Release v1.9.0

[1.9.0] - 2025-09-29

• Fix value of nEq when removeRigidContact for contact with priority > 0
• update jrl-cmakemodules to v1
• CMake: honor BUILD_STANDALONE_PYTHON_INTERFACE option

Release v1.8.0

[1.8.0] - 2025-03-29

• Fix missing const specifier in python bindings for methods RobotInertia.set_rotor_inertia()
  and RobotInertia.set_gear_ratios()
• Add python bidings for the measured force contact adn task actuation equality
• Deprecated tsid/contacts/measured-3Dforce.hpp and tsid/contacts/measured-6Dwrench.hpp
  use tsid/contacts/measured-3d-force.hpp and tsid/contacts/measured-6d-wrench.hpp instead
• Introduce use of override keyword for virtual methods

Release v1.7.1

Changes in v1.7.1:

• Fix a typo in ex_4_walking
• check solver status, set eps_abs to 1e-6, fix seed
• CMake: require >= 3.10
• add changelog
• setup ruff & fix isort pre-commit config
• update ROS CI

Release v1.7.0

Changes in v1.7.0:

• expose SE3ToVector and vectorToSE3
• remove warnings
• Enhance Python target packaging
• Add CI with GitHub Action for conda
• Add support for proxqp and osqp solver
• Clean and update contributors list
• pre-commit autoupdate
• Expose TaskJointPosVelAccBounds
• Expose AddMotionTask for TaskJointPosVelAccBounds
• Fix qpmad
• Add clang-format Google style
• Add Measured force as an external force task with moving objects
• update CMake: fetch submodule, set default build type, fix RPATH
• fix for eigenpy v3
• np.matrix → np.array
• tooling: setup black isort & toml-sort

Release v1.6.3

Changes in v1.6.3:

• Require C++17
• fix tests in 18.04
• update pinocchio use

Release v1.6.2

Changes in v1.6.2:

• update python tests for np array
• add task actuation equality
• use generated headers
• Choose floating-base (or not) when creating a robot wrapper
• Add optional support of qpmad solver
• update packaging for eigenpy 2.7.12

TSID 1.6.1

This new release is mostly a maintenance release, including fixes for the recent version of Eigen 3.4.

Release v1.6.0

Changes in v1.6.0:

• Add bindings for method Contact6d::getMotionTask
• Add Center of Pressure Taks
• fix warnings

Release v1.5.0

Changes in v1.5.0:

• [py] Add config variable to specify whether end-effector task should
  be formulated in local frame or world frame.
• [C++] Standardize names of methods to get and set mask in motion tasks.
• [py] Add accessors masks in TaskCOM and TaskSE3Equality.
• bugfixes

Release v1.4.2

Changes in v1.4.2:

• Add a mask to task-com-equality
• Fix bug in Contact6d::setRegularizationTaskWeightVector
• CMake: fix configure without tests