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🚀 Release 0.22.0 (#990)
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‎CMakeLists.txt‎

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## MAIN project
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project(BipedalLocomotionFramework
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VERSION 0.21.200)
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VERSION 0.22.0)
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
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‎docs/pages/main-page.dox‎

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\section exported-components 📙 Exported components
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The **bipedal-locomotion-framework** project consists of several components. The components are stored in the [`src`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src) folder and their compilation depends on the installed dependencies.
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The **bipedal-locomotion-framework** project consists of several components. The components are stored in the [`src`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src) folder and their compilation depends on the installed dependencies.
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| Component | Description | Additional Dependencies |
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| :--------------------------------------------: | :----------------------------------------------------------: | :----------------------------------------------------------: |
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| `Framework` | Interface library that gathers all the exported components, includable with the file `BipedalLocomotion/Framework.h` | - |
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| [`AutoDiff`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/AutoDiff) | Bridge between CppAD and Eigen | [`CppAD`](https://coin-or.github.io/CppAD/doc/cppad.htm) |
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| [`ContactModels`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/ContactModels) | Models to describe the contact between robot and enviroment | - |
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| [`Contacts`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Contacts) | Syntactic description of a contact | [`manif`](https://github.com/artivis/manif) [`nlohmann json`](https://github.com/nlohmann/json/) |
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| [`CommonConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Conversions) | Common conversion utilities used in the framework | - |
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| [`ManifConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Conversions) | Library related conversion utilities used in the framework | [`manif`](https://github.com/artivis/manif) |
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| [`matioCppConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Conversions) | Library related conversion utilities used in the framework | [`matio-cpp`](https://github.com/ami-iit/matio-cpp) |
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| [`CasadiConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Conversions) | Library related conversion utilities used in the framework | [`CasADi`](https://github.com/casadi/casadi) |
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| [`ContinuousDynamicalSystem`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/ContinuousDynamicalSystem) | Library containing algorithms for continuous dynamical systems | [`manif`](https://github.com/artivis/manif) |
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| [`Estimators`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Estimators) | Library containing observers | - |
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| [`FloatingBaseEstimator`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Estimators) | Library containing floating base estimators | [`manif`](https://github.com/artivis/manif) |
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| [`RobotDynamicsEstimator`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Estimators) | Library containing floating base estimators | [`manif`](https://github.com/artivis/manif) |
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| [`GenericContainer`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/GenericContainer) | Data structure similar to ``span`` but resizable. | - |
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| [`IK`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/IK) | Inverse kinematics | [`manif`](https://github.com/artivis/manif) [`osqp-eigen`](https://github.com/robotology/osqp-eigen) |
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| [`Math`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Math) | Library containing mathematical algorithms | [`manif`](https://github.com/artivis/manif) |
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| [`ML`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/ML) | Library containing deep learning algorithms | [`onnxruntime`](https://onnxruntime.ai/) |
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| [`ParametersHandler`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/ParametersHandler) | Library for retrieving parameters from configuration files | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) [`tomlplusplus`](https://github.com/marzer/tomlplusplus/) (only if you want the `toml` implementation) |
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| [`PerceptionInterface`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/RobotInterface) | Generic interface classes to adapt to perception data formats like images and point clouds | [`OpenCV`](https://github.com/opencv/opencv) [`PCL`](https://github.com/PointCloudLibrary/pcl) |
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| [`PerceptionCapture`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Perception) | Library containing driver classes for perception devices | [`OpenCV`](https://github.com/opencv/opencv) [`PCL`](https://github.com/PointCloudLibrary/pcl) [`realsense2`](https://github.com/IntelRealSense/librealsense) |
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| [`PerceptionFeatures`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Perception) | Library containing perception algorithms useful for locomotion | [`OpenCV`](https://github.com/opencv/opencv) |
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| [`Planners`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/Planners) | Library containing planner useful for locomotion | [`manif`](https://github.com/artivis/manif) [`CasADi`](https://web.casadi.org/) [`qhull`](http://www.qhull.org/) |
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| [`ReducedModelControllers`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/ReducedModelsController) | Controller based on reduced models, e.g., `CentroidalMPC` | [`CasADi`](https://github.com/casadi/casadi)|
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| [`RobotInterface`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/RobotInterface) | Library for communicating with the robot | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) |
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| [`SimplifiedModelControllers`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/SimplifiedModelControllers) | Controllers based on simplified models, i.e, LIPM. | - |
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| [`System`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/System) | Description of discrete and continuous dynamical systems | - |
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| [`TSID`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/TSID) | Task space inverse dynamics | [`manif`](https://github.com/artivis/manif) [`lie-group-controllers`](https://github.com/ami-iit/lie-group-controllers) |
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| [`TextLogging`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/TextLogging) | Helper library to display messages into the console | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) [`ros-humble`](https://docs.ros.org/en/humble/) (if you want the `ros2` implementation) |
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| [`YarpUtilities`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/master/src/YarpUtilities) | Utilities library for retrieving data and from YARP structures | [`YARP`](https://www.yarp.it/git-master/) |
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| [`AutoDiff`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/AutoDiff) | Bridge between CppAD and Eigen | [`CppAD`](https://coin-or.github.io/CppAD/doc/cppad.htm) |
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| [`ContactModels`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/ContactModels) | Models to describe the contact between robot and enviroment | - |
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| [`Contacts`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/Contacts) | Syntactic description of a contact | [`manif`](https://github.com/artivis/manif) [`nlohmann json`](https://github.com/nlohmann/json/) |
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| [`CommonConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/Conversions) | Common conversion utilities used in the framework | - |
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| [`ManifConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/Conversions) | Library related conversion utilities used in the framework | [`manif`](https://github.com/artivis/manif) |
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| [`matioCppConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/Conversions) | Library related conversion utilities used in the framework | [`matio-cpp`](https://github.com/ami-iit/matio-cpp) |
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| [`CasadiConversions`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/Conversions) | Library related conversion utilities used in the framework | [`CasADi`](https://github.com/casadi/casadi) |
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| [`ContinuousDynamicalSystem`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/ContinuousDynamicalSystem) | Library containing algorithms for continuous dynamical systems | [`manif`](https://github.com/artivis/manif) |
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| [`Estimators`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/Estimators) | Library containing observers | - |
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| [`FloatingBaseEstimator`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/Estimators) | Library containing floating base estimators | [`manif`](https://github.com/artivis/manif) |
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| [`RobotDynamicsEstimator`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/Estimators) | Library containing floating base estimators | [`manif`](https://github.com/artivis/manif) |
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| [`GenericContainer`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/GenericContainer) | Data structure similar to ``span`` but resizable. | - |
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| [`IK`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/IK) | Inverse kinematics | [`manif`](https://github.com/artivis/manif) [`osqp-eigen`](https://github.com/robotology/osqp-eigen) |
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| [`Math`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/Math) | Library containing mathematical algorithms | [`manif`](https://github.com/artivis/manif) |
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| [`ML`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/ML) | Library containing deep learning algorithms | [`onnxruntime`](https://onnxruntime.ai/) |
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| [`ParametersHandler`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/ParametersHandler) | Library for retrieving parameters from configuration files | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) [`tomlplusplus`](https://github.com/marzer/tomlplusplus/) (only if you want the `toml` implementation) |
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| [`PerceptionInterface`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/RobotInterface) | Generic interface classes to adapt to perception data formats like images and point clouds | [`OpenCV`](https://github.com/opencv/opencv) [`PCL`](https://github.com/PointCloudLibrary/pcl) |
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| [`PerceptionCapture`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/Perception) | Library containing driver classes for perception devices | [`OpenCV`](https://github.com/opencv/opencv) [`PCL`](https://github.com/PointCloudLibrary/pcl) [`realsense2`](https://github.com/IntelRealSense/librealsense) |
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| [`PerceptionFeatures`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/Perception) | Library containing perception algorithms useful for locomotion | [`OpenCV`](https://github.com/opencv/opencv) |
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| [`Planners`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/Planners) | Library containing planner useful for locomotion | [`manif`](https://github.com/artivis/manif) [`CasADi`](https://web.casadi.org/) [`qhull`](http://www.qhull.org/) |
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| [`ReducedModelControllers`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/ReducedModelsController) | Controller based on reduced models, e.g., `CentroidalMPC` | [`CasADi`](https://github.com/casadi/casadi)|
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| [`RobotInterface`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/RobotInterface) | Library for communicating with the robot | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) |
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| [`SimplifiedModelControllers`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/SimplifiedModelControllers) | Controllers based on simplified models, i.e, LIPM. | - |
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| [`System`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/System) | Description of discrete and continuous dynamical systems | - |
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| [`TSID`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/TSID) | Task space inverse dynamics | [`manif`](https://github.com/artivis/manif) [`lie-group-controllers`](https://github.com/ami-iit/lie-group-controllers) |
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| [`TextLogging`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/TextLogging) | Helper library to display messages into the console | [`YARP`](https://www.yarp.it/git-master/) (only if you want the `YARP` implementation) [`ros-humble`](https://docs.ros.org/en/humble/) (if you want the `ros2` implementation) |
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| [`YarpUtilities`](https://github.com/ami-iit/bipedal-locomotion-framework/tree/v0.22.0/src/YarpUtilities) | Utilities library for retrieving data and from YARP structures | [`YARP`](https://www.yarp.it/git-master/) |
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\warning ⚠️ Including `BipedalLocomotion/Framework.h` may result in higher compilation time because of the inclusion of headers which may not be used in your project. It is always suggested to follow the [IWYU](https://github.com/include-what-you-use/include-what-you-use/blob/cc0fad4be0db26e40713b6076263f204a311b573/docs/WhyIWYU.md) paradigm. This applies also for the CMake targets. It is suggested to link only the targets used in your project.

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