Release v1.11.0

Highlights
===

`mc_rbdyn::Frame` and `mc_rbdyn::RobotFrame` have been introduced. This removes
the unnecessary distinction between bodies and surfaces that has existed in the
framework. (#247)

API breaks
===

- `mc_rbdyn::Robots` cannot be created directly anymore, one has to go through
   a factory function (#247)
- `mc_rbdyn::Robots` stores indiviual robot as pointer and in particular
  `robots.robots()` returns a self reference instead of `vector<Robot>`,
  `Robots` behaves a little more like a vector now to mitigate the impact of this
  change (#247)
- `EndEffectorTask` and co. cannot use a `bodyPoint` in their constructor anymore, proper frames should be used instead (#247)
- `VectorOrientationTask` and co. cannot set or get the `bodyVector` after the fact anymore (#247)

Deprecations
===

- Usage of `body` or `surface` in JSON/YAML is deprecated in favor of frame,
  the doc will only show `frame` but it should continue to work with all old
  JSON/YAML files (#247)
- Idem for specifications of relative targets (#247)

Changes
===

- [mc_control] Many functionalities of FSM controllers -- notably simplified contact and collision manipulations and configuration based initialization -- are now available in basic controllers (#250)

Added
===

- [mc_control] Controllers can specify extra frames in their configuration frame (#251)
- [mc_control] Controllers can specify different `init_pos` for different `MainRobot` (#251)
- [mc_rbdyn] Add an overload to load a robot module with a custom name
- [mc_rtc_utils] `mc_rtc::shared` is a wrapper around `std::enabled_shared_from_this` to allow
  reference-style API where the data is backed by a shared pointer (#247)
- [mc_tasks] All tasks (when it makes sense) can accept a frame at construction (#247)
- [mc_solver] `mc_solver::BoundedSpeedConstr` can be used to constraint a frame velocity (#247)
- [mc_solver] Active joints in a collision can be specified via `mc_rbdyn::Collision` objects (#262)
- [utils] `build_and_install` now supports Ubuntu Jammy (22.04) (#248)
- [utils] `build_and_install` can now install the Panda module (#249)

Fixes
===

- [debian] Python bindings now include mc_observers
- [fsm::Meta] Fix missed iterations at the start of meta states (#257)
- [mc_control] Make robot position initialization consistant (#245)
- [mc_rbdyn] Fix initialization of the default body sensor (#258)
- [utils] Fix issues with pip/pip3 on Ubuntu Focal (#246)
- [utils] Honor forced selection of Python for mc_log_ui

CHANGELOG.md

@@ -2,6 +2,8 @@
 
 ## [Unreleased]
 
+## [1.11.0] - 2022-07-08
+
 ### Highlights
 
 `mc_rbdyn::Frame` and `mc_rbdyn::RobotFrame` have been introduced. This removes
@@ -26,10 +28,15 @@ framework. (#247)
   JSON/YAML files (#247)
 - Idem for specifications of relative targets (#247)
 
+### Changes
+
+- [mc_control] Many functionalities of FSM controllers -- notably simplified contact and collision manipulations and configuration based initialization -- are now available in basic controllers (#250)
+
 ### Added
 
 - [mc_control] Controllers can specify extra frames in their configuration frame (#251)
 - [mc_control] Controllers can specify different `init_pos` for different `MainRobot` (#251)
+- [mc_rbdyn] Add an overload to load a robot module with a custom name
 - [mc_rtc_utils] `mc_rtc::shared` is a wrapper around `std::enabled_shared_from_this` to allow
   reference-style API where the data is backed by a shared pointer (#247)
 - [mc_tasks] All tasks (when it makes sense) can accept a frame at construction (#247)
@@ -40,8 +47,12 @@ framework. (#247)
 
 ### Fixes
 
+- [debian] Python bindings now include mc_observers
+- [fsm::Meta] Fix missed iterations at the start of meta states (#257)
 - [mc_control] Make robot position initialization consistant (#245)
+- [mc_rbdyn] Fix initialization of the default body sensor (#258)
 - [utils] Fix issues with pip/pip3 on Ubuntu Focal (#246)
+- [utils] Honor forced selection of Python for mc_log_ui
 
 ## [1.10.0] - 2022-04-06
 
@@ -467,7 +478,8 @@ mc_rtc website and tutorials are now available in [Japanese](https://jrl-umi3218
 
 Initial release
 
-[Unreleased]: https://github.com/jrl-umi3218/mc_rtc/compare/v1.10.0...HEAD
+[Unreleased]: https://github.com/jrl-umi3218/mc_rtc/compare/v1.11.0...HEAD
+[1.11.0]: https://github.com/jrl-umi3218/mc_rtc/releases/tag/v1.11.0
 [1.10.0]: https://github.com/jrl-umi3218/mc_rtc/releases/tag/v1.10.0
 [1.9.0]: https://github.com/jrl-umi3218/mc_rtc/releases/tag/v1.9.0
 [1.8.2]: https://github.com/jrl-umi3218/mc_rtc/releases/tag/v1.8.2

CMakeLists.txt

@@ -12,7 +12,7 @@ endif()
 
 set(PROJECT_NAME mc_rtc)
 set(PROJECT_DESCRIPTION mc_rtc)
-set(PROJECT_VERSION 1.10.0)
+set(PROJECT_VERSION 1.11.0)
 set(PROJECT_URL https://gite.lirmm.fr/multi-contact/mc_rtc)
 set(PROJECT_DEBUG_POSTFIX "_d")
 set(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE)

debian/changelog

@@ -1,3 +1,9 @@
+mc-rtc (1.11.0-1debian1) unstable; urgency=medium
+
+  * Update upstream: see CHANGELOG.md
+
+ -- Pierre Gergondet <[email protected]>  Fri, 08 Jul 2022 15:51:12 +0200
+
 mc-rtc (1.10.0-1debian1) unstable; urgency=medium
 
   * Update upstream: see CHANGELOG.md