for appendGeometryModel

	[C++] Fix URDF parser
	* Add base link to joint 0 when root joint is an anchor joint.
	* Check that frame exists before attaching geometry to it.

	[C++] Fix appendGeometryModel

	[C++] Fix bug in JointModelFreeFlyer and JointModelSpherical
	* forwardKinematics takes a vector of size NQ as input.

	[C++] URDF parser: Remove test of on unused attribute.

2016-08-26  Joseph Mirabel  <jmirabel@laas.fr>

	[C++] Add algorithm appendGeometryModel

	[Minor][C++] Add missing header in joint-free-flyer.hpp

2016-08-23  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #303 from fvalenza/devel
	Use correct package for hpp-model-urdf / Pinocchio comparisons

2016-08-23  Joseph Mirabel  <jmirabel@laas.fr>

	[C++] Add missing header

2016-08-23  Valenza Florian  <fvalenza@laas.fr>

	[C++][unittest] Use correct package for hpp-model-urdf / Pinocchio comparisons

2016-08-21  Joseph Mirabel  <jmirabel@laas.fr>

	[C++] Remove struct CollisionResult

	[C++] GeometryData stores fcl::CollisionResult (not se3::CollisionResult)

	[C++] GeometryModel::computeCollision takes a fcl::CollisionResult as parameter

	[C++] GeometryData::isColliding returns the id of the first pair in collision

	[C++] Add GeometryModel::addGeometryObject(const Geometry&)

2016-08-20  Joseph Mirabel  <jmirabel@laas.fr>

	Make Data constructor explicit

2016-08-17  Joseph Mirabel  <jmirabel@laas.fr>

	[C++][Bug] Fix zero inertia handling in URDF

	[C++][Bug] Fix position of fixed joint in URDF parser.

	[Minor] Fix deprecated warning

	[C++][Bug] Fix geometry placement computation in URDF

	[C++] CollisionGeometry has the ID of parent joint and parent frame

	[Minor][C++] Add missing header

	[C++] Fix parsing of geometries of URDF

2016-08-09  Joseph Mirabel  <jmirabel@laas.fr>

	[Bug][C++] Fix addLinkGeometryToGeomModel

	[C++] GeometryObject parent is a frame of type BODY

2016-08-09  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #298 from jcarpent/devel
	Handle 32 bits system

2016-08-09  jcarpent  <jcarpent@laas.fr>

	[Joint] Clean JointModel

	[Joints] Fix bug - handle alignment issue with vector of joints

2016-08-08  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #297 from jcarpent/devel
	Update the Frame the part + expose new methods

2016-08-08  jcarpent  <jcarpent@laas.fr>

	[Python] Expose isApprox and isIdentity

	[Model] Set some frame methods deprecated

	[C++] Remove useless typedef

	[Joint] Update scalar resolution for assert

	[Python] Expose existFrame and getFrameId method
	The addFrame returns now a bool which its false when the frame already
	exists.

	[Doc] Update contents

	[Algo] Update the frame algo to use M.isIdentity()

	[C++][Unit test] Add isIdentity method to SE3

	[unittest] Increase finite difference test with local and global check

2016-08-06  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #295 from GaloMALDONADO/Devel
	[unittest] Fixed precision comparison test.

2016-08-05  Galo Maldonado  <gmaldona@laas.fr>

	[unittest] Fixed precision comparison test.

2016-08-05  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #294 from fvalenza/topic/updatePythonTest
	[Python] Updating Python tests to corresponds to the API 

2016-08-05  Valenza Florian  <fvalenza@laas.fr>

	[Python] Updating Python tests to corresponds to the API ( e.g we add frames for every link and joint we encounter in urdf )

2016-08-04  jcarpent  <jcarpent@laas.fr>

	[Python] Update robot_wrapper to allow proper creation of scenes

	[Python] Correct exposition of vector of vector of index

	[Python] Split bindings in several .o files

	[C++] Add missing include

	[Utils] Update tools to take into account the new buildModel API

	[CMake] Minor reorganisation of cmake files

	[CMake] Move python to a dedicated directory

2016-08-04  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #292 from fvalenza/topic/DifferenceInterpolateFix
	Topic/difference interpolate fix

2016-08-04  Valenza Florian  <fvalenza@laas.fr>

	[C++] The method forwardKinematics now selects by itself the section of the right DoFs over a full vector

2016-08-04  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #293 from jcarpent/devel
	Append cflags to the .pc file 

2016-08-04  jcarpent  <jcarpent@laas.fr>

	[CMake] Append defined cflags to the .pc file

2016-08-04  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #285 from fvalenza/topic/visualsWithoutFcl
	Topic/visuals without fcl

2016-08-03  Valenza Florian  <fvalenza@laas.fr>

	[C++] joint-spherical::forwardKinematics works with MatrixBase

	[C++] Fix distance_impl for derived joints

	[C++] Fix interpolate_impl for some derived joints and reworked unittest

	[C++] Fix difference_impl for some derived joints and reworked unittest

	[C++] Added isApprox in Motion

2016-08-02  jcarpent  <jcarpent@laas.fr>

	[C++] Set Data and Model are no more class but struct

2016-08-02  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #291 from jmirabel/devel
	Add missing forward declaration.

2016-08-02  Joseph Mirabel  <jmirabel@laas.fr>

	[C++] Add missing forward declaration.

2016-08-02  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #288 from jmirabel/devel
	Replace nbody to njoint and activate all collision pairs by default

2016-08-02  Joseph Mirabel  <jmirabel@laas.fr>

	[Minor] Rename ref into model in Data constructor

	[C++] Update unit tests

	[C++] Remove reference to Model in Data

	[C++] Use njoint instead of nbody

	[C++] GeometryData constructor activates all the collision pairs.

2016-08-02  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #287 from jcarpent/topic/travis
	Make coverage and cppcheck optional and dependant of the current branch

2016-08-02  jcarpent  <jcarpent@laas.fr>

	[Travis] Remove travis_wait - not needed anymore

	[Travis] Make coverage and cppcheck optional

	[Travis] Sync submodule travis

2016-08-01  Valenza Florian  <fvalenza@laas.fr>

	[C++] Fix empty mesh_path when building a GeomModel without hpp-fcl

	[C++][CMake] Merged fake-fcl with fcl.hpp (splitted in .hpp and .hxx file). Propagated flag -DWITH_HPP_FCL to all binaries

2016-08-01  jcarpent  <jcarpent@laas.fr>

	[Unit test] Update buildModel call with new API

2016-07-29  Valenza Florian  <fvalenza@laas.fr>

	[C++][Python] One can contruct a GeometryModel and Data even if hpp-fcl is not found. All stuff related to collisions is not available but geometryPlacements are ( for visualisation in the viewer especially).

2016-07-29  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #283 from jcarpent/topic/python
	[Python] Add spatial copy constructor

2016-07-29  Valenza Florian  <fvalenza@laas.fr>

	[C++] Moved fcl related structures to multibody/fcl.hpp + rework somes inclusion directives

2016-07-29  jcarpent  <jcarpent@laas.fr>

	[Python] Add copy constructor to spatial classes

2016-07-29  Mansard  <nmansard@laas.fr>

	[C++] Changed geomData.collisionObjects from shared_ptr to native objects.

2016-07-29  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #274 from jcarpent/topic/finite-diff
	Topic/finite diff

	Merge pull request #280 from nmansard/topic/collisionpairs
	Moved collision pairs from GeomData to GeomModel

2016-07-29  Mansard  <nmansard@laas.fr>

	[c++] Changed geomData.oMg_fcl to geomData.collisionObjects.

2016-07-28  Mansard  <nmansard@laas.fr>

	[PY] added active collision pairs in GeomData python API.

	[C++] Moved collisionPairs from GeomData to GeomModel and add a mask activeCollisionPairs in GeomData. Propagate the changes in the algorithms, parsers and pybindings.

	[C++] Changed the signature of urdf::buildModel, that now takes the model as input. Previous signature is kept as deprecated.

2016-07-28  Nicolas Mansard  <nmansard@laas.fr>

	Merge pull request #279 from jcarpent/devel
	Fix bug in SRDF parser

	Merge pull request #277 from jcarpent/topic/urdf-refactoring
	Topic/urdf refactoring

2016-07-28  jcarpent  <jcarpent@laas.fr>

	[Parsers] Fix bug in the SRDF parser of collision pairs

	Minot clean

	[Unit test] Add unit test for finite differences

	[C++] New algo to retrieve the increment for finite differences

	[C++] Introduce finiteDifferenceIncrement method for joint
	This new method give the increment for finite difference applications.

	[Unit test][Bug] Correct initialisation of config

	[Unit test] Increment joint configurations with robust test of integration method
	There are still some bugs inside differentiate, interpolate

	[C++] Fix bug in joint integration
	Most of the joints have bugs inside their methods - integration,
	differentiate, interpolate.
	A small remind that the joint velocity vector is generally expressed in
	the joint frame while the translations are expressed in the joint
	parent frame.

	[unittest] Add exp/log unit test independent from spatial tests

2016-07-28  Nicolas Mansard  <nmansard@laas.fr>

	Merge pull request #276 from jcarpent/devel
	Minor rework of joint class

2016-07-28  jcarpent  <jcarpent@laas.fr>

	[C++][CMake] Move URDF parser to the lib

	[CMake] correct project URL

2016-07-27  jcarpent  <jcarpent@laas.fr>

	Minor clean of the code

	[CMake] Add missing link

	[C++] Move operator== to the JointModelBase class

	[C++] Introduce static classname method to retrieve the name of the class
	It replaces the old shortname  method with is no more static

	[C++] Add dis method to joint + remove useless constness const

	[C++] Set shortname to non static method

	[C++] Set method shortname to const

2016-07-27  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #270 from fvalenza/topic/fclGeometriesInGeometryModel
	[C++] The cloud of points in GeometryObject is now a fcl::CollisionGe…

2016-07-27  Valenza Florian  <fvalenza@laas.fr>

	[C++] The cloud of points in GeometryObject is now a fcl::CollisionGeometry instead of fcl::CollisionObject

2016-07-27  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #265 from nim65s/devel
	[CMake] urdfdom is optional

	Merge pull request #264 from nmansard/topic/worldGeoms
	[Minor] avoid re-placing world geoms.

2016-07-26  Guilhem Saurel  <guilhem.saurel@gmail.com>

	[CMake] urdfdom is optional

2016-07-26  Mansard  <nmansard@laas.fr>

	[Minor] avoid re-placing world geoms.

	[Minor][C++] Make axis attribute public in JointRU and JointPU.

2016-07-26  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #248 from fvalenza/topic/radiusUnittest
	Topic/radius unittest

2016-07-26  Valenza Florian  <fvalenza@laas.fr>

	[Unittest] Fix compilation error with/out hpp

	[C++] Factorized code when parsing for geometry

2016-07-26  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #258 from jmirabel/topic/shortestDistance
	se3::computeDistances return the index of the shortest distance.

2016-07-26  Valenza Florian  <fvalenza@laas.fr>

	[unittest] Fix compilation warning if no hpp-model-urdf is found
	Conflicts:

		unittest/geom.cpp

2016-07-26  Valenza Florian  <fvalenza@laas.fr>

	[C++] Fix collisions parsing when multiple collisions are attached to a link

	[C++] Fix parsing of fixed joint when there is no inertia

2016-07-26  Valenza Florian  <fvalenza@laas.fr>

	[unittest] Added comparison test with hpp for radius computations
	Conflicts:

		unittest/geom.cpp

2016-07-26  Valenza Florian  <fvalenza@laas.fr>

	Removed std::cout in algorithm

2016-07-26  Mansard  <nmansard@laas.fr>

	[C++] IVIGIT algo/copy.

2016-07-26  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #251 from jcarpent/topic/model-refactoring
	Topic/model refactoring

2016-07-26  Joseph Mirabel  <jmirabel@laas.fr>

	Make computeDistances templated functions

	se3::computeDistances return the index of the shortest distance.

2016-07-26  jcarpent  <jcarpent@laas.fr>

	[C++] Set function to static

2016-07-26  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #255 from jmirabel/topic/collisionPairs
	CollisionPair does not invert indexes. Add CollisionPair::operator==

2016-07-25  Joseph Mirabel  <jmirabel@laas.fr>

	CollisionPair does not invert indexes. Add CollisionPair::operator==

2016-07-24  jcarpent  <jcarpent@laas.fr>

	[C++] Remove dependency to the Python bindings

	[Python] Expose subtrees quantity

	[Unit test] Add unit test of subtree info

	[C++] Add subtree info

2016-07-24  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #250 from jmirabel/devel
	Fix doc of jacobinCenterOfMass

2016-07-23  Joseph Mirabel  <jmirabel@laas.fr>

	Fix doc of jacobinCenterOfMass

2016-07-23  jcarpent  <jcarpent@laas.fr>

	[C++] Minor clean of #include files

	[Python] Remove duplicate exposing.

	[C++] Correct default values

	[Python][Doc] Update the model bindings according to the new Model API

	[C++] Update Frame struct

	[C++] Update default models to the new Model API

	[C++][Doc] Change random to randomStringGenerator

	[Unit test] Clean unit test

	[Parser] Add missing license

	[C++][Doc] Clean model

	[Unit test] Update unit tests according to the new Model API

	[C++] Update parsers according to the new Model API

	[C++][Doc] Clean model methods

	[CMake] Handle eigen 3.2.9

	[C++][Bug] remove useless assignment operator
	Those assignments lead to infinite recursion loops

2016-07-22  fvalenza  <florian.valenza@gmail.com>

	Merge pull request #246 from nmansard/topic/radius
	Added radius algorithm

2016-07-22  Mansard  <nmansard@laas.fr>

	Corrected two typos in the code, as notived by @fvalenza.

	[C++] Added radius algorithm (related to geometry).

	Moved and split algo/collision to algo/geometry.

2016-07-21  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #245 from nmansard/topic/terminals
	[Minor] Remove terminal s in Model::NeutralConfigurations.

2016-07-21  Mansard  <nmansard@laas.fr>

	[Minor] Remove terminal s in Model::NeutralConfigurations.

2016-07-21  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #242 from fvalenza/topic/JointRevoluteUnbounded
	Topic/joint revolute unbounded

2016-07-21  Valenza Florian  <fvalenza@laas.fr>

	[C++][Minor] Optimize computation of distance for joints with 1 dof

	[C++] Factorize code with JointRevolute for JointRevoluteUnbounded types such as MotionRevolute(Unbounded), Constraint

2016-07-20  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #241 from jmirabel/topic/normalizedJointConfig
	Add se3::normalized

	Merge pull request #243 from nmansard/topic/se3explicit
	[Spatial][Minor] Make SE3 constructor from rotation explicit 

2016-07-20  Mansard  <nmansard@laas.fr>

	[Spatial][Minor] Make SE3 constructor from rotation explicit (should we keep it?)

2016-07-20  Joseph Mirabel  <jmirabel@laas.fr>

	Rename normalized into normalize

2016-07-20  Valenza Florian  <fvalenza@laas.fr>

	[C++][Unittest] Adding joint revolute unbounded and its unittest

	[Cmake] Fix include lua parsers

2016-07-20  Joseph Mirabel  <jmirabel@laas.fr>

	Add JointNormalizedVisitor and JointModel::normalized_impl

2016-07-20  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #238 from nmansard/topic/issue236
	Solving #236

2016-07-20  Joseph Mirabel  <jmirabel@laas.fr>

	Add JointModelBase::normalized

2016-07-20  Mansard  <nmansard@laas.fr>

	[CMake] Solved bug #236. Marginally changed the source/header listing policy to avoid similar bugs in the future.

2016-07-20  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #234 from fvalenza/topic/JointModelsMoreUnittests
	Topic/joint models more unittests

2016-07-19  Valenza Florian  <fvalenza@laas.fr>

	[C++][unittest] Fixed distance computations in joints

2016-07-19  Mansard  <nmansard@laas.fr>

	[C++] Remove references from geometry model and data.
	Conflicts:
		src/multibody/geometry.hpp
		src/multibody/geometry.hxx
		src/parsers/srdf.hpp

2016-07-19  Nicolas Mansard  <nmansard@laas.fr>

	Merge pull request #227 from fvalenza/devel
	Refactoring of the urdf parsing. Thx for the contributions. I merge.

2016-07-19  Valenza Florian  <fvalenza@laas.fr>

	Renamed convertUrdfPathToAbosulutePath to retrieveResourcePath as it is not only specific to meshes files. Fixed the way package:// and file:// paths are handled

	[urdf] Added the possibility to parse meshes path starting with file://

	[C++][Python] Removed references to kinematic model/data in geometry model/data. + fixed unallocated memory map ( due to using reserve keyword instead of resize)

	[C++][Python] Remove dependency on SRDF parser in Geometry Model and Data. Updated Python interface accordingly

	[C++] Pre-allocate memory for GeometryData vectors with reserve instead of resize

	[C++] Removed type from GeometryObject. Still using the enum GeometryType to specify if visuals or collisions must be parsed from urdf file

	[C++] Renamed members of GeometryData

	[C++] Fix typedef

	[C++] Remove duplicata of collision/visual in geometry

	[C++][Cmake] Reorganize urdf parsers - moved parsers one level above

	[unittest] Reorganized joint-configurations unittests

2016-07-19  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #233 from jmirabel/topic/compilation_without_python
	Fix CMake when compiling with hpp-fcl without Python.

2016-07-19  Valenza Florian  <fvalenza@laas.fr>

	[unittest] Adding more trivial unittest to joint-configurations

2016-07-19  Joseph Mirabel  <jmirabel@laas.fr>

	Fix CMake when compiling with hpp-fcl without Python.

2016-07-18  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #229 from jmirabel/topic/compilation_without_python
	[CMake] Compilation without python

2016-07-18  Joseph Mirabel  <jmirabel@laas.fr>

	[CMake] Fix compilation without Python bindings

2016-07-12  jcarpent  <jcarpent@laas.fr>

	[CMake] Export definitions inside *.pc file

	[Python] Fix bug - save current filename

2016-07-11  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #216 from fvalenza/devel
	Moved assimp module in hpp-fcl

2016-07-11  Valenza Florian  <fvalenza@laas.fr>

	[CMake] Updated required version of hpp-fcl, now 0.4.2

2016-07-11  Valenza Florian  <fvalenza@laas.fr>

	[Geometry] Moved assimp module to hpp-fcl
	Conflicts:

		CMakeLists.txt

2016-07-08  Nicolas Mansard  <nmansard@laas.fr>

	Merge pull request #225 from fvalenza/topic/NeutralConfig
	Topic/neutral config

2016-07-08  Valenza Florian  <fvalenza@laas.fr>

	[C++][Python] Added a method to get neutral config from an srdf file + binded it

2016-07-08  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #224 from aelkhour/rename_scalar
	[C++] Rename spatial scalar type to follow Eigen convention.

2016-07-08  Antonio El Khoury  <antonio.elkhoury@wandercraft.eu>

	[C++] Rename spatial scalar type to follow Eigen convention.
	* Rename Scalar_t to Scalar.
	* This allows applying Eigen-compatible template operations to
	  se3::spatial objects.

2016-07-07  Valenza Florian  <fvalenza@laas.fr>

	[Python] Binded neutralConfigurations in Model

	[C++][unittest] Added neutralConfiguration vector in Model, and fill it when adding joints + test on neutralConfiguration

	[C++] Added neutralConfiguration in joints

2016-07-07  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #217 from fvalenza/topic/JointAccessBinding
	Expose the Joint (Model,Data)  Variant methods via the generic Joint(Model,Data).

2016-07-07  Valenza Florian  <fvalenza@laas.fr>

	[C++] Added shortname() in Joint

2016-07-07  Valenza Florian  <fvalenza@laas.fr>

	Renamed JointXXAccessor to JointXX + renamed traits<D>::JointData to traits<D>::JointDataDerived, same for Model.
	Conflicts:

		CMakeLists.txt
		src/algorithm/center-of-mass.hxx
		src/multibody/model.hpp
		unittest/CMakeLists.txt

2016-07-07  Valenza Florian  <fvalenza@laas.fr>

	[Python][C++] Binded JointAccessor in python
	Conflicts:

		CMakeLists.txt

2016-07-07  Valenza Florian  <fvalenza@laas.fr>

	[C++] The stack of joints model & data is now of type joint accessor ( i.e the derived types are encapsulated in a generic joint accessor
	Conflicts:

		src/multibody/model.hpp

2016-07-07  Valenza Florian  <fvalenza@laas.fr>

	[Minor] Update name in Data of oMof to oMf + in frames algo get directly the value of the parent joint when the relative placement of the frame wrt parent joint is Identity

2016-07-07  jcarpent  <jcarpent@laas.fr>

	[CMake] Correct packaging of the utils section

	[Git] Update .gitignore

2016-07-07  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #222 from jcarpent/devel
	Move frame to multibody + add updateKinematics option in com jacobian algo

2016-07-07  jcarpent  <jcarpent@laas.fr>

	[C++][CMake] Move frame.hpp from spatial to multibody

	[Unittest] remove useless pragma

	[C++] Add updateKinematics option for jacobianCenterOfMass algo

2016-07-06  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #221 from jcarpent/topic/python
	Add python model parsing from #194

2016-07-06  jcarpent  <jcarpent@laas.fr>

	[CMake] Clean benchmark cmake

2016-07-06  Justin Carpentier  <jcarpent@laas.fr>

	[CMake] Fix bug in the targetting of test

2016-07-06  jcarpent  <jcarpent@laas.fr>

	[CMake] sync cmake submodule

	[CMake] Remove redundant code

	[CMake] Properly link unit test against boost python

	[C++] Add choice of Python model name

	[Python] Add missing import

	[CMake] Sync submodule cmake

	[C++] Clean linkage of the python parser unit test

	[CMake] Rework packaging

	[Unit test] Update python test

	[C++] Remove not defined function in sample model

	[Doc] Add documentation of the parser

	[C++][Python parser] Rework the inclusions and comments

	[C++][Python] Add missing include

	[CMake] Include Python

	[C++][Python] Add missing license

2016-07-06  Guilhem Saurel  <guilhem.saurel@gmail.com>

	[C++][Python] python model parser
	As it is done in src/multibody/parser/python.cpp, one can create a shared_ptr to a new Model in c++,
	send this into a python namespace, update it in python, and continue to work on the Model in c++.

	An example to use this as a simple parser is given in unittest/python.cpp and models/simple_model.py

	(squashed version)

2016-07-06  jcarpent  <jcarpent@laas.fr>

	[CMake] Sync submodule cmake

	[CMake] Force install of *.py files instead a copy of symbolic links

	[CMake] Unify BUILD_PYHTON_INTERFACE conditions

	[CMake] Properly handle linking against boost_python on OS X

	[CMake] Change OS X policy for rpath

	[C++][Doc] Minor inlining + fix doc

2016-06-28  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #214 from jcarpent/topic/urdf
	Fix bug when parsing URDF tree + minor clean

2016-06-28  jcarpent  <jcarpent@laas.fr>

	[C++][Fix Bug] Use the right pointer type

	[Unit test] Remove useless include

	[C++] Move local functions to the .hxx file

	[C++][Doc] Minor inlining + fix doc

	[C++][Fix Bug] Increase the handling of pathological trees
	Handle the case of base_link with child links connect with fixed joints
	and no root joint provided.

2016-06-28  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #213 from jcarpent/topic/eigen3
	Handle future release of Eigen3 

2016-06-27  jcarpent  <jcarpent@laas.fr>

	[C++] Fix error when calling cast operator
	With next version of Eigen3, it seems that there exists a missing
	initialiser when calling the cast operator.

	[C++] Handle Static/Assert incomplete namespace
	With newer Eigen 3 version, the incomplete namespace specification
	leads to compilation errors.

	[C++][CMake] Handle future Eigen3 version
	Eigen::ProcuctReturnType becomes Eigen::Product in Eigen version >=
	3.3.0.

2016-06-23  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #206 from jcarpent/topic/packaging
	Improve the packaging regarding to different UNIX systems

2016-06-23  jcarpent  <jcarpent@laas.fr>

	[Travis] Increase time out

	[C++] Use const ref in urdf geometry parser

	[C++] Handle BSD support

	[C++][CMake] Handle assimp version less than 2.0

	[CMake] Handle urdfdom version less than 0.3.0

2016-06-23  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #193 from fvalenza/devel
	Devel

2016-06-23  Valenza Florian  <fvalenza@laas.fr>

	Renamed operational_frames to frames in Model

	[C++] Added type of Frame JOINT. Even if it is a redundent information, add a frame for each joint added

2016-06-21  Valenza Florian  <fvalenza@laas.fr>

	[C++] bodies are now a subpart of the Frames : some Frames are of type BODY and when referring to getBodyId/Name in Model it will look in its frames

	[C++][Python] Added an enum type of a Frame.

2016-06-17  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #191 from jcarpent/topic/fix-wrapper
	Fix an other bug in the romeoWrapper init

2016-06-17  jcarpent  <jcarpent@laas.fr>

	[Python][Fix Bug] Add package_dir var as hint for the meshes

2016-06-17  Mansard  <nmansard@laas.fr>

	[benchmark] Added benchmarks on small Eigen matrices and quaternions.

2016-06-17  jcarpent  <jcarpent@laas.fr>

	[Python][Fix Bug] Print info in verbose mode instead of an exception when geometry is not available

	[Doc] Correct doc of Model

2016-06-17  Valenza Florian  <fvalenza@laas.fr>

	[C++][FixBug] Fix the visitor for calc (0 and 1st order) and calc_aba + added visitor on the shortname of a jointmodel derived type

	[Python] Rename file into joint-derived.hpp to correspond to the type it exposes. i.e it does the exposition for each derived joint model ( that are in the joint model variant

	[Python] Added example of loading and displaying romeo.

2016-06-15  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #184 from fvalenza/topic/reworkModel
	rework model (joints/bodies) + fix RobotWrapper link to viewer

2016-06-14  Valenza Florian  <fvalenza@laas.fr>

	[C++] Updated doc + minor fix

	[Python tests] Fix test since fix to visual/collision objects

	[C++] Fix multiple bugs such as getting the correct name of geometryObjects, or initialize the bodyParents vector correctly, + binded some model datas

2016-06-13  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #183 from jmirabel/patch-1
	Add exception when loading meshes with lines.

2016-06-13  Valenza Florian  <fvalenza@laas.fr>

	[Python] Upgraded the viewer with visuals from geometry_model

2016-06-13  Joseph Mirabel  <josephmirabel@gmail.com>

	Add exception when loading meshes with lines.
	Triangulated meshes contain faces with 1, 2 or 3 vertex. 1 and 2 vertex is not supported by FCL.

	Refers to https://github.com/humanoid-path-planner/hpp-model-urdf/pull/6

2016-06-12  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #182 from fvalenza/devel
	Make JointAccessor a variant on its own and a Derived Joint

2016-06-10  Valenza Florian  <fvalenza@laas.fr>

	[C++][Python] Removed fixbodies in Model. Were a way to store visuals merged with Joints. Now this information is in GeometryModel (visuals) + updated python bindings

	[C++] Make distinction between joint and body in Model API ( addJoint, appendBodyToJoint, addJointAndBody instead of addBody)

2016-06-09  Valenza Florian  <fvalenza@laas.fr>

	[C++] Changed JointAccessor to be a variant instead of being composed of a variant

2016-05-28  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #176 from MaximilienNaveau/devel
	avoid the miss alignement on vector of Matrix6d

2016-05-27  mnaveau  <maximilien.naveau@laas.fr>

	avoid the miss alignement on vector of Matrix6d

2016-05-27  jcarpent  <jcarpent@laas.fr>

	[Travis] Increase time out

2016-05-27  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #174 from jcarpent/devel
	Correct travis + fix hpp-fcl issues

2016-05-26  jcarpent  <jcarpent@laas.fr>

	[Travis] Enable more Python tests

	[CMake] Link main lib to boost

	[CMake] Write boost components inside the pc file

	[CMake] Sync cmake submodule

	[Travis] Add the BOOST flag for deprecated case

	[Travis] Sync robotpkg ppa

	[CMake] Update the required version of hpp-fcl to 0.4.1

2016-05-24  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #173 from fvalenza/topic/GeomUnittestAPIFix
	Fix call to old API

2016-05-24  Valenza Florian  <fvalenza@laas.fr>

	[Unittest][C++] Fix call to ancient API

2016-05-23  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #162 from fvalenza/devel
	Added JointAccessor + its unittests.

2016-05-23  Valenza Florian  <fvalenza@laas.fr>

	 [C++][Unittest] Reworked JointAccessor Unittest. tests are now done on every type of joint of the boost variant Model

2016-05-20  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #172 from MaximilienNaveau/devel
	overload the new operator for the model and data classes

2016-05-20  mnaveau  <maximilien.naveau@laas.fr>

	overload the new operator for the model and data classes

2016-05-19  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #170 from MaximilienNaveau/devel
	Add a cmake variable to choose if the pyhton wrapper will be compile or not

2016-05-19  mnaveau  <maximilien.naveau@laas.fr>

	Add a cmake variable to choose if the pyhton wrapper will be compile or not

2016-05-15  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #166 from jcarpent/devel
	Handle the zero velocity case for spherical joint types

2016-05-13  jcarpent  <jcarpent@laas.fr>

	[C++][Fix Bug] Handle the zero velocity case for spherical joint types

2016-05-09  Valenza Florian  <fvalenza@laas.fr>

	[C++] Added JointAccessor + its unittests. Completed the visitors on JointVariants for each method of the JointBase interface  and moved it to a different file.

2016-05-04  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #160 from jcarpent/topic/bugs
	Remove incorrect indents

2016-05-03  Justin Carpentier  <jcarpent@laas.fr>

	[Python][Fix bug] Remove incorrect indents

2016-05-03  fvalenza  <florian.valenza@gmail.com>

	Merge pull request #159 from jcarpent/topic/bugs
	Fix two bugs related to the API change

2016-05-03  jcarpent  <jcarpent@laas.fr>

	[Python][Fix Bug] Correct reference to upper and lower limits

2016-05-03  Justin Carpentier  <jcarpent@laas.fr>

	[Python][Bug fix] Fixed bug in computation of the CoM acceleration

2016-05-02  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #157 from fvalenza/devel
	Python exposure tests

2016-05-02  Valenza Florian  <fvalenza@laas.fr>

	[Python][Unittest] Fixed absolute path to model

2016-04-29  Valenza Florian  <fvalenza@laas.fr>

	[Python] Added test of exposition of spatial classes

	[C++] Renamed member in Frame class

2016-04-28  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #156 from fvalenza/devel
	[C++][Python][Major] Replaced the way collisions and visuals are stored

2016-04-28  Valenza Florian  <fvalenza@laas.fr>

	[Python] Reworked exposure of class GeometryObject

2016-04-27  Valenza Florian  <fvalenza@laas.fr>

	[C++] Added (temporary) operator== between two fcl::CollisionObject.

2016-04-21  Valenza Florian  <fvalenza@laas.fr>

	[C++][Python][Major] Replaced the way collisions and visuals are stored in GeometryModel. Now it is two lists of GeometryObject (one for collisions, one for visuals) aggregating information instead of multiple vectors. Now handle multiple collisions/visuals for one link when parsing urdf file and keep track of the mesh absolute path. Changed binding accordingly.

2016-04-15  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #155 from fvalenza/devel
	Rework Joint Unit Tests and fixe bugs.

2016-04-15  Valenza Florian  <fvalenza@laas.fr>

	[C++][Unittest] Replaced unittest for Translation, spherical joints

2016-04-14  Valenza Florian  <fvalenza@laas.fr>

	[C++][FixBug][Unittest] Fix bug in calc_aba (bug with boost:fusion preventing a proper acces to jmodel.axis) + reworked unittest for joint prismatic unaligned

	[C++][FixBug][Unittest] Reworked unittests for joint revolute unaligned + Fix bug in calc_aba (bug with boost:fusion preventing a proper acces to jmodel.axis)

2016-04-13  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #152 from jcarpent/devel
	Rework joints and algo

2016-04-13  jcarpent  <jcarpent@laas.fr>

	[License] Add missing license in cpp file

	[C++] Use QuaternionBase in quaternions functions.

	[C++] Use proper block type

	[C++] remove useless using namespace

	[C++] Retrieve the current joint index from model

	[C++] Define typename Derived and Base for joint classes

	[Git] Update gitignore

	[C++] Use template versions of cols operators

	[C++][Bug fix] Properly handle the dense conversion of joints

	[C++] Correct naming of input arguments to match the doc

	[C++] Use proper index type for joints

2016-04-12  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #151 from jcarpent/topic/quaternion-map
	Rework joint free flyer and joint spherical to avoid useless allocations

2016-04-12  jcarpent  <jcarpent@laas.fr>

	[Travis] Set CC to gcc value - Useful for coverage

	[C++][Unit test] Remove useless output in constraint test

	[C++][Unittest] Partially rework joint config test to avoid random config

	[C++] Use Map of quaternion to remove useless allocation.

2016-04-12  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #150 from jcarpent/topic/rework
	Rework project

2016-04-12  jcarpent  <jcarpent@laas.fr>

	[Travis] Use coverage with python 2.7

2016-04-11  jcarpent  <jcarpent@laas.fr>

	[Travis] Increase timeout and remove useless dependencies

	[CMake] Sync submodule

	[Travis] Update travis to test on Ubuntu Trusty

	[C++][Unit test] Increate ABA test with RNEA and CRBA comparisons.

	[C++] Fix return type of Y*S
	I don’k know why, but the default Eigen ProductReturnType produces
	evaluation error. Maybe, because of destruction of the M matrix before
	the evaluation.

	[C++][Fix Bug] Use the right dimension

	[C++] Update return type of Y*S operator

	[C++] Remove warning message

	[C++] Properly rework the return of dense operation in joint as ProductReturnType

	[C++] Rework Constraint class

	[C++] Use Eigen STATIC ASSERT to throw assert at compile time

	[C++] Define explicit operator-

	[C++] Update License of file

	[C++] Use Scalar type instead of double

	[C++] Set data to protected

	[C++] Move Angular and Linear typedef to Macro

2016-04-10  jcarpent  <jcarpent@laas.fr>

	[C++] Remove useless warnings

	[C++][Cmake] Split RNEA into .hpp and .hxx and move NLE algo inside rhea

	[C++][Cmake] Split ABA and CRBA in .hpp and .hxx

2016-04-09  jcarpent  <jcarpent@laas.fr>

	[Doc] Add documentation of NLE

	[Doc] Add documentation of RNEA

	[C++][Doc] Improve the efficiency of the computation of Jcom
	The new algorithm computes also data.J to efficiently stored the
	previous oSk motion space.

	[Doc] Complete documentation of CAT

	[C++][Unit Test] Update unit test of CAT according to new features

	[C++] Update CAT algorithm
	It also computes:
	- Jcom directly (works also for robot without FF)
	- Energetic terms

	[Git] Remove simulation directory and put file in algorithm

2016-04-08  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #148 from fvalenza/devel
	Rework Joint Planar + minor modifications

2016-04-08  Valenza Florian  <fvalenza@laas.fr>

	[C++] PlanarJoints can now be parsed. Assume that the normal axis is along Z axis.

	[Python] Reindented file

	[C++] Use eigen assert and ColsAtCompileTime to check matrix size

	[C++] Added variant to access the constraint of a jointdatavariant as a constraintXd

	[C++] [Bug Fix] PlanarJoint : Fixed operator Inertia * ConstraintPlanar and se3action(X * S)

	[C++][unittest] Added JointPlanar unittest

	[unittest] Fix unittest joints

	[FixDoc] change extra to operational frame in doc

	[Pyhton] Binding getJointId()

	[C++] Remove comparison type warning

	[C++][Doc] Updated doc

	[C++] Removed assert in unittests

	[C++] Reintegrated constraint unittest and fixing it. Remplaced assert by BOOST_CHECK

	[C++] Fixed ConstraintXd operator in joint-revolute and joint-prismatic

2016-04-07  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #147 from jcarpent/devel
	Remove conflicting license 

2016-04-07  jcarpent  <jcarpent@laas.fr>

	[License] Remove conflicting license

2016-04-04  Guilhem Saurel  <guilhem.saurel@gmail.com>

	[Doc] typo

	[Python] fix ViewerConfigurationToXYZQUAT

2016-04-04  jcarpent  <jcarpent@laas.fr>

	[CMake] Add BUILD_UNIT_TESTS as option

	[Python] Expose impulse dynamics and its related quantities

2016-04-03  jcarpent  <jcarpent@laas.fr>

	[C++][Unit Test] Add unit test for impulse dynamics

	[C++] Add impulse dynamics algorithm

	[Doc] Rework doc for buildGeom

	[C++][Bug fixed] Rework ROS_PACKAGE_PATH parsing.

2016-03-31  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #141 from fvalenza/devel
	Add differentiate, integrate, random and distance methods to joints and algorithm to access it.

2016-03-31  Valenza Florian  <fvalenza@laas.fr>

	[C++][Doc] Removed random. Changed uniformySample into randomConfiguration + Updated doc of joint-configuration algorithms. + reindentation

2016-03-30  Valenza Florian  <fvalenza@laas.fr>

	[C++] Changed exp/log functions to work also with segment of segment of vector or block of block of matrix

	[C++][Python] Added a new macro for algorithms that work only with joint models instead of joint models and joint datas. Modified python binding and API accordingly

	[C++][Python] Added algorithm working with joint configurations ( integrate, differentiate, interpolate, random, uniformlySample, distance), their python bindings and unittest

	[C++][unittest] Fixed dynamics unittest. Initialize jacobians variables to avoid undefined behaviours

	[C++][Python] Removed limits from joint models. Added in Model as a vector of size nq/nv

2016-03-28  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #139 from nim65s/devel
	Lambda is a reserved keyword

2016-03-25  Guilhem Saurel  <guilhem.saurel@gmail.com>

	[Python] lambda is a reserved keyword

2016-03-24  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #137 from nim65s/devel
	Expose local_frame bool in RobotWrapper's jacobian proxy

2016-03-24  Guilhem Saurel  <guilhem.saurel@gmail.com>

	[Python] expose local_frame bool in RobotWrapper's jacobian proxy

2016-03-22  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #136 from nim65s/devel
	Tests with unittests & coveralls

2016-03-22  Guilhem Saurel  <guilhem.saurel@gmail.com>

	[Python] Tests with unittests & coveralls

2016-03-17  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #132 from jcarpent/devel
	Add forward dynamics with contacts algorithm 

	Merge pull request #133 from nim65s/devel
	[Python] Some propositions about Format & Tests

2016-03-17  jcarpent  <jcarpent@laas.fr>

	[Python] Expose forward dynamics with contact

	[CMake] Sync submodule cmake

	[C++][Unittest] Add unit tests related to forward dynamics

	[C++] Add forward dynamics with contacts algorithm

2016-03-16  jcarpent  <jcarpent@laas.fr>

	[C++] Cholesky decomposition now handles matrices rhs operand

	[Doc] Add missing return info

	[C++] Remove useless eval operator

	[C++] Add static assert concerning input dimensions

	[C++] Rewrite isApprox using correct Eigen isApprox

2016-03-15  Guilhem Saurel  <guilhem.saurel@gmail.com>

	Travis should also run python tests

	fix python tests

2016-03-15  Guilhem Saurel  <guilhem.saurel@gmail.com>

	Python clean, mostly pep8
	https://www.python.org/dev/peps/pep-0008/

	A few hints:
	    + About Spaces:
	        - always after a comma
	        - never after [, (, {
	        - never before ], ), }
	        - always around -, +, *, **, %, ==, >=, <=
	        - always around = for an assignation
	        - never around = for a default value of an argument
	        - never at the end of a line
	    + One statement by line:
	        - nothing after : unless inside []
	        - no ;
	    + No useless (), like in a simple if or assert
	    + Indentation uses four spaces
	    + Blanklines:
	        - 2 before class or function declaration
	        - 1 before class method declaration
	        - never more than 2
	    + Line length:
	        - We said 79. This is far from beeign respected. Maybe 119 is more reasonable
	    + Align:
	        - at the begining of a line continuation
	        - not multiple spaces before = to align multiple assignements

	Of course, in our case, it would be tricky to follow some other rules, like:
	    N802 function name should be lowercase
	    N803 argument name should be lowercase
	    N806 variable in function should be lowercase

	Other issues may be addressed:
	    F401 '<something>' imported but unused
	    F403 'from <some_lib> import *' used; unable to detect undefined names

	To check all of this:
	    flake8 --ignore=N802,N803,N806 --max-line-length=119 <root_folder>

	Other things changed:
	    - import order (thanks isort)
	    - useless elif changed to if
	    - useless else removed
	    - usage of ValueError, when an argument does not fit the expected type / size
	    - issubclass(x.__class__, X) / x.__class__ == X → isinstance(x, X)
	    - isinstance accepts a list or a tuple of classes (eg: isinstance(x, (int, float)))
	    - print "" → print

2016-03-11  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #110 from fvalenza/topic/parse-ros-path
	Recreate resource retriever behaviour by specifying the ROS_PACKAGE_PATH as environment variable.

2016-03-11  Valenza Florian  <fvalenza@laas.fr>

	[Python] Updated RobotWrapper with change in buildGeom

2016-03-10  Valenza Florian  <fvalenza@laas.fr>

	[C++][Geom Parser] put default value to empty vector of string for user hint directories. If user's hints and ROS_PACKAGE_PATH empty, then throw error. The function that parse ROS_PACKAGE_PATH doesn't throw errors anymore

	[C++][Geom parser] Removed boolean root_joint_added while parsing. Geom parser modified consequently to look for parent of link in pinocchio model  now instead of urdf::tree parent joint.

2016-03-08  Valenza Florian  <fvalenza@laas.fr>

	[C++][GeomParser] Throw runtime if ROS_PACKAGE_PATH is empty

	[C++][Pyhton][Geom parser] ROS_PACKAGE_PATHS directories are now added to the ones specified by user

	[C++][Parser Geom] Look for link that have collision instead of inertia

	[CMake] Added missing file to git repo

	[Python] Update methods and RobotWrapper to use buildGeom instead of buildModelAndGeom and to use a list of package dirs instead of one meshRootDir.If no package_dirs is given by the user, then it will call the C++ procedure that automatically parse the ROS_PACKAGE_PATH

	[C++] clarify method name

	[Python] Added method to convert a python List of string to a C++ vector of string. Warning: the type checking must be made by user before using this function

	[Python] Uniformized names

	[C++][Python][Parser Geom] Parse automatically the ROS_PACKAGE_PATH environment variable if not clue is given by the user to where to search for meshes. Change the meshRootDir argument to a vector of strings (package directories). Updated Python consequently

2016-03-07  fvalenza  <florian.valenza@gmail.com>

	Merge pull request #128 from jcarpent/devel
	Improve doc of Model+Data and add python bindings in Travis

2016-03-07  jcarpent  <jcarpent@laas.fr>

	[Doc] Complete doc of model

	[Doc] Improve Data doc

	[travis] Update Pinocchio dependencies

2016-03-06  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #127 from jcarpent/devel
	Add CCRBA algorithm

2016-03-06  jcarpent  <jcarpent@laas.fr>

	[Python] Expose CCRBA algo and related quantities

	[C++][Unittest][Bench] Add unit test and bench of CCRBA

	[C++] Add CCRBA for composition centroidal dynamics

	[C++] Add quantities needed in CCRBA

	[C++] Minor clean

2016-03-05  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #124 from jcarpent/devel
	Add ABA algorithm

2016-03-04  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #125 from nim65s/devel
	Inertia.From{Ellipsoid,Cylinder,Box}

2016-03-04  jcarpent  <jcarpent@laas.fr>

	[Python] Expose ABA and its related quantities

	[Doc] Add doc to ABA algo

	[C++][Unittest][Bench] Add ABA unit testing and bench

2016-03-04  Guilhem Saurel  <guilhem.saurel@gmail.com>

	fix tests

2016-03-04  jcarpent  <jcarpent@laas.fr>

	[C++] Add ABA algorithm

	[C++] Add new operations and quantities in Joint Model and Data for ABA

2016-03-04  Guilhem Saurel  <guilhem.saurel@gmail.com>

	Inertia.From{Ellipsoid,Cylinder,Box}

2016-03-03  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #114 from jcarpent/devel
	Rework center of mass algo + Python API

2016-03-03  jcarpent  <jcarpent@laas.fr>

	[Python][Fix bug] Correct way to access Jcom in data

2016-03-02  jcarpent  <jcarpent@laas.fr>

	[Unittest] Update CoM unit test and bench following new API

	[Python] Minor clean of the code

	[Python] Use forwardKinematics instead of geometry, kinematics, dynamics

	[C++][Python] Clean centerOfMass computations
	Use the name for all the algo related to centerOfMass computations. All
	of them now return the center of mass position of the whole rigid body
	system. Add also to compute only the position and velocity of the CoM

	[C++] Use the right typedef for returning quantities

2016-03-01  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #113 from jcarpent/devel
	Add missing namespace

2016-03-01  jcarpent  <jcarpent@laas.fr>

	[C++] Add missing namespace

2016-03-01  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #112 from jcarpent/devel
	Rework SRDF parsing + correct GeometryModel parsing from URDF

2016-03-01  jcarpent  <jcarpent@laas.fr>

	[C++][Unittest] Update unites according to the new paradigm

	[C++] Rewrite URDF parser
	The geometries are now loaded by reading again the URDF file. From now,
	one has to build a model first from a URDF file, then to load the
	geometries according to this model.

	[C++] Rework geometry parsing from URDF

	[C++] Add constness

	[C++] Correct for GCC

	[C++][CMake] Move SRDF parsing to function

	[C++] Add const ref to model in GeometryModel
	This reference is mandatory, just because a GeometryModel is linked to
	a kinematic Model

2016-03-01  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #107 from jcarpent/devel
	Handle SRDF file parsing for activation of collision pairs

	[Python] Correct name of the variable

2016-02-18  Justin Carpentier  <jcarpent@laas.fr>

	[C++] Proper use of ifstream

2016-02-18  jcarpent  <jcarpent@laas.fr>

	[C++] Add GeomIndexList typedef

	[C++] Clean the code + add checking of file extension

	[Python] Expose SRDF parsing

	[C++] Implement SRDF parsing for geometry data
	This new feature allows to activate collision pairs according to an
	SRDF file

	[C++] Activate Map inner object - needed by SRDF parser

	[C++] Correct index type

2016-02-17  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #105 from jcarpent/devel
	Enhance documentation + correct bug in Frame + minor modif

2016-02-17  jcarpent  <jcarpent@laas.fr>

	[C++] Remove useless include

	[C++] Correct typedef as gcc complains

	[C++][Bug Fixed] Rework op frames
	There were some bugs in the algo + rename framesForwardKinematic in
	framesForwardKinematics (follow the API)

	[Python] Expose setter method for inertia

2016-02-16  jcarpent  <jcarpent@laas.fr>

	[Python] Properly indent file inertia

	[Python] Properly handle scalar type for conversion

	[C++] Add default init for Inertia and Symmetric3

	[C++] Use protected rather private

	[C++] Add operator disp in Constraint class

	[C++] Improve efficiency by using colwise op for cross product

	[Doc] Correct motion description

	[Doc] Correct documentation in getJacobian

	[C++] Remove useless include

	[Doc] Specify documentation for kinematics algo

	[C++][CMake] Split kinematics into two files .hpp and .hxx

	[C++] Add forward declaration of typedef Index

2016-02-15  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #103 from fvalenza/devel
	Enhanced geometric parser, Geometry and use of Model::Index

2016-02-15  Valenza Florian  <fvalenza@laas.fr>

	[Doc] Update doc of CollisionResult, Frame

	[C++][Geom] GeometryData::collision_results is now a vector or CollisionResult ( struct holding infos about contacts)

	[Bugfix] Fix to change in API

	[gitignore] Update gitignore to not list temporary files

	[Cmake] Specified minimum version for assimp because the headers we include change  since v3.x.x

	[Debug][unittest] Fix bug in geom test

	[FixBug][C++]Fixed compilation errors dur to change in API

	split Index into JointIndex, BodyIndex, FrameIndex GeomIndex

	[benchmark][cmake] Re added boost component. Needed by timings-geometry.cpp, and use correct name of algorithms

	[parser][C++] Parse geometric primitives such as cylinders, boxes

2016-02-15  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #102 from jcarpent/devel
	Enhance documentation + correct some bugs in Frame class

2016-02-15  jcarpent  <jcarpent@laas.fr>

	[C++] Fix to new API

	[Doc] Add documentation of Frame struct

	[C++] Remove useless include

	[Python] Set same method name in python model

	[Python] Define stdVec of Frames directly in the exposure of Frame class

	[C++] Handle std vector specialisation of Frame directly in the frame file

	[C++][Python] Rename getJointToFrameTransform to getFramePlacement

	[C++] Add constness

	[Python][Bug Fixed] Set proper setter for Frame class

2016-02-15  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #101 from jcarpent/devel
	Enhance documentation + fix some bugs related to the new API

2016-02-15  jcarpent  <jcarpent@laas.fr>

	[Doc] Full documentation of Cholesky

	[Doc] Continue global doc

	[Doc] Ignore .hxx contents

	[C++] Small reorganisation of Inertia struct

	[Doc] Improve global doc of Pinocchio

	[Doc] Start documentation of se3::Data

	[C++] Remove useless include

	[Doc] Enhance jacobian documentation

	[C++][Bug Fixed] Remove constness of the iterator

	[C++][Cmake] Split cholesky into two files

	[Python][Bug FIxed] Properly handle the single robot wrapper constructor

	[C++][Bug Fixed] Use the right method and algorithm names

2016-02-12  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #100 from florent-lamiraux/devel
	Add missing inline

2016-02-12  Florent Lamiraux  <florent@laas.fr>

	Add missing inline
	  - fcl::Transform3f toFclTransform3f(const se3::SE3 & m),
	  - se3::SE3 toPinocchioSE3(const fcl::Transform3f & tf).

	Enhance documentation

2016-02-10  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #99 from jcarpent/devel
	Set default SINCOS for architecture with no sincos function

	Merge pull request #96 from fvalenza/topic/operational-frames
	Add notion frame and handle fix frame in URDF throw operational frame data

2016-02-10  Valenza Florian  <fvalenza@laas.fr>

	[frame jacobian] Express jacobian in correct  frame

2016-02-10  jcarpent  <jcarpent@laas.fr>

	[C++] Set default SINCOS for architecture with no sincos function

2016-02-09  Valenza Florian  <fvalenza@laas.fr>

	Switch from MatrixXd to Data::Matrix6x for holding jacobians

	[C++] correct computation of jacobian

	[C++] Check existence of frame before accessing it in Model. Factorisation of code. If the frame does not exist, in release mode we return an undefined value. No check is done on runtime

	Correcting bulk after code review

	[C++][unittest] Reworked computations of frame Jacobian in global frame. Reworked unittest. Change argument from Matrix6x to MatrixXd to follow getJacobian convention

	Removed useless include

	[Python] Fixed bug in frame exposed algorithms

	[C++][Frame] Moved the generation of random string in a new file. Modified the default constructor of frame to produce unique frame (as long as the random strings generated are unique)

	[C++][Python] Added missing setters of Frames exposed in python, addFrame now returns a bool depending on the succes of the insertion of the new frame in the operational_frames vector

	[unittest] Added test of extra frames kinematics/jacobian and small modif in frame jacobian algo

2016-02-09  Valenza Florian  <fvalenza@laas.fr>

	[C++] Added algorithms to compute position and jacobian of extra_frames, and binded it in python
	Conflicts:

		CMakeLists.txt
		src/python/algorithms.hpp

2016-02-09  Valenza Florian  <fvalenza@laas.fr>

	[C++][Python][parser] Added operational_frames in Model as a vector of Frame {name, parent id, placementWrtParentJoint} and exposed it in python. When parsing a fixed joint, a frame is added to the model with the name of the fixed joint

2016-02-09  jcarpent  <jcarpent@laas.fr>

	[CMake] Refactor benchmark building
	By default, one can now build the benchmarks from make timings. They
	are build along with the lib if BUILD_BENCHMARK is set to ON.

	[CMake] Add missing license

	[C++] Correct collide

2016-02-09  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #98 from jcarpent/devel
	Continue python integration of geometry methods and algo

2016-02-09  jcarpent  <jcarpent@laas.fr>

	[Python] Complete exposure of Geometry class

	[C++] Minor cleaning of the code

	[C++][Python] Synchronize algorithms with new API

	[C++] Add method to compteAllDistances

	[C++][Python] Add method to computeAllCollisions and to check if at least one pair is colliding

	[C++][Python] computeDistance now returns a struct DistanceResult

	[C++][Python] Rename collide in computeCollsion
	Follows the standard of computeDistance

	[C++] Check if collision pair exists before adding or removing it

	[C++] Rename collisions in collision_results and distances in distance_results

	[C++][Python] Change name of updateCollisionGeomtry in updateGeometryPlacements
	Choose an explicit name to describe what the algorithm effectively does

	[C++] Define a collision pair as an ordered std pair

2016-02-08  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #97 from jcarpent/devel
	Properly handle the geometry data struct

2016-02-08  jcarpent  <jcarpent@laas.fr>

	[C++] Correct indent

	[Python][Bug Fixed] Properly handle geometry data

	[Doc] Correct documentation of geometry algo

	[C++] Properly initialize GeometryData

	[C++] Add method to remove all collision pairs

	[C++] Rename method fillAllPairsAsCollisions with addAllCollisionPairs

	[Python] Raise exception if Geometry module has not been compiled with Pinocchio

	[Doc] Increase doc of Geometries struct

	[C++] Align code in Geometry

	[C++] Add constness in index in struct GeometryModel

	[C++] Remove accessor distanceResults - not necessary

	[C++] Set object index to be of type Index in Distance Struct

	[C++] Define typedef for vector of collision pairs

	[C++] Set data and model_geom to be const ref

	[C++] GeometryData and GeometryModel are now struct
	Same as Model and Data

	[C++] Change the way to find a CollisionPair

	[Doc] Complete doc around GeometryData

	[C++] Add method findCollisionPair

	[C++] Add constness + rename isCollisionPair into existCollisionPair

2016-02-05  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #95 from jcarpent/devel
	Throw exception when parsing meshes instead of runtime error

2016-02-05  jcarpent  <jcarpent@laas.fr>

	[C++] Rename + aligne code

	[Doc] Set argument as output of the function

	[C++][Bug Fixed] Throw exception instead of a runtime error when file is missing

2016-02-05  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #94 from jcarpent/devel
	Use same name to load urdf model with or without root joint

2016-02-05  jcarpent  <jcarpent@laas.fr>

	[Cmake] Sync submodule

	[Python] Overload buildModelFromUrdf and buildModelAndGeomFromUrdf
	Explicitly overload buildModel functions to get the same name in the
	exposure of functions.
	Change of API: buildModelFromUrdfWithRoot and
	buildModelAndGeomFromUrdfWithRoot are now replaced by their counterpart.

	[Python] Clean geometry class

2016-02-04  Olivier Stasse  <ostasse@laas.fr>

	[README] Add beautiful imgshield badge...

	[README] Minor fix

	[README] Add license badge to make licensing clear + Coverity badge

2016-02-03  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #92 from florent-lamiraux/devel
	Start documentation using doxygen.

2016-02-03  Florent Lamiraux  <florent@laas.fr>

	Start documentation using doxygen.

2016-02-03  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #91 from fvalenza/topic/refactoring-unittest
	[unittest] refactored unit tests to locate precisely where the unit tests fail

2016-02-03  Valenza Florian  <fvalenza@laas.fr>

	[unittest] refactored unit tests to locate precisely where the unit test fails

2016-02-03  Olivier Stasse  <ostasse@laas.fr>

	[Travis] Back to original jrl-travis after lcov merge.

	[Travis] Remove /opt/openrobots from coverage.

	[README] Badge updated to SVG

2016-02-03  JRL/IDH Continuous Integration Tool  <jrl-idh+ci@gmail.com>

	[Travis] Synchronize

	[Travis] Synchronize

	[Travis] Synchronize

	[Travis] Switch to another jrl-travis repo.

	[travis] Switch to a different travis repo.

2016-02-02  JRL/IDH Continuous Integration Tool  <jrl-idh+ci@gmail.com>

	[travis] Fix LCOV_IGNORE_RULES

	[Travis] Fix travis_custom/custom_before_install

2016-02-02  Olivier Stasse  <ostasse@laas.fr>

	[Travis] Fix custom_before_install

	[travis] Fix after_success + Synchronize travis submodule

2016-02-02  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #88 from stack-of-tasks/revert-87-topic/extra-frames
	Revert "Topic/extra frames"

	Revert "Topic/extra frames"

2016-02-02  Olivier Stasse  <Olivier.stasse@gmail.com>

	Merge pull request #87 from fvalenza/topic/extra-frames
	Topic/extra frames

2016-02-02  fvalenza  <florian.valenza@gmail.com>

	Merge pull request #86 from jcarpent/devel
	[C++][Fix Bug] Update function name according to the new API

2016-02-02  jcarpent  <jcarpent@laas.fr>

	[C++][Fix Bug] Update function name according to the new API

2016-02-02  Valenza Florian  <fvalenza@laas.fr>

	[unittest] Added test of extra frames kinematics/jacobian

2016-02-02  Olivier Stasse  <ostasse@laas.fr>

	[README] Add reference to branch devel.

	[README] Fix badge reference

	[README] Point towards the right travis build.

2016-02-02  Valenza Florian  <fvalenza@laas.fr>

	[C++] Added algorithms to compute position and jacobian of extra_frames, and binded it in python
	Conflicts:

		CMakeLists.txt
		src/python/algorithms.hpp

2016-02-01  Valenza Florian  <fvalenza@laas.fr>

	[C++][Python][parser] Added extra_frames in Model as a vector of Frame {name, parent id, placementWrtParentJoint} and exposed it in python. When parsing a fixed joint, a frame is added to the model with the name of the fixed joint

2016-02-01  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #85 from jcarpent/devel
	Set minimal version of EigenPy to 1.3.0

2016-02-01  jcarpent  <jcarpent@laas.fr>

	[CMake][Fixed Bug] Set minimal version of EigenPy to 1.3.0

2016-01-29  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #82 from florent-lamiraux/devel
	Fix licence headers.

2016-01-29  Florent Lamiraux  <florent@laas.fr>

	Fix licence headers.

2016-01-29  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #80 from jcarpent/devel
	Correct bug in geometry parsing

	Merge pull request #79 from jcarpent/topic/bug
	Correct two bugs related to recent PR #76 and #77

2016-01-29  jcarpent  <jcarpent@laas.fr>

	[CMake] Remove useless boost component

	[C++] Correct some constness of input arguments + indentation

	[C++][Fix bug] Correct include of assimp files

2016-01-28  jcarpent  <jcarpent@laas.fr>

	[C++][Fix Bug] Use proper forwardKinematics method

	[C++][Fix Bug] Correct potential geometry algorithm

2016-01-28  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #78 from jcarpent/topic/minor
	PR with minor adds

2016-01-27  jcarpent  <jcarpent@laas.fr>

	[C++] Correct return type

	[C++] Correct initialization of the U cholesky matrix

	[C++] Add the computation of center of mass related quantities in computeAllTerms

	[C++] Improve the computation time for getJacobianComFromCrba

	[C++][Python] Add acceleration related to gravity field
	The idea is to separate the real spatial acceleration of a body to the
	spatial acceleration containing the gravity field, which is useful in
	the context of dynamical equations

	[C++] Add option to effectively updates or not the kinematics of the model

	[C++][Bench] Add empty forward loop in the model tree

	[Python] Expose new Eigen specific matrix

	[Python] Add setIdentity and setRandom to SE3 python struct

	[Python] Change constness for the center of mass jacobian

	[Python] Properly expose Center of Mass quantities

	[C++] Add typedef and std::vector specialization in data struct

	[C++] Improve efficiency of exp/log op

	[C++] Use default class scalar typedef

	[C++][Python] Set precise type for jacobians

	[C++] Add iF in CRBA

	[Doc] Add documentation to exp/log maps

	[C++] Optimize code for log and exp map

	[C++] Improve the operator I*v
	The gain is about 10% for NLE and RNEA.

	[C++][Bug fix] Add constness to operator== in Symmetric3

	[C++][Doc] Add function unSkew, the skew inverse operator

2016-01-27  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #77 from jcarpent/topic/minor
	Minor clean of the framework

2016-01-27  jcarpent  <jcarpent@laas.fr>

	[C++] Adjust display representation of Inertia

	[C++] Add accessor to Inertia quantities

	[C++] Add constructor from Matrix6 for Inertia + unittest

2016-01-27  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #76 from jcarpent/topic/potential-energy
	Add computation of potential energy

	Merge pull request #75 from jcarpent/dev
	Add computation of Kinetic Energy 

2016-01-27  jcarpent  <jcarpent@laas.fr>

	[C++][Cmake] Split jacobian algo also into two parts .hpp and .hxx for better clarity

	[C++] Remove useless include

	[C++] Use jointId instead of idx

	[C++] Uniformize naming of the algorithm for forward kinematics

	[C++] Add missing inline

	[C++] Remove useless temporary variable

	[C++][Cmake] Split com also into two parts .hpp and .hxx for better clarity

	[C++][Unit test] Correct com unittest according to recent modifications to com algo

	[C++][Fix convention] Express the quantities obtained from CRBA in the world frame

	[Doc] Add documentation of CRBA algo

	[Doc] Add documentation of jacobian algo

	[Doc] Add documentation in center of mass algorithm

	Sync submodules

	[Python] Expose potentialEnergy algo

	[C++] Add computation of potential energy

	[Doc] Add documentation of kineticEnergy

	[Doc] Correct comment on default gravity field

	[Python] Expose kineticEnergy algo

	[C++] Use typedef Matrix63 - Remove useless warning

	[Python] Update exposure of Force taking into account use of Vector6

	[Python] Update exposure of Motion taking into account use of Vector6

	[CMake] Remove useless deployment target for OS X

	[C++] Add algo to compute the kinetic energy

	[C++] Add operator vtiv
	This operator allows the computation of the kinetic energy related to a
	body with spatial Inertia I and spatial velocity v

	[C++] Remove warning by cast

2016-01-26  jcarpent  <jcarpent@laas.fr>

	[C++] Change output type of force selector

	[C++] Use Vector6 instead of 2 Vector3 in Motion and Force

	[C++] Change the display of force class - similar to motion class

	[C++] Make aligned operator new for spatial struct

	[C++] Set motion data to protected

2016-01-22  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #73 from aelkhour/master
	[Python][Build] Fix compile error in case hpp-fcl is not used.

2016-01-22  Antonio El Khoury  <antonio.elkhoury@wandercraft.eu>

	[Python][Build] Fix compile error in case hpp-fcl is not used.

2016-01-22  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #72 from fvalenza/topic/geometry
	Add geometry of collision inside a dedicated struct allowing collision detection

2016-01-22  Valenza Florian  <fvalenza@laas.fr>

	Added missing licenses, corrected compilation bug in python/parsers.hpp. also modified the number of benchmarks to have more relevant results and removed useless lines

2016-01-19  Valenza Florian  <fvalenza@laas.fr>

	[bench][unittest] Reworked the comparison test between pinocchio and hpp : more tests for benchmarks along with functional tests ; removing magic paths to urdf models + modification of romeo urdf model. Also added a specific BUILD_TESTS_WITH_HPP cmake variable. If you want to run tests that execute hpp robot loading, be sure to have the package romeo_pinocchio installed (it is just a package done done by hand for the moment)

2016-01-15  jcarpent  <jcarpent@laas.fr>

	[C++][Fix bug] Properly parse urdf model having an empty base link

2016-01-15  Valenza Florian  <fvalenza@laas.fr>

	[C++][Geom Parser] Fix Bug that was skipping the first link for geometry model

2016-01-14  Valenza Florian  <fvalenza@laas.fr>

	[C++] computeDistances and computeCollisions moved out of GeometryData. Added a vector of boolean handling the state of whether or not the pairs are in collision in GeometryData

2016-01-12  Valenza Florian  <fvalenza@laas.fr>

	Corrections bulk after first review

2016-01-11  Valenza Florian  <fvalenza@laas.fr>

	[C++][CMake][Doc] Split geometry parser into two parts.Added guard to file to avoid multiple redefinition

2016-01-08  Valenza Florian  <fvalenza@laas.fr>

	[benchmark] Moved the geometry benchmarks in a second file to keep timings.cpp simple to read

	[C++][Python] Reworked the geometry parser ( BuildModelAndGeom). Suppressed the duplicate code in parseTreeWithGeom : the geometry model is now built in a second loop over the urdf tree. Also exposed the <model, geometryModel> construction

	[cmake] Added missing using_dependency

	[CMake][Python] Exposed GeometryModel and GeometryData in python. Little reworked of the headers_variables in the cmakelists

2016-01-07  Valenza Florian  <fvalenza@laas.fr>

	[benchmark] geometric benchmark are now more significant

	[C++] Correct methods to const

	[C++][algo] algorithm updateCollisionGeometry now optionally executes algorithm geometry to compute positions before updating collision objects's positions

	[C++][Geom] distances results for computeDistances is not always cleared but replaced by a vector with empty results. The initialization of collision pairs is now  always done in constructor.

	[C++][Geometry] Removed useless const and &

	[benchmark]Comparing pinocchio to hpp in benchmarks

	[C++][Geometry] Added collision pairs and computations of collision/distance for all pairs in a row

	[C++][Unittest] Debug unittest : now use correct configurations vectors size

	[C++] Geometric parser : handle cases where inertia or joint information is missing.

	[benchmark] Added benchmark of atomic computations with geometry objects such as updating global positions, determine if two objects are in collision, or compute the distance between two objects

	[C++][unittest] Added unittest geom.cpp . It tests that we obtain the same results between Pinocchio and hpp-model-urdf for joints and geometry objects positions ; for collisions and distances between two geometry objects

	[C++] Added parser that handle geometry

	[C++] Added geometry structure through fcl

2015-12-18  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #71 from jcarpent/devel
	Add unaligned prismatic joint + minor modifications

2015-12-17  jcarpent  <jcarpent@laas.fr>

	[C++] Include unaligned prismatic joint in the URDF parser

	[Unit Test] Add unitary test of the prismatic unaligned joint

	[C++] Add unaligned prismatic joint

	[C++] Remove useless include

	[C++][Cmake] Split model and urdf parser into two parts .hpp and .hxx for better clarity

2015-12-17  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #70 from jcarpent/topic/urdf
	Fix bug when parsing urdf file model by considering free floating joint

2015-12-17  fvalenza  <florian.valenza@gmail.com>

	Merge pull request #67 from jcarpent/devel
	Still cleaning the parser + add tool

2015-12-17  jcarpent  <jcarpent@laas.fr>

	[C++] Use the joint base configuration and tangent vector type + uniform naming of variables

	[C++][Fixed bug] Add Floating joint in the URDF parser

	[C++] Define configuration and tangent vector for jointModelBase

	[CMake] Remove useless definition of variables

	[CMake] Remove useless line

	[CMake] Add global definition of the lua macro

	[C++][CMake] add util to read model from file

	[C++] Partially rename variables, comment code and remove useless lines

	[C++] Raise exception when inertia information is missing when build tree with a specific root joint

	[Doc] Add documentation for the urdf parser

	[C++] Add verbosity option to show the construction of the model

	[C++] Raise an exception when the urdf tree is badly formated

2015-12-17  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #68 from olivier-stasse/devel
	Functions defined in headers urdf.hpp and jacobian.hpp are set to inline.

2015-12-17  Olivier Stasse  <ostasse@laas.fr>

	Switchs functions defined in headers to inline.
	The functions should be inlined, otherwise it breaks with the headers
	are used in multiple robots mode.

2015-12-14  fvalenza  <florian.valenza@gmail.com>

	Merge pull request #66 from jcarpent/devel
	Set default initialization of variables + expose spatial quantities methods + correct bug

2015-12-10  jcarpent  <jcarpent@laas.fr>

	[C++] Throw an exception when joint or inertia information are missing

	[C++] Correct argument type to const ref

	[C++][Bug fixed] Return the size of the vector instead of -1

	[C++] Add test inside CoM unittest

	[C++][Cmake] Set default value in debug mode for data structure quantities

2015-12-09  jcarpent  <jcarpent@laas.fr>

	[Python] Expose new setter methods for inertia class

	[C++] Add setter for inertia class

	[C++] Add setter for the class symmetric3

2015-11-24  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #64 from aelkhour/master
	[C++] Build sample humanoid model with joint limits.

2015-11-24  Antonio El Khoury  <antonio.elkhoury@wandercraft.eu>

	Build sample humanoid model with joint limits.
	  * Velocity and torque limits are choosen randomly from the [0;1]
	    interval for 1D joints.
	  * Position limits are choosen randomly from the [-1;1] interval for
	    1D joints.
	  * Torque limits set to zero(6) for freeflyer joint.
	  * Velocity limits are choosen randomly from the [0, 1e3]^6
	    interval for freeflyer joint.
	  * Position limits are choosen randomly from the [-1e3, 1e3]^7
	    interval for freeflyer joint.

2015-11-24  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #63 from aelkhour/master
	[Python] Add StdVec::index binding to emulate python list behavior.

2015-11-23  Antonio El Khoury  <antonio.elkhoury@wandercraft.eu>

	[Python] Add StdVec::index binding to emulate python list behavior.
	  * It is defined only for string vectors for now.

2015-11-23  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #60 from aelkhour/master
	Fix URDF inertia parser

2015-11-23  Antonio El Khoury  <antonio.elkhoury@wandercraft.eu>

	[URDF][C++][Bug] Merge link with parent only if it has an inertial tag.
	  * Inertial-less links under fixed joints exist for semantic
	    purposes, i.e. to provide referential frames.
	  * Keep storing these links as fixed bodies.
	  * The case of pairs with non-fixed joints and inertial-less links
	    still needs to be properly addresses, as the current behavior
	    (identity inertia) is clearly bad.

2015-11-03  fvalenza  <florian.valenza@gmail.com>

	Merge pull request #59 from jcarpent/topic/devel
	Fix some bugs + update Mac compatibility

2015-10-29  jcarpent  <jcarpent@laas.fr>

	[Cmake] Precise OS X deployment target
	May need some change according to the current version of the
	architecture

	[C++][Fix Bug] Add missing inclusions

	[C++] Correct unclear comments

	[C++][Fix Bug] Check if the urdf tree pointer is indeed initialized

2015-10-22  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #58 from aelkhour/master
	[C++][Bug] Move sample-models function implementations out of header.

2015-10-22  Antonio El Khoury  <antonio.elkhoury@wandercraft.eu>

	[C++][Bug] Move sample-models function implementations out of header.
	  * One Definition Rule was still not enforced.
	  * Declare function in header sample-model.hpp, implement them in
	    sample-models.cpp
	  * Add sample-models symbols to libpinocchio.

2015-10-21  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #53 from fvalenza/topic/createModelWithPython
	create model using python & (fix) exposure of joints

2015-10-21  Valenza Florian  <fvalenza@laas.fr>

	[Python] Properly expose the joints of the model

2015-10-20  Valenza Florian  <fvalenza@laas.fr>

	[Python][Major] Binding Model::addBody. Be careful, unless C++ method addBody, in python there is no default parameters

	[Major][C++][Python]Breaking retrocompatibilty. Added the possibility to choose root joint when creating a model (in C++) or a robot (in Python). May be a check can be done on the value of root parameter in python if it's not None

2015-10-19  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #57 from aelkhour/master
	[CMake][Bug] Fix use of lua sources cmake variable.

2015-10-19  Antonio El Khoury  <antonio.elkhoury@wandercraft.eu>

	[CMake][Bug] Fix use of lua sources cmake variable.

2015-10-19  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #56 from fvalenza/topic/PinocchioSharedLibrary
	Force Pinocchio shared library + move gravity vector to the shared library

2015-10-19  Valenza Florian  <fvalenza@laas.fr>

	[cmake][C++][bug fix] Moved initialization of static const variable gravity 981 from model.hpp to model.cpp. libpinocchio.so is no more empty. Caution : Pinocchio is more a header-only library. One should alwais link against shared library

2015-10-15  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #55 from fvalenza/topic/travisStalledBuilds
	[travis] Give travis more time for executing full build

	Merge pull request #54 from aelkhour/master
	Enforce (again) One Definition Rule

2015-10-15  Antonio El Khoury  <antonio.elkhoury@wandercraft.eu>

	[C++][Bug] Add inline specifier to joint shortname template specializations.

2015-10-15  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #52 from aelkhour/master
	Add Wandercraft copyright where needed.

2015-10-15  Valenza Florian  <fvalenza@laas.fr>

	[travis] Give travis more time for executing full build

2015-10-14  Antonio El Khoury  <antonio.elkhoury@wandercraft.eu>

	Add Wandercraft copyright where needed.

2015-10-14  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #50 from aelkhour/master
	[C++][Bug] Avoid confusion between joint and body methods in se3::Model.

	Merge pull request #51 from fvalenza/topic/travisReduceRAMIntensiveness
	Try to avoid travis killed builds (i.e crashes due to building environment running out of ram)

2015-10-14  Valenza Florian  <fvalenza@laas.fr>

	[travis] Build_type is now MinSizeRel to optimize the comsumption of RAM during process in order to avoid crashes during travis builds. Display memory during build to track RAM information. Reduce number of dependencies

2015-10-13  fvalenza  <florian.valenza@gmail.com>

	Merge pull request #44 from fvalenza/topic/BindingJoints
	Topic/binding joints

2015-10-12  Antonio El Khoury  <antonio.elkhoury@wandercraft.eu>

	[C++][Bug] Avoid confusion between joint and body methods in se3::Model.
	  * se3::Model::getBodyId was used to retrieve joint id in parsers.
	  * Implement new methods to retrieve joint ids.
	  * Fix body methods.

2015-10-12  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #49 from aelkhour/master
	[C++][Bug] Enforce One Definition Rule in template instantiations.

2015-10-09  Antonio El Khoury  <antonio.elkhoury@wandercraft.eu>

	[C++][Bug] Enforce One Definition Rule in template instantiations.
	  * Add inline specifier where needed.
	  * This is done to avoid multiple definition when using the pinocchio
	    library as a dependency.

2015-10-08  Valenza Florian  <fvalenza@laas.fr>

	[travis] Reorganized travis build to perform 4 tests : gcc Debug and Release , clang Debug and Release. For now, only one test is done to ensure that builds that failed were due to travis build environment running out of RAM

	[cmake] fix ADD_TEST_CFLAGS and ADD_TARGET_CFLAGS_MACRO. flags are now correctly appended

2015-10-06  Valenza Florian  <fvalenza@laas.fr>

	[cmake][travis] Synchronizing

2015-10-01  Valenza Florian  <fvalenza@laas.fr>

	[Python] Binding the different joint models. The exposure is done through the variant. In joints-models, you can specialise the binding for any jointModel you want.

2015-09-30  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #46 from fvalenza/Hotfix/MatrixInit
	[C++][Bug fixed] Changed from assignation to initialization...

2015-09-30  Valenza Florian  <fvalenza@laas.fr>

	[hotfix] Changed from assignation to initialization for a matrix in symmetric3 that causes computations errors with ubuntu 14.04 in release mode.

2015-09-29  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #43 from fvalenza/topic/JointDense
	Topic/joint dense

2015-09-29  Valenza Florian  <fvalenza@laas.fr>

	[C++]{Minor] Changed the name of the method to access the segment of a given vector. The length of the returned segment depends on the dof of the joint(size NQ or NV)

	[C++] Suppressed useless public specifiers. Added jointdatadense basic unittest

2015-09-28  Valenza Florian  <fvalenza@laas.fr>

	[C++] Split File joint-base : joint-dense is now in its own header file

	[C++][Major] Reorganized the methods to acces segments of fixed size (one for NQ, one for NV) from joints indexes

2015-09-28  Mansard  <nmansard@laas.fr>

	[Major] JointDense with dynamic size.

2015-09-28  Valenza Florian  <fvalenza@laas.fr>

	[C++][Unittest] Added Basic unit tests for JointModelDense

	[C++][Major] Added JointModelDense and JointDataDense. Both templated by the dimension of configuration space and tangential space. Each joint can be converted to a Dense one

2015-09-21  fvalenza  <florian.valenza@gmail.com>

	Merge pull request #42 from jcarpent/topic/log3
	[Fix Bug] Check norm of the vector to exponentiate

2015-09-17  jcarpent  <jcarpent@laas.fr>

	[Fix Bug] Check norm of the vector to exponentiate

2015-09-17  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #40 from fvalenza/topic/CRTP
	topic/crtp - Convert all current structures to the CRTP template

2015-09-11  Valenza Florian  <fvalenza@laas.fr>

	[C++] All joints now use spatial CRTP classes

	[Marginal] Cosmetic changes

2015-09-10  Valenza Florian  <fvalenza@laas.fr>

	[C++] JointFreeFlyer is now CRTP

	[Minor] Templated ActionReturn

	[Marginal] Cosmetic changes

	[Major][C++] Renamed macro for spatial traits : 2 cases -> use in templated/not templated classes to avoid polluting warnings. Following these naming could avoid multiple definitions of macro SE3_JOINT_TYPEDEF

	[C++] ConstraintRevolute is now CRTP

	[C++][Major] MotionRevolute is now CRTP. Moved out of struct JointRevolute to solve namespace problems

2015-09-10  Valenza Florian  <fvalenza@laas.fr>

	[Minor] modified benchmark behaviour, release does multiple loop, debug only one test
	Conflicts:

		benchmark/timings.cpp

2015-09-10  Valenza Florian  <fvalenza@laas.fr>

	[Marginal] Cosmetic changes

	[Major] BiasZero is now a MotionBase (CRTP), implemented in jointrevolute. Switch in other joints to come

	[Major] Constraint is now CRTP

	[Major] Motion is now CRTP

	[Major] Inertia is now CRTP

	[Major] Force is now CRTP

	[Major] spatial class SE3 is now CRTP. Move traits class in spatial/fwd.h as it is now used in spatial classes and joint-base

	[Marginal] Removing warning signed vs unsigned

2015-09-09  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #39 from nmansard/devel
	Added two minor functionalities in the python bindings

2015-09-07  Mansard  <nmansard@laas.fr>

	[Python] force the computations of all coefficient in the mass matrix, in the binding of computeAllTerms.

	[Python] Added (temporary) access to nq nv datas in the model.

2015-08-10  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #36 from aelkhour/master
	Build library only if sources are detected.

2015-08-10  Antonio El Khoury  <antonio.elkhoury@wandercraft.eu>

	[CMake] Build library only if sources are detected.

2015-08-07  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #35 from aelkhour/master
	Compilation with qcc for QNX

2015-08-07  Antonio El Khoury  <antonio.elkhoury@wandercraft.eu>

	[C++] Define SE3_JOINT_TYPEDEF macros for qcc compiler (gcc 4.4.2).

	[C++] Specify namespace in JOINT_VISITOR_INIT macro.

	[C++] Use SINCOS in explog functions.

	[C++] Implement SINCOS macro for QNX.

	[C++] Remove reference from template argument of boost::get.

2015-08-07  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #34 from aelkhour/master
	[C++] Remove forbidden instances of typename keyword.

2015-08-06  Antonio El Khoury  <antonio.elkhoury@wandercraft.eu>

	[C++] Remove forbidden instances of typename keyword.
	  - This is necessary to build with older compiler versions.
	  - The keyword typename must only be used in template declarations
	    and definitions and only in contexts in which dependent names can
	    be used. This excludes explicit specialization declarations and
	    explicit instantiation declarations (until C++11).

2015-07-20  fvalenza  <florian.valenza@gmail.com>

	Merge pull request #30 from jcarpent/dev
	Add computation of CoM position, velocity and accelerations + minor ajustements

2015-07-16  jcarpent  <jcarpent@laas.fr>

	[Minor] Add missing license in LUA unittest

	[C++] Improve efficiency by removing useless computations

2015-07-09  fvalenza  <florian.valenza@gmail.com>

	Merge pull request #28 from jcarpent/topic/mac-compatibility
	Topic/mac compatibility

2015-06-27  jcarpent  <jcarpent@laas.fr>

	[C++][Bug fixed] Proper acceleration computation - remove gravitational value

2015-06-25  jcarpent  <jcarpent@laas.fr>

	[Python] Update robot wrapper to handle acceleration and com algo

	[C++][Bug fix] Properly expose com, vcom and acom vectors

	[C++][Minor] Ajust joint limits algo and remove useless warnings

	[Minor] Solve compilation warnings

	[C++] Update benchmarck with new benches on dynamics update and CoM

	[Python] Expose new dynamics and CoM features in Python

	[C++] Add com information in data + compute position, velocity and acceleration of CoM in the same loop + add related unittest

	[C++] Add update of position, spatial velocity and acceleration in the same loop

2015-06-23  jcarpent  <jcarpent@laas.fr>

	[Python] Update the binding features

2015-06-16  jcarpent  <jcarpent@laas.fr>

	[Fix Bug] Add missing required dependency

	[CMake] Use default .so extension for python bindings + remove useless lines

	[Cmake] Set RPATH policy for Mac OS X

2015-06-15  Justin Carpentier  <jcarpent@laas.fr>

	Update README.md

	Merge pull request #25 from aelkhour/master
	Implement exp and log map in C++ and expose them in Python. Still need some adjustments to be really efficient.

2015-06-14  Antonio El Khoury  <antonio.elkhoury@wandercraft.eu>

	[Unittest] Add unit tests for explog functions.

	[cmake][Unittest] Use metapod flags for symmetric test.

	[Python] Use explog bindings in python exp and log functions.

	[Bindings] Expose C++ explog functions in Python.

	[C++] Move explog.hpp from math to spatial.

	[Minor] Update copyright in explog.hpp.

2015-06-14  Antonio El Khoury  <antonio.elkhoury@gmail.com>

	[C++] Implement exp and log functions using Eigen.
	  * Implement exp3, exp6, log3, and log6 functions by copying
	    implementation from explog.py.
	  * Add same documentation as in explog.py.

2015-06-12  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #26 from fvalenza/topic/JRU
	[C++][Debug] Fixed operator * : Y*S in joint revolute unaligned

2015-06-12  Valenza Florian  <fvalenza@laas.fr>

	[C++][Debug] Fixed operator * : Y*S in joint revolute unaligned

2015-06-12  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #24 from fvalenza/topic/joint-limits
	Topic/joint limits

2015-06-12  Florian Valenza  <florian.valenza@laas.fr>

	[Major][C++] Parse joint limit in urdf files. Only for revolute and prismatic joints for the moment

	[Major][C++] Added Joint limits to joint model and to Pinocchio Data. Also added an algorithm to compute joint limits. Based on the model of the limits, it computes and store the actual limits in Data. We then have access to the values in Data in python binding. The algorithm is here in future cases where the limits will not only be static but dependent of the configuration

2015-05-06  jcarpent  <jcarpent@laas.fr>

	[Cosmetic] Remove useless file and lines in CMakeLists

2015-04-30  Florian Valenza  <florian.valenza@laas.fr>

	[minor] Add missing license, update README and NEWS

2015-04-29  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #23 from fvalenza/master
	Refactoring index, and fixing python "se3ToXYZQuat"

2015-04-29  fvalenza  <florian.valenza@gmail.com>

	Merge pull request #20 from jcarpent/topic/joint
	Fix bug in prismatic joint + add planar joint + add translational joint

2015-04-29  Florian Valenza  <florian.valenza@laas.fr>

	[marginal] updated branches travis must build

	[marginal] Updated todo.txt

	[Minor] Cosmetic change as Model::Index is a size_t

	[Minor] Added LICENSE - Stack Of Task Development Team

	[Major][Python] Fixing function se3ToXYZQUAT. Change method display in robot_wrapper according to this fix

	[Minor] Cleaning polluting warnings - Handling SE3_JOINT_TYPES macro depending on clang or not

	[Major] Specializing macro SE3_JOINT_TYPEDEF for expansion in templated or non templated class

	[Major] Switching Model::Index from int to std::size_t

	[Minor][travis] disabled allow clang failure

	[travis] added clang compiling

2015-04-29  Valenza Florian  <fvalenza@laas.fr>

	[Minor] Fix warning. Initialization in model and conversion in kinematics

2015-04-29  Justin Carpentier  <jcarpent@laas.fr>

	Merge pull request #22 from fvalenza/master
	Fixing inclusion of Lua and urdfdom whereas they were not found

2015-04-29  Florian Valenza  <florian.valenza@laas.fr>

	[cmake][python] Define flag in order to control urdf inclusion

2015-04-29  jcarpent  <jcarpent@laas.fr>

	[Incremental][C++] Add complete translational joint

	[Incremental][C++] Add planar joint useful for mobile robots

	[Fix bug][Python] Define flag in order to control Lua inclusion

	[Cosmetic][cmake] Use predefined variable

	[Bug fixed][C++] Fix initialization value to NAN + remove useless include files + add constness

	[Incremental][C++] Expose data field and change its name to avoid conflicts

2015-04-28  fvalenza  <florian.valenza@gmail.com>

	Merge pull request #17 from jcarpent/topic/lua-parser
	Add LUA parser

2015-04-27  jcarpent  <jcarpent@laas.fr>

	[Minor correction][C++] Adapt the parser to fit with RBDL (cf discussion with M.Felis)

	[Unittest] Add Lua parser Unittest

	[Python] Expose Lua parser

	[Incremental][C++] Add Lua parser

2015-04-23  jcarpent  <jcarpent@laas.fr>

	[cmake] Add new macro to create tree of src files in IDE e.g. Xcode, Qt Creator, etc

2015-04-22  jcarpent  <jcarpent@laas.fr>

	[Marginal][CMake] Add missing headers in the virtual group of the project

2015-04-22  fvalenza  <florian.valenza@gmail.com>

	Merge pull request #15 from jcarpent/dev
	Fix bug in spherical joint and add missing algorithm exposition 

2015-04-21  jcarpent  <jcarpent@laas.fr>

	[Incremental][Python] Expose computeAllTerms algorithm

	[Bug Fix][C++] Proper output type for binaries operator - Compilation with Clang passed

2015-04-17  fvalenza  <florian.valenza@gmail.com>

	Merge pull request #13 from flforget/master
	[cmake] Add install for libpinocchio.so

2015-04-17  flforget  <florent.forget1@gmail.com>

	[cmake] Add install for libpinocchio.so

2015-04-17  Olivier Stasse  <Olivier.stasse@gmail.com>

	Merge pull request #11 from fvalenza/master
	[Major][Unittest] Unifying unittest framework with boost_test_suite

2015-04-16  Valenza Florian  <fvalenza@laas.fr>

	[Marginal] Cosmetic changes - fix indentation problems

	[Major][Unittest] Unifying unittest framework with boost_test_suite

2015-04-14  fvalenza  <florian.valenza@gmail.com>

	Merge pull request #9 from fvalenza/master
	Aggregating pull request of Thomas to handle fixed joint when parsing urdf file
	
	    dimension of q is still minimal
	    inertias are merged with the closest the movable parent
	    placements of fixed join are recorded in model to send it to gepetto-viewer
	    COM and RNEA have been tested locally - unit-test to come.

2015-04-14  Valenza Florian  <fvalenza@laas.fr>

	[Marginal] Cosmetic changes in comments

2015-04-14  Thomas Flayols  <thomas.flayols@gmail.com>

	[Major][C++][Python] Save merged fixed-bodies in model to display them in gepetto-viewer
	Add attributes in model.hpp
		- names of fixed body
		- indexes of their closer movable parent
		- visuals booleans
		- number of fixed body
	modify display method in robot_wrapper
		- compute and send the absolute placement from relative to the closer movable parent

2015-04-14  Thomas Flayols  <tflayols@rausudake>

	[Major] Handling case of urdf::Fixed joints during parsing of urdf file.
	To do so, added a new parameter ( placementOffSet) which enables to propagate the length of a fixed body to child joints  and edit the urdf tree to remove bypass fixed link when encountered and handled.

	The fixed links are not displayed in the viewer yet and not saved in model yet

2015-04-13  Olivier Stasse  <olivier.stasse@gmail.com>

	[Travis] Point towards correct badge.

2015-04-13  fvalenza  <florian.valenza@gmail.com>

	[Marginal] Delete useless file

	Merge pull request #8 from fvalenza/master
	Aggregating pull request of O.Stasse in order to add Travis

2015-04-09  Olivier Stasse  <olivier.stasse@gmail.com>

	[README.md] Add travis build status

	[Travis] Remove clang compiling.

	[Travis] Add LD_LIBRARY_PATH to point towards urdfdom

	[unittest] Makes cholesky unit test succeed with or without RELEASE mode.

	[unittest] Makes joints return correct value for make test and warning less.

	[unittest] Makes cholesky test more reasonnable.

	[unittest] Forces INTENSE_TESTING flag to have 1000 000 tests. Necessary to avoid travis time out trigger.

	[src] Fix timings.cpp warning (useless ;)

	[src] Fix all warnings concerning conversion on joint-spherical-ZYX
	Follow the advice of gcc by casting directly with the proposed
	CoeffBasedProduct template.
	Makes gcc happy.
	This patch was initially proposed by Florent Valenza but
	with another type.

	[src] Try to fix conversion problem by template joint-spherical-ZYX.hpp There is still an issue on ConstraintXd. This commit *does not* compile is here for book-keeping.

	[cmake] Supress EXCLUDE_FROM_ALL in unittests if flag COMPILE_UNIT_TESTS is set

	[Travis] Add unit tests compiling during travis build.

	[cmake] Add COMPILE_UNIT_TESTS variable to compile unit tests.

	[Travis] Add libtinyxml-dev package during install

	[Travis] Add appropriate PKG_CONFIG_PATH

	[Travis] Correct call to build in custom_build

	[Travis] Correct indirect call to custom_build

	[Travis] Correct call to custom_build

	[Travis] Fix call to custom_build

	[Travis] Work around to add deb robotpkg repo in deb instead of deb-src

	[Travis] Add robotpkg key

	[Travis] Install robotpkg-urdfdom

	[Travis] Change the directory for travis-custom

	[Travis] Custom directory independent of travis cmake modules.

	[Travis] Put APT_DEPENDENCIES at the before_install step

	[Travis] Fix apt package variable.

	[Travis] Add branch topic/travis

	[Travis] Add sudo required

	[Travis] Move from .travis-yml to .travis.yml

	[Travis] Add travis submodule and do first test.

2015-04-07  fvalenza  <florian.valenza@gmail.com>

	Merge pull request #5 from jcarpent/dev
	Dev

2015-04-02  Justin Carpentier  <justin.carpentier@laas.fr>

	[Minor][Python] Expose geometry algorithm

	[Major] Add computation of all terms needed for simulation in the same loop

	[Major][C++][Python] Add computation of non linear effects

	[Minor] Add class method to initialize variables with random or neutral elements

	[Bug fixed][Python] Correct use of difference operator

	[Bug fixed] Remove redefinition of default argument in Cholesky algorithm

	[Minor] Remove useless print message

2015-03-30  Valenza Florian  <fvalenza@laas.fr>

	[Marginal] Added missing romeo wrapper in CMakeList

	[Major] Now handle fixed joint if it has no children joint

	[Major] Now handle prismatic joint when parsing urdf. Only cartesion X,Y or Z are accepted, unaligned axis bring crash

	[Major] Correction of bugs in JointRevoluteUnaligned and its unittest. The urdf parser nows takes into account this joint. Added a new enum in cartesian axis

	[Python][Major] Integrated modifications in Gepetto viewer that reference a window by id instead of string

	[Marginal] Remove useless boost needed components

2015-03-30  Mansard  <nmansard@laas.fr>

	[Python][Major] Corrected wrapper to CRBA to have  symmetric M, added missing types to access data wrapper, added operator in motion.

	[Minor] Added operator- in Motion.

	[Python] Added xyzquatToSe3 and modified rpyToSO3 to accept matrix instead of tupple as input (impact is marginal, but the modif was necessary to properly parse Maximilien input data).

	[Python][Major] Modified the viewer init to read the meshes in a different root dir.

2015-03-30  Valenza Florian  <fvalenza@laas.fr>

	[Major] Fixing declaration of addBody ensuring retrocomptability
	Conflicts:
		src/multibody/model.hpp
		src/multibody/parser/urdf.hpp

	[Major][C++] Add method to merge body in case of fixedjoint + unittest

	[Major][C++] Added Joint revolute unaligned and its unittest

	[Major] Add spherical euler joint and its unittest

2015-03-30  Justin Carpentier  <justin.carpentier@laas.fr>

	[Minor] Correct initialization of Vector3 & added method to compute spatial motion quantity translated in a frame by a translation quantity

	[Minor] Correct potential futur bug with more templated instanciation

	[Minor] Cosmetic change in CMakeLists: adding sub header variables

	[Minor] Update todo list
	Conflicts:
		todo.txt

2015-03-30  Valenza Florian  <fvalenza@laas.fr>

	[Major] Add joint spherical without singularities and its unittest

	[Major] Add prismatic joint and its unittest

2015-03-30  Justin Carpentier  <justin.carpentier@laas.fr>

	[Minor] Change matrix initialization

	Improve efficiency of free-flyer joint

	[Minor] Add function to create skew symetric matrix with scalar amplitude

	[Minor] Update initialization of com

	[Major] Add geometry update

	[Minor] Change matrix initialization

	[Minor] Add kinematics and geometry in the benchmark

	[Minor] Improve efficiency of inertia class by removing useless computations

2015-03-30  Valenza Florian  <fvalenza@laas.fr>

	[Minor] Update todo.txt

2015-03-30  Justin Carpentier  <justin.carpentier@laas.fr>

	[Major] Add Boost test suite and new test: joint

	[Minor] Modify printing style

	[Minor] Update todo.txt
	Conflicts:
		todo.txt

	[Debug] Correct contructor ConstraintTpl + add default constraint of dimension 3

	[Minor] Correct variable initialization

	[Minor] Update preprocessor macro

	[Minor] Cosmetic changes in CMakeLists: add categories for headers

2015-03-30  Valenza Florian  <fvalenza@laas.fr>

	[Debug] Correct bug in Symmectric test that was preventing tests to compile (at least on ubutun 14.04 LTS)

2015-03-30  Mansard  <nmansard@laas.fr>

	Modified lab to account for robot-wrapper modifs. [partial cherry-pick from a1b1bc29d7 and 153e8322b1a3].

	Python: Modifies robot wrapper to adpat it to gepetto viewer, moved the code specific to romeo in a new dedicated romeo wrapper module, add the installation on the new file in CMake. [Partial cherry pick from 1aefa7f6,7feba3,36b5d7,b87a2b53 and 153e832]

	Added the body names in the cpp model. [partial cherry-pick from b87a2b53b3]

	Modified URDF model to comply with Gepetto-viewer and Pinocchio formats.

2015-03-30  Valenza Florian  <fvalenza@laas.fr>

	Warning message making explicit that python won't be usable if eigenpy not found.

2015-03-30  Mansard  <nmansard@laas.fr>

	Lab: Modification for ISAE.

	Revised the unitests, added some doc and created a "check" compilation rule. All unitests passed ok.

	Benchmark: repaired timings and introduce random reinit to comply with OS remarks. Scores: RNEA = 		4.5206 us CRBA = 		5.29557 us Cholesky = 	2.33944us Jacobian = 	3.6358 us COM+Jcom = 	3.95835 us

	Corrected a major bug in the joint revolute (doubtlessly introduced by recent commit 941214).

	Models: IVIGIT Romeo properly sized model (for the lab).

	Bullet-proofed the robotviewer client.

	Python: corrected a bug in robot wrapper importations.

	Added conditionnal compilation of urdf and python. Added precompilation of pyc file.

	Clean unittest.

	Removed include of ForceSet (useless, to be replaced by a later ForceBase).

	Minor modif in the CMake to rely on eigenpy proper version and install .pyc.

	Lab: ivigit two python examples answering to some part of the lab.

	IVIGIT todo.

	Lab: correction of typos.

	python: ivigit rpy.py (forget in HEAD^^).

	Python: minor modifs.

	python: IVIGIT explog, rpy.

	Removed to cout traces.

	Python: Added urdf parser.

	Python: corrected a bug in data bindings with Eigen members.

	Python: coorection of the CRBA bindings.

	Python: changed SE3 rotation and translation into properties.

	Bug in revolute joint for non X axis.

	IVIGIT Lab description.

	Adapted both the urdf parser and the romeo model to enable romeo inside pinocchio. CAUTION: Romeo is not standard any more and should be corrected, by enabling fixed joint in the urdf parser.

	Added documentation to the jacobian algo.

	Added a bunch of algorithms in python bindings.

	Solved a minor compile+namespace problem on the urdf parser.

2015-03-30  Justin Carpentier  <justin.carpentier@laas.fr>

	Correct some missing operator= overaloading - Python modules now compile

	Reorganization of the package adding benchmark directory

	Add romeo urdf model as given model

	Add simple humanoid urdf model

2015-03-30  Justin Carpentier  <jcarpent@laas.fr>

	Update README.md

	Update README.md

	Update README.md

2015-03-30  Justin Carpentier  <justin.carpentier@laas.fr>

	Define SINCOS macro to define the good sincos function regarding the architecture

	Add jrl-cmakemodules as cmake subrepo

2015-03-30  Mansard  <nmansard@laas.fr>

	Correction of the warning at CRBA compilation.

	Bindings completed (some additional bindings could be added for the Joints). Warning remaining at compilation of CRBA. Timings: nq = 36 RNEA = 		4.79756 us CRBA = 		5.50824 us Cholesky = 	2.40469 us Jacobian = 	3.68493 us COM+Jcom = 	4.024 us

	Use Handler for python::Data.

	First complete wrapping of the model.

	Partial commit while building model interface.

	IVIGIT of the forgotten (but maybe useless) assert.hpp.

	First complete bindings of spatial algerba.

	First steps in bindings.

	Added some doc in COM and consequentely changed com unittest.

	IVIGIT: added COM.

	Addeds partial jacobian computation.

	Clean CRBA and RNEA tests.

	Minor modif in Inertia.

	Removed useless oMi computation from RNEA.

	IVIGIT: added unittest/timings.

	Added rw access to rotation and rotation.

	Minor bug correction (was not compiling).

	Call sample-models from unittest/rnea.

	Added local jacobian in jacobian.hpp. Toal timings for simple-human: 1.9us for computation, 0.01 for copy,  0.3us for transform.

	Modified CRBA to link properly with the new act-on-set. Timings untouched (4.5us).

	IVIGIT: added act-on-set.

	Added Dense UDUt algorithm in the unitest.

	Added jacobian algorithm.

	Set FF to SE3::Identity in model-sample.

	Added Model::existBodyName().

	Change the prototype of CRBA::groupAct.

	Clean 64x warnings due to Model::Index.

	Before refactoring.

	Added the proper header doc in cholesky.hpp.

	Minor bug correction in chol::Mv.

	Completed the side algorithms of Cholesky.

	Final (?) version of Cholesky algorithm: 1.9us for decompo, 0.75us for resolution.

	Complete version with substituion. timings around .25us for Uv, .5 for others.

	Implemented "on the spot" substitution for Cholesky.

	Indent.

	Added backward and forward substitution of the mass matrix.

	64x correction: static cast of long to double (TODO: check this commit).

	Increase the timing sample in RNEA: 4.8us on a 64x.

	Marginal cleaning of the init.

	IVIGIT sample models with no parser.

	Complete implementation with column access. Seems slower (3.1us with lots of variations).

	Working version for both FF and revolute: 2.8us (slightly more for ff ~2.85us).

	Tmp version cholesky = 3us for Revolute.

	Working with FF: 3.9us.

	Block cholesky using tmp: 3.7us.

	Block cholesky for Revolute only: 5.7us.

	 First working version for cholesky for Revolute only, using Featherstone litteral.

	IVIGIT Cholesky.

	Changed the CRBA to discard the 'i' arg in the internal loops.

	Moved joint::nv as a function.

	Remove the duplicata crba crba2.

	Added ostream<< operator in Model (plus added the data variable for cholesky).

	Added a éfree flyer" option in the urdf parser.

	Proper implementation of sym3. RNEA=5.7us, CRBA=4.8us.

	Minor correction to improve computation time in Sym3. (error in the commit: unittest symmetric working, but tspatial is broken. Fixed in the following commit.)

	Complete version of Sym3, with unittest.

	IVIGIT added Sym3 from Metapod::lti

	Clean comit for both CBA and RNEA: rnea=6.1us, crba=8.4us.

	CRBA single loop working and efficient: 8us for the simple h.

	Fast version of the two-loop crba (10us on the simple h).

	Minor correction in urdf.

	Working version of CRBA with ForceSet ... but 50us.

	Restaure FF in urdf parser.

	Added CRBA operators in JointFF.

	IVIGIT force-set.hpp to handle CRBA force collections.

	Working CRBA with simple bwd loop.

	First working vesrion of CRBA (checked VS RBDL for revolute joints).

	Searching for the difference with RBDL in non-zero free floating.

	IVIT value test: check the numerical value of RNEA(0,0,0) against RBDL for simple humanoid.

	Copy urdf parser in multibody/parser.

	Moved the RNEA into src/algorithm.

	Added JointRY and JointRZ in urdf parser.

	Explicitely added type Matrix4 in SE3.

	Split the joint file into several .h.

	Moved joint/joint.hpp into joint/joint-base.hpp.

	Moved joint.hpp in a new directory.

	Template version of joint revolute + definition of jointRY and jointRZ.

	Added urdf test.

	Minor modif in SE3 display.

	Using CRTP to make joint visitor easier. Clean version with new visitor.hpp file.

	Clean version with fusion.# Please enter the commit message for your changes. Lines starting

	Working RNEA with fusion.

	Before moving to boost fusion.

	Added fusion test.

	With JointModel::jointMotion and JointModel::jointForce.

	Specialization of RX working.

	Introduction of Constraint in the rnea.

	IVIGIT constraint.

	Working with CRTP.

	First test with variant?

	Forward loop for rne.

	IVIGIT.

2014-10-07  Nicolas Mansard  <nmansard@laas.fr>

	Initial commit
