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@bvadorno bvadorno released this 11 May 20:55
· 56 commits to master since this release
v20.04
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Learn about vigilant mode.

Continuing the DQ Robotics each-six-months release schedule, this new version has some important improvements and changes:

  1. Matlab examples are now separated from the main package, so they can be updated at a different rate from the overall library. Nonetheless, the main toolbox package contains the version of the examples that were available when the main package was released.

  2. Test modules are also separated from the main package as they are aimed at developing the library. Therefore, most users don’t need them.

  3. Support for dummy joints was removed. This is a long-overdue modification. Dummy joints were available before to help users defining passive joints. However, more than often this feature was misused, so we decided to remove it.

  4. New class DQ_SerialWholeBody: Instead of using the class DQ_WholeBody for complex robots composed of smaller kinematic chains that are serially attached, now users should use DQ_SerialWholeBody instead. The old DQ_WholeBody class, although still functional in this release, will become an abstract class in the future and will be the parent of all whole-body mechanisms, including the ones that have branched and parallel structures.

  5. New class DQ_SerialManipulatorDH: Robots that use the standard Denavit-Hartenberg convention should use this class as the old DQ_SerialManipulator will be transformed into an abstract superclass that is independent on the parameterization used to describe the kinematic chain. Also, we implemented prismatic joints, although they cannot be plotted yet.

  6. Several small bugs were fixed.

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