Release 1.0.2

Summary

New Features

• The limits in position, velocity and torque for joints Revolute and Prismatic are now parsed from urdf model and accessible
• Implementation of exp and log functions on SE3 in C++ with its python binding thanks to @aelkhour
• Data now contains information relative to the center of mass position, velocity and acceleration
• Add Lua parser - compatible with RBDL
• Add translational joint
• Add planar joint

Minor

• Reduction of compilation warnings.

Bugs Fixed

• Fixed bug in operator Y*S in JointRevoluteUnaligned

Release 1.0.0

The following algorithms are implemented.
• Recursive Newton-Euler algorithm (RNEA, i.e inverse dynamics)
• Composite Rigid Body algorithm (CRBA, i.e generalized inertia matrix)
• Sparse Cholesky decomposition of the inertia matrix (for constrained forward-dynamics resolution)
• Placement Jacobians (i.e application from configuration velocities to end-effector spatial velocities), along with computation of body placements, velocities and accelerations.
• Center of mass and its Jacobian

The model can either be parsed from a URDF format or be created by appendending bodies. The following joint models are implemented.
• Revolute X, Y, Z (optimized) and unaligned with Cartesian directions
• Prismatic X, Y, Z
• Spherical (with and withoug singularities)
• FreeFlyer (i.e. no constraint, for mobile robots like humanoids -- using quaternion representation for the rotation)
• Fixed (concatenation of two consecutive bodies)