GitLab

silence warnings

[c++] Fix bug in initialization of several tasks, which did not initializa the reference. This was making the software crash in case the user forgot to set a reference for the task.

to stop spam from https://build.ros.org/job/Mdev__tsid__ubuntu_bionic_amd64/

to stop spam from https://build.ros.org/job/Mdev__tsid__ubuntu_bionic_amd64/

Boost 1.73 added a boring warning about deprecated use of boost bind,
which is still used by boost python.

As of Boost 1.75, this is still not fixed:
https://github.com/boostorg/python/pull/296
https://github.com/boostorg/python/pull/315

ref. https://github.com/stack-of-tasks/eigenpy/pull/216

[c++] Do not label problem as not solved if constraint violations are detected because small violations may be tolerable (only affected debug mode)

[py] Add config variable to specify whether end-effector task should be formulated in local frame or world frame.

[c++] Fix bug in TaskJointPosture: remove redefinition of member variable m_mask, which was already inherited from TaskMotion.

[c++] Fix bug in computation of position tracking error in TaskSE3Equality when expressing quantities in local frame.

[C++] Standardize names of methods to get and set mask in motion tasks. Add python bindings for setting/getting masks in TaskCOM and TaskSE3Equality.

[c++] Fix bug in TaskSE3Equality: when expressing task quantities in world frame there was a mistake in the transform of the position error from local to world frame. Switch from log6 to log3 to avoid coupling between orientation error and translation error, which made task mask not work properly.

Add mask to task-com-equality
Authored-by: Pauline Maurice, Eloise Dalin @dalinel and JB Mouret @jbmouret 

Fix memory leaks by using std::shared_ptr<>

Fix warnings

Update package.xml for ROS release

tsid/src/tasks/task-motion.cpp: In member function ‘virtual const TrajectorySample& tsid::tasks::TaskMotion::getReference() const’:
tsid/src/tasks/task-motion.cpp:43:89: warning: returning reference to temporary [-Wreturn-local-addr]
     const TrajectorySample & TaskMotion::getReference() const { return TrajectorySample(); }
                                                                                         ^