WBT v5.6.1

[5.6.1] - 2023-02-06

Fixed

• Fix memory allocation bug in ForwardKinematics and RelativeTransform blocks (#243).

WBT v5.6.0

[5.6.0] - 2022-10-21

Changed

• Add adaptive_rho, polish and maximum iteration options for OSQP block (#234 (comment)).
• Remove deprecated functions from OSQP block (#234 (comment)).

WBT v5.5.0

[5.5.0] - 2022-02-01

Added

• New RelativeJacobian block that implements KinDynComputations::getRelativeJacobian(.) of iDynTree (#225).

WBT v5.4.1

[5.4.1] - 2021-05-28

Changed

• The WBToolboxLibrary.slx file is now encoded in R2016b slx format, so at least MATLAB R2016b is required to use it.

Fixed

• Fixed bug that caused Simulink models that used OSQP block to hang indefinitely in "Initializing" or "Compiling" phase (#220).
• Disable verbose output option in OSQP block (#220).
• Fixed problem introduced in 5.4.0 that prevented the WholeBodyToolbox library to appear correctly in the Simulink library browser on some MATLAB versions and on some Operating Systems (spotted on MATLAB R2020b with Ubuntu 20.04) (#219, #220).

WBT v5.4.0

[5.4.0] - 2021-05-24

Added

• Add new OSQP block (#209).

Fixed

• Re-implement the Holder block to make it compatible with code generation and 'treat as atomic unit' (#211).

WBT v5.3

• Remove deprecated and not used iDynTree headers (#191)
• Created CMM Simulink Block (#194)
• Update citations (#195)
• Migrate from Travis CI to Github workflows (#196)

WBT v5.2

• Improved compilation time of WBToolbox blocks by optimizing Blockinitialization() (#190)

WBT v5.1

• Remove xenial ci (#185)
• Remove deprecated YCM calls (#184)

WBT v5

• Release Notes
• How to upgrade Simulink Models

WBT v4.1

• Fixed qpOASES stopping behavior