# Changelog

## [1.5.4](https://github.com/orocos/orocos_kinematics_dynamics/tree/1.5.4) (2026-08-31)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/1.5.3...1.5.4)

**Fixed bugs:**

- Inconsistent solver test results [\#239](https://github.com/orocos/orocos_kinematics_dynamics/issues/239)

**Closed issues:**

- KDL::ChainIkSolverVel\_pinv always returns zero joint velocity [\#495](https://github.com/orocos/orocos_kinematics_dynamics/issues/495)
- Interest in a new release? [\#478](https://github.com/orocos/orocos_kinematics_dynamics/issues/478)

**Merged pull requests:**

- Fix flaky solvertest [\#516](https://github.com/orocos/orocos_kinematics_dynamics/pull/516) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Bump actions/setup-python from 6 to 7 [\#515](https://github.com/orocos/orocos_kinematics_dynamics/pull/515) ([dependabot[bot]](https://github.com/apps/dependabot))
- Bump actions/checkout from 6 to 7 [\#514](https://github.com/orocos/orocos_kinematics_dynamics/pull/514) ([dependabot[bot]](https://github.com/apps/dependabot))
- Bump python\_orocos\_kdl/pybind11 from `45fab40` to `d03662f` [\#512](https://github.com/orocos/orocos_kinematics_dynamics/pull/512) ([dependabot[bot]](https://github.com/apps/dependabot))
- Bump python\_orocos\_kdl/pybind11 from `d6ae0e1` to `45fab40` [\#510](https://github.com/orocos/orocos_kinematics_dynamics/pull/510) ([dependabot[bot]](https://github.com/apps/dependabot))
- \(CMake\) only look for catkin, when ROS1 [\#509](https://github.com/orocos/orocos_kinematics_dynamics/pull/509) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Only depend on catkin, when ROS1 [\#508](https://github.com/orocos/orocos_kinematics_dynamics/pull/508) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Bump actions/checkout from 5 to 6 [\#507](https://github.com/orocos/orocos_kinematics_dynamics/pull/507) ([dependabot[bot]](https://github.com/apps/dependabot))
- Release/1.5.3 [\#506](https://github.com/orocos/orocos_kinematics_dynamics/pull/506) ([MatthijsBurgh](https://github.com/MatthijsBurgh))

## [1.5.3](https://github.com/orocos/orocos_kinematics_dynamics/tree/1.5.3) (2025-10-17)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/1.5.2...1.5.3)

**Closed issues:**

- Build failure of python\_orocos\_kdl due to pybind11 version [\#503](https://github.com/orocos/orocos_kinematics_dynamics/issues/503)

**Merged pull requests:**

- Bump min pybind11 version to 2.13.0 [\#505](https://github.com/orocos/orocos_kinematics_dynamics/pull/505) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Hotfix: incorrect package version [\#502](https://github.com/orocos/orocos_kinematics_dynamics/pull/502) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Bump working version to 1.5.3 [\#501](https://github.com/orocos/orocos_kinematics_dynamics/pull/501) ([MatthijsBurgh](https://github.com/MatthijsBurgh))

## [1.5.2](https://github.com/orocos/orocos_kinematics_dynamics/tree/1.5.2) (2025-09-07)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/v1.5.1...1.5.2)

**Implemented enhancements:**

- PyKDL and Accelerations [\#36](https://github.com/orocos/orocos_kinematics_dynamics/issues/36)

**Closed issues:**

- Cmake version unsupported in newer versions [\#487](https://github.com/orocos/orocos_kinematics_dynamics/issues/487)
- solve FK and IK [\#485](https://github.com/orocos/orocos_kinematics_dynamics/issues/485)
- some problem about orocos\_kdl/examples/chainiksolverpos\_lma\_demo.cpp [\#483](https://github.com/orocos/orocos_kinematics_dynamics/issues/483)
- build error [\#482](https://github.com/orocos/orocos_kinematics_dynamics/issues/482)
- ROS2 compatibility [\#473](https://github.com/orocos/orocos_kinematics_dynamics/issues/473)
- Could not uninstall KDL from build [\#470](https://github.com/orocos/orocos_kinematics_dynamics/issues/470)
- Test failure of PyKDL.  [\#468](https://github.com/orocos/orocos_kinematics_dynamics/issues/468)
- Failed to build python\_orocos\_kdl [\#464](https://github.com/orocos/orocos_kinematics_dynamics/issues/464)
- examples fail to build with boost 1.83+ [\#462](https://github.com/orocos/orocos_kinematics_dynamics/issues/462)
- Build error on OpenBSD [\#454](https://github.com/orocos/orocos_kinematics_dynamics/issues/454)
- Frame composition does nothing.  [\#450](https://github.com/orocos/orocos_kinematics_dynamics/issues/450)
- compilation error [\#447](https://github.com/orocos/orocos_kinematics_dynamics/issues/447)
- Cmake Build Error  [\#441](https://github.com/orocos/orocos_kinematics_dynamics/issues/441)
- CMake error of SET\(KDL\_CFLAGS "${KDL\_CFLAGS} -I${EIGEN3\_INCLUDE\_DIR}"\) [\#439](https://github.com/orocos/orocos_kinematics_dynamics/issues/439)
- compiling eigen not found [\#438](https://github.com/orocos/orocos_kinematics_dynamics/issues/438)
- ImportError: dynamic module does not define module export function \(PyInit\_PyKDL\) [\#436](https://github.com/orocos/orocos_kinematics_dynamics/issues/436)
- Scaling of RigidBodyInertia values [\#434](https://github.com/orocos/orocos_kinematics_dynamics/issues/434)
- Python Version Error [\#428](https://github.com/orocos/orocos_kinematics_dynamics/issues/428)
- Question about the computational performance of KDL on redundant kinematic chains [\#423](https://github.com/orocos/orocos_kinematics_dynamics/issues/423)
- Compile issue of python bindings [\#416](https://github.com/orocos/orocos_kinematics_dynamics/issues/416)
- AddressSanitizer throws errors [\#415](https://github.com/orocos/orocos_kinematics_dynamics/issues/415)
- Any plans for ROS noetic release? [\#408](https://github.com/orocos/orocos_kinematics_dynamics/issues/408)
- Humble release [\#406](https://github.com/orocos/orocos_kinematics_dynamics/issues/406)
- Change License [\#405](https://github.com/orocos/orocos_kinematics_dynamics/issues/405)
- KDL::Joint initialization with TransAxis [\#402](https://github.com/orocos/orocos_kinematics_dynamics/issues/402)
- Compiling issue after adding hash function? [\#401](https://github.com/orocos/orocos_kinematics_dynamics/issues/401)
- make error python\_orocos\_kdl: static assertion failed [\#382](https://github.com/orocos/orocos_kinematics_dynamics/issues/382)
- Question of gym-gazebo  [\#379](https://github.com/orocos/orocos_kinematics_dynamics/issues/379)
- Cannot pass test - PyKDL.py [\#378](https://github.com/orocos/orocos_kinematics_dynamics/issues/378)
- error: package directory 'PyKDL' does not exist [\#376](https://github.com/orocos/orocos_kinematics_dynamics/issues/376)
- Joint class appears to not be thread safe. [\#373](https://github.com/orocos/orocos_kinematics_dynamics/issues/373)
- Can't run the test  [\#365](https://github.com/orocos/orocos_kinematics_dynamics/issues/365)
- error : dynamic  module does not define molule export function  \(PyInit\_PyKDL\) [\#364](https://github.com/orocos/orocos_kinematics_dynamics/issues/364)
- segmentation fault while importing PyKDL [\#362](https://github.com/orocos/orocos_kinematics_dynamics/issues/362)
- Chocolately package [\#225](https://github.com/orocos/orocos_kinematics_dynamics/issues/225)
- GCC 7.1 complains that auto\_ptr is deprecated [\#104](https://github.com/orocos/orocos_kinematics_dynamics/issues/104)

**Merged pull requests:**

- Bump actions/setup-python from 5 to 6 [\#500](https://github.com/orocos/orocos_kinematics_dynamics/pull/500) ([dependabot[bot]](https://github.com/apps/dependabot))
- Bump python\_orocos\_kdl/pybind11 from `eef24d6` to `d6ae0e1` [\#499](https://github.com/orocos/orocos_kinematics_dynamics/pull/499) ([dependabot[bot]](https://github.com/apps/dependabot))
- Bump actions/checkout from 4 to 5 [\#498](https://github.com/orocos/orocos_kinematics_dynamics/pull/498) ([dependabot[bot]](https://github.com/apps/dependabot))
- \[PyKDL\] add vector version of JntToCart for fk pos and vel [\#497](https://github.com/orocos/orocos_kinematics_dynamics/pull/497) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Bump python\_orocos\_kdl/pybind11 from `58c382a` to `eef24d6` [\#494](https://github.com/orocos/orocos_kinematics_dynamics/pull/494) ([dependabot[bot]](https://github.com/apps/dependabot))
- \(PyKDL\) reduce min cmake version to 3.16 [\#490](https://github.com/orocos/orocos_kinematics_dynamics/pull/490) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- \(PyKDL\) Update CMakeLists.txt [\#489](https://github.com/orocos/orocos_kinematics_dynamics/pull/489) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- \(kdl\) bump min CMake version 3.12.0 [\#488](https://github.com/orocos/orocos_kinematics_dynamics/pull/488) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Bump version to 1.5.2 [\#484](https://github.com/orocos/orocos_kinematics_dynamics/pull/484) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- \(PyKDL\) exact python version match [\#481](https://github.com/orocos/orocos_kinematics_dynamics/pull/481) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- \(actions\) update matrix to include U24, drop U20 [\#480](https://github.com/orocos/orocos_kinematics_dynamics/pull/480) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Test compatibility [\#479](https://github.com/orocos/orocos_kinematics_dynamics/pull/479) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Bump python\_orocos\_kdl/pybind11 from `cb9abc8` to `58c382a` [\#476](https://github.com/orocos/orocos_kinematics_dynamics/pull/476) ([dependabot[bot]](https://github.com/apps/dependabot))
- Bump python\_orocos\_kdl/pybind11 from `5211a17` to `cb9abc8` [\#472](https://github.com/orocos/orocos_kinematics_dynamics/pull/472) ([dependabot[bot]](https://github.com/apps/dependabot))
- Bump python\_orocos\_kdl/pybind11 from `6b92b6e` to `5211a17` [\#469](https://github.com/orocos/orocos_kinematics_dynamics/pull/469) ([dependabot[bot]](https://github.com/apps/dependabot))
- Bump python\_orocos\_kdl/pybind11 from `10889fe` to `6b92b6e` [\#467](https://github.com/orocos/orocos_kinematics_dynamics/pull/467) ([dependabot[bot]](https://github.com/apps/dependabot))
- Bump python\_orocos\_kdl/pybind11 from `01ab935` to `10889fe` [\#466](https://github.com/orocos/orocos_kinematics_dynamics/pull/466) ([dependabot[bot]](https://github.com/apps/dependabot))
- \(PyKDL\) fix return type and bound name [\#465](https://github.com/orocos/orocos_kinematics_dynamics/pull/465) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- added support to boost::timer 1.83+ [\#463](https://github.com/orocos/orocos_kinematics_dynamics/pull/463) ([efferre79](https://github.com/efferre79))
- cmake: Allow PYTHON\_SITE\_PACKAGES\_INSTALL\_DIR set extern [\#461](https://github.com/orocos/orocos_kinematics_dynamics/pull/461) ([DasRoteSkelett](https://github.com/DasRoteSkelett))
- Bump python\_orocos\_kdl/pybind11 from `8b03ffa` to `01ab935` [\#459](https://github.com/orocos/orocos_kinematics_dynamics/pull/459) ([dependabot[bot]](https://github.com/apps/dependabot))
- Rename variables with reserved names [\#456](https://github.com/orocos/orocos_kinematics_dynamics/pull/456) ([thyssentishman](https://github.com/thyssentishman))
- Bump actions/setup-python from 4 to 5 [\#455](https://github.com/orocos/orocos_kinematics_dynamics/pull/455) ([dependabot[bot]](https://github.com/apps/dependabot))
- Fix KDL::PI in chainiksolverpos\_lma\_demo.cpp [\#452](https://github.com/orocos/orocos_kinematics_dynamics/pull/452) ([kmartin36](https://github.com/kmartin36))
- \(actions\) also test ubuntu 22.04 [\#448](https://github.com/orocos/orocos_kinematics_dynamics/pull/448) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Bump actions/checkout from 3 to 4 [\#446](https://github.com/orocos/orocos_kinematics_dynamics/pull/446) ([dependabot[bot]](https://github.com/apps/dependabot))
- Bump python\_orocos\_kdl/pybind11 from `0dcf6f2` to `8b03ffa` [\#444](https://github.com/orocos/orocos_kinematics_dynamics/pull/444) ([dependabot[bot]](https://github.com/apps/dependabot))
- Bump python\_orocos\_kdl/pybind11 from `be97c5a` to `0dcf6f2` [\#443](https://github.com/orocos/orocos_kinematics_dynamics/pull/443) ([dependabot[bot]](https://github.com/apps/dependabot))
- fix\(cmake\) whitespace splitting [\#440](https://github.com/orocos/orocos_kinematics_dynamics/pull/440) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- \[kdl\] add rosdoc config [\#437](https://github.com/orocos/orocos_kinematics_dynamics/pull/437) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Bump python\_orocos\_kdl/pybind11 from `12852cd` to `be97c5a` [\#435](https://github.com/orocos/orocos_kinematics_dynamics/pull/435) ([dependabot[bot]](https://github.com/apps/dependabot))
- fix typos [\#431](https://github.com/orocos/orocos_kinematics_dynamics/pull/431) ([luzpaz](https://github.com/luzpaz))
- \(PyKDL\) use minimal pybind11 2.6 [\#430](https://github.com/orocos/orocos_kinematics_dynamics/pull/430) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Bump python\_orocos\_kdl/pybind11 from `d36a41e` to `12852cd` [\#429](https://github.com/orocos/orocos_kinematics_dynamics/pull/429) ([dependabot[bot]](https://github.com/apps/dependabot))
- Bump python\_orocos\_kdl/pybind11 from `5b63222` to `d36a41e` [\#427](https://github.com/orocos/orocos_kinematics_dynamics/pull/427) ([dependabot[bot]](https://github.com/apps/dependabot))
- \(actions\) test python 3.11 [\#426](https://github.com/orocos/orocos_kinematics_dynamics/pull/426) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- \(PyKDL\) use FindPython [\#425](https://github.com/orocos/orocos_kinematics_dynamics/pull/425) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Add accessors [\#419](https://github.com/orocos/orocos_kinematics_dynamics/pull/419) ([Masa0u0](https://github.com/Masa0u0))
- Drop python2 compatibility [\#418](https://github.com/orocos/orocos_kinematics_dynamics/pull/418) ([dependabot[bot]](https://github.com/apps/dependabot))
- \(actions\) allow manual trigger [\#417](https://github.com/orocos/orocos_kinematics_dynamics/pull/417) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Bump actions/setup-python from 3 to 4 [\#400](https://github.com/orocos/orocos_kinematics_dynamics/pull/400) ([dependabot[bot]](https://github.com/apps/dependabot))
- \(Joint\) make thread safe [\#399](https://github.com/orocos/orocos_kinematics_dynamics/pull/399) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- \(PyKDL\) add more argument names [\#396](https://github.com/orocos/orocos_kinematics_dynamics/pull/396) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Bump python\_orocos\_kdl/pybind11 from `ffa3468` to `914c06f` [\#395](https://github.com/orocos/orocos_kinematics_dynamics/pull/395) ([dependabot[bot]](https://github.com/apps/dependabot))
- Add hash function to "dataclasses" [\#394](https://github.com/orocos/orocos_kinematics_dynamics/pull/394) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Fix CMake warning on Windows [\#392](https://github.com/orocos/orocos_kinematics_dynamics/pull/392) ([jacobperron](https://github.com/jacobperron))
- Do not pass generated header to add\_library [\#391](https://github.com/orocos/orocos_kinematics_dynamics/pull/391) ([jacobperron](https://github.com/jacobperron))
- Fix build warnings on Windows [\#390](https://github.com/orocos/orocos_kinematics_dynamics/pull/390) ([jacobperron](https://github.com/jacobperron))
- Bump actions/checkout from 2 to 3 [\#387](https://github.com/orocos/orocos_kinematics_dynamics/pull/387) ([dependabot[bot]](https://github.com/apps/dependabot))
- Bump actions/setup-python from 2 to 3 [\#386](https://github.com/orocos/orocos_kinematics_dynamics/pull/386) ([dependabot[bot]](https://github.com/apps/dependabot))
- Remove CMake warning related to minimum version [\#385](https://github.com/orocos/orocos_kinematics_dynamics/pull/385) ([jacobperron](https://github.com/jacobperron))
- Bump python\_orocos\_kdl/pybind11 from `9b4f71d` to `ffa3468` [\#380](https://github.com/orocos/orocos_kinematics_dynamics/pull/380) ([dependabot[bot]](https://github.com/apps/dependabot))
- Skip building pybind11 if already available on system [\#375](https://github.com/orocos/orocos_kinematics_dynamics/pull/375) ([jacobperron](https://github.com/jacobperron))
- Bump python\_orocos\_kdl/pybind11 from `acae930` to `9b4f71d` [\#374](https://github.com/orocos/orocos_kinematics_dynamics/pull/374) ([dependabot[bot]](https://github.com/apps/dependabot))
- Follow-up of "Get rid of using std namespace" [\#372](https://github.com/orocos/orocos_kinematics_dynamics/pull/372) ([xtkoba](https://github.com/xtkoba))
- \(Actions\) test with python 3.10 [\#371](https://github.com/orocos/orocos_kinematics_dynamics/pull/371) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Fix not implemented errors [\#370](https://github.com/orocos/orocos_kinematics_dynamics/pull/370) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- \(PyKDL\) disable function  with vector by reference arg [\#369](https://github.com/orocos/orocos_kinematics_dynamics/pull/369) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Bump python\_orocos\_kdl/pybind11 from `e315e1f` to `acae930` [\#368](https://github.com/orocos/orocos_kinematics_dynamics/pull/368) ([dependabot[bot]](https://github.com/apps/dependabot))
- Export modern CMake interface target [\#366](https://github.com/orocos/orocos_kinematics_dynamics/pull/366) ([jacobperron](https://github.com/jacobperron))
- Fix Python bindings for static member functions Frme::DH\(\) and Frame::DH\_Craig1989\(\) [\#363](https://github.com/orocos/orocos_kinematics_dynamics/pull/363) ([meyerj](https://github.com/meyerj))
- Bump python\_orocos\_kdl/pybind11 from `787d2c8` to `e315e1f` [\#361](https://github.com/orocos/orocos_kinematics_dynamics/pull/361) ([dependabot[bot]](https://github.com/apps/dependabot))

## [v1.5.1](https://github.com/orocos/orocos_kinematics_dynamics/tree/v1.5.1) (2021-09-12)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/v1.5.0...v1.5.1)

**Fixed bugs:**

- PyKDL bindings on Precise are flaky [\#41](https://github.com/orocos/orocos_kinematics_dynamics/issues/41)

**Closed issues:**

- Fails to make:  parse error in template argument list [\#353](https://github.com/orocos/orocos_kinematics_dynamics/issues/353)
- Noetic Release [\#348](https://github.com/orocos/orocos_kinematics_dynamics/issues/348)
- Inconsistent license in orocos\_kdl/debian [\#330](https://github.com/orocos/orocos_kinematics_dynamics/issues/330)
- New release [\#308](https://github.com/orocos/orocos_kinematics_dynamics/issues/308)
- Incongruent licensing [\#267](https://github.com/orocos/orocos_kinematics_dynamics/issues/267)
- macOS 10.15 Installation [\#201](https://github.com/orocos/orocos_kinematics_dynamics/issues/201)
- License in package.xml [\#190](https://github.com/orocos/orocos_kinematics_dynamics/issues/190)
- Memory leak on accessing PyKDL Frame vector in 16.04 [\#157](https://github.com/orocos/orocos_kinematics_dynamics/issues/157)
- No sign-in option in orocos forum [\#134](https://github.com/orocos/orocos_kinematics_dynamics/issues/134)

**Merged pull requests:**

- Bump to 1.5.1 [\#357](https://github.com/orocos/orocos_kinematics_dynamics/pull/357) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Get rid of  using Eigen and std namespace [\#355](https://github.com/orocos/orocos_kinematics_dynamics/pull/355) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- \(actions\) Run multiple python versions [\#354](https://github.com/orocos/orocos_kinematics_dynamics/pull/354) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- \[PyKDL\] remove unused FindEigen3.cmake [\#350](https://github.com/orocos/orocos_kinematics_dynamics/pull/350) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Pybind update [\#349](https://github.com/orocos/orocos_kinematics_dynamics/pull/349) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- \(actions\) fix if condition [\#344](https://github.com/orocos/orocos_kinematics_dynamics/pull/344) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Update license tags [\#342](https://github.com/orocos/orocos_kinematics_dynamics/pull/342) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- \(actions\) fix branch check [\#338](https://github.com/orocos/orocos_kinematics_dynamics/pull/338) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Fix Windows Python extension [\#337](https://github.com/orocos/orocos_kinematics_dynamics/pull/337) ([Tobias-Fischer](https://github.com/Tobias-Fischer))
- Support IN\_LISTS which is required for pybind11 2.6 and newer [\#336](https://github.com/orocos/orocos_kinematics_dynamics/pull/336) ([Tobias-Fischer](https://github.com/Tobias-Fischer))
- Fix runtime destination for windows install [\#335](https://github.com/orocos/orocos_kinematics_dynamics/pull/335) ([Tobias-Fischer](https://github.com/Tobias-Fischer))
- Set PYTHON\_VERSION to 3 by default \(py2 is EOL\) [\#334](https://github.com/orocos/orocos_kinematics_dynamics/pull/334) ([Tobias-Fischer](https://github.com/Tobias-Fischer))

## [v1.5.0](https://github.com/orocos/orocos_kinematics_dynamics/tree/v1.5.0) (2021-06-06)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/1.3.2...v1.5.0)

**Implemented enhancements:**

- Extend named args in PyKDL [\#314](https://github.com/orocos/orocos_kinematics_dynamics/issues/314)
- ChainDynParam inherits privately from SolverI [\#207](https://github.com/orocos/orocos_kinematics_dynamics/issues/207)

**Fixed bugs:**

- undefined symbol: \_ZNK3KDL6Vector4NormEd [\#284](https://github.com/orocos/orocos_kinematics_dynamics/issues/284)
- \(PyKDL\) \(deep\)copy of PyBind11 based bindings in Python 2 [\#241](https://github.com/orocos/orocos_kinematics_dynamics/issues/241)
- JntArray::Equal does not always work [\#57](https://github.com/orocos/orocos_kinematics_dynamics/issues/57)

**Closed issues:**

- object has no attribute 'ChainJntToJacDotSolver'  when I use Python  [\#332](https://github.com/orocos/orocos_kinematics_dynamics/issues/332)
- Fail to compute CartToJnt of ChainIdSolver\_RNE [\#328](https://github.com/orocos/orocos_kinematics_dynamics/issues/328)
- In PyKDL, "AttributeError: 'module' object has no attribute 'ChainIdSolver\_RNE'" [\#327](https://github.com/orocos/orocos_kinematics_dynamics/issues/327)
- Failing test [\#316](https://github.com/orocos/orocos_kinematics_dynamics/issues/316)
- \[PyKDL\] build error: /usr/bin/sip: No such file or directory [\#313](https://github.com/orocos/orocos_kinematics_dynamics/issues/313)
- ROS2 package failed: orocos\_kdl [\#305](https://github.com/orocos/orocos_kinematics_dynamics/issues/305)
- module 'PyKDL' has no attribute 'Tree' [\#303](https://github.com/orocos/orocos_kinematics_dynamics/issues/303)
- KDL::ChainJntToJacSolver should not be used outside of KDL? [\#302](https://github.com/orocos/orocos_kinematics_dynamics/issues/302)
- make error --python\_orocos\_kdl [\#296](https://github.com/orocos/orocos_kinematics_dynamics/issues/296)
- cannot pass weight matrix to ChainIkSolverPos\_LMA\(\) class in PyKDL  [\#292](https://github.com/orocos/orocos_kinematics_dynamics/issues/292)
- Can't compile python\_orocos\_kdl using Python3 bindings [\#291](https://github.com/orocos/orocos_kinematics_dynamics/issues/291)
- Noetic release [\#289](https://github.com/orocos/orocos_kinematics_dynamics/issues/289)
- Noetic release? [\#288](https://github.com/orocos/orocos_kinematics_dynamics/issues/288)
- cannot build orocos\_kinematic\_dynamics with Python3 and ROS [\#287](https://github.com/orocos/orocos_kinematics_dynamics/issues/287)
- Move real with toeques calculated by kdl [\#286](https://github.com/orocos/orocos_kinematics_dynamics/issues/286)
- Building with `colcon --symlink-install` succeeds, but does add to correct PYTHONPATH after sourcing setup.bash [\#283](https://github.com/orocos/orocos_kinematics_dynamics/issues/283)
- MacOS 10.15 Foxy python bindings build error [\#279](https://github.com/orocos/orocos_kinematics_dynamics/issues/279)
- PyKDL does not work after install ROS, error message:ImportError: /usr/local/lib/python3.6/dist-packages/PyKDL.so: undefined symbol: \_ZN3KDL22ChainJntToJacDotSolver20E\_FKSOLVERPOS\_FAILEDE [\#277](https://github.com/orocos/orocos_kinematics_dynamics/issues/277)
- PyKDL install via pip fails [\#272](https://github.com/orocos/orocos_kinematics_dynamics/issues/272)
- ChainIdSolver\_RNE constructor get wrong nj and ns [\#266](https://github.com/orocos/orocos_kinematics_dynamics/issues/266)
- parsing chain from urdf file [\#265](https://github.com/orocos/orocos_kinematics_dynamics/issues/265)
-  Newest version of orocos kdl [\#263](https://github.com/orocos/orocos_kinematics_dynamics/issues/263)
- Build error on SIP Version 4.19.23 [\#260](https://github.com/orocos/orocos_kinematics_dynamics/issues/260)
- patching file orocos\_kdl/CMakeLists.txt Hunk \#1 FAILED at 42. [\#257](https://github.com/orocos/orocos_kinematics_dynamics/issues/257)
- Q: pybind11 and ros2 foxy [\#254](https://github.com/orocos/orocos_kinematics_dynamics/issues/254)
- PyKDL and Python 3 Compatible in ROS M. [\#253](https://github.com/orocos/orocos_kinematics_dynamics/issues/253)
- Release into ROS Noetic [\#252](https://github.com/orocos/orocos_kinematics_dynamics/issues/252)
- make .pc file relocatable [\#251](https://github.com/orocos/orocos_kinematics_dynamics/issues/251)
- PyKDL throwing segmentation fault after passing a str to Tree\(\) method in ROS - Noetic  [\#249](https://github.com/orocos/orocos_kinematics_dynamics/issues/249)
- documentation suggestions [\#248](https://github.com/orocos/orocos_kinematics_dynamics/issues/248)
- Build for Windows creates only a lib file, no header files [\#243](https://github.com/orocos/orocos_kinematics_dynamics/issues/243)
- Build for windows failing due to missing externals [\#242](https://github.com/orocos/orocos_kinematics_dynamics/issues/242)
- need liborocos-kdl-1.3.0 [\#236](https://github.com/orocos/orocos_kinematics_dynamics/issues/236)
- Forward kinematics computed velocity cannot be recovered from forward kinematics computed position [\#234](https://github.com/orocos/orocos_kinematics_dynamics/issues/234)
- Build Error during make [\#232](https://github.com/orocos/orocos_kinematics_dynamics/issues/232)
- Incompatibility with SIP \>= 5, while SIP 4 is deprecated and no longer available in PyPi [\#231](https://github.com/orocos/orocos_kinematics_dynamics/issues/231)
- python-sip dependency [\#230](https://github.com/orocos/orocos_kinematics_dynamics/issues/230)
- Build Error during make [\#227](https://github.com/orocos/orocos_kinematics_dynamics/issues/227)
- Generate header files for PyKDL.so [\#224](https://github.com/orocos/orocos_kinematics_dynamics/issues/224)
- Error during Compilation of PyKDL for Python3 [\#220](https://github.com/orocos/orocos_kinematics_dynamics/issues/220)
- PyBind11 instead of SIP [\#219](https://github.com/orocos/orocos_kinematics_dynamics/issues/219)
- Noetic release? [\#218](https://github.com/orocos/orocos_kinematics_dynamics/issues/218)
- Memory Leak in PyKDL Tree.getChain [\#211](https://github.com/orocos/orocos_kinematics_dynamics/issues/211)
- What does the mathematical support of this function：T\*I [\#205](https://github.com/orocos/orocos_kinematics_dynamics/issues/205)
- When in the orocos\_kinematics\_dynamics/python\_orocos\_kdl/build to execute the command "make" [\#203](https://github.com/orocos/orocos_kinematics_dynamics/issues/203)
- Broken links to documentation [\#200](https://github.com/orocos/orocos_kinematics_dynamics/issues/200)
- Noetic source entry and Python 3 support? [\#194](https://github.com/orocos/orocos_kinematics_dynamics/issues/194)
- build dynamics model based on multi-chain [\#192](https://github.com/orocos/orocos_kinematics_dynamics/issues/192)
- Could not find SIP during build? [\#191](https://github.com/orocos/orocos_kinematics_dynamics/issues/191)
- On ros2 branch, C++ standard is not set [\#185](https://github.com/orocos/orocos_kinematics_dynamics/issues/185)
- PyKDL on Windows [\#168](https://github.com/orocos/orocos_kinematics_dynamics/issues/168)
- where is test\_macros.h [\#156](https://github.com/orocos/orocos_kinematics_dynamics/issues/156)
- Undefined symbols [\#143](https://github.com/orocos/orocos_kinematics_dynamics/issues/143)
- error: undefined reference to `KDL::epsilon' [\#141](https://github.com/orocos/orocos_kinematics_dynamics/issues/141)
- PyKDL with Ubuntu 16.04 does not access correct memory when creating or copying frames.  [\#129](https://github.com/orocos/orocos_kinematics_dynamics/issues/129)
- Dynamic reconfiguring of a Chain object inside a solver e.g., ChainDynParam [\#103](https://github.com/orocos/orocos_kinematics_dynamics/issues/103)
- Can't make orocos-kdl-models with Qt [\#98](https://github.com/orocos/orocos_kinematics_dynamics/issues/98)
- ImportError: dynamic module does not define module export function \(PyInit\_PyKDL\) [\#96](https://github.com/orocos/orocos_kinematics_dynamics/issues/96)
- Root link can not have mass [\#90](https://github.com/orocos/orocos_kinematics_dynamics/issues/90)
- \[BUG?\] Path\_Circle::Clone\(\) has a deg2rad conversion [\#85](https://github.com/orocos/orocos_kinematics_dynamics/issues/85)
- Rotation::Quaternion may return invalid rotation matrix [\#79](https://github.com/orocos/orocos_kinematics_dynamics/issues/79)
- ChainIkSolverVel\_wdls Fails on Assert [\#77](https://github.com/orocos/orocos_kinematics_dynamics/issues/77)
- PyKDL.so is installed to lib64 [\#75](https://github.com/orocos/orocos_kinematics_dynamics/issues/75)
- PyKDL Tree - AttributeError [\#74](https://github.com/orocos/orocos_kinematics_dynamics/issues/74)
- Error in CMakeLists.txt of orocos/orocos\_kinematics\_dynamics [\#67](https://github.com/orocos/orocos_kinematics_dynamics/issues/67)
- Vector::Normalize bug/inconsistency? [\#65](https://github.com/orocos/orocos_kinematics_dynamics/issues/65)
- JointType typedef broken by None define in X11 library [\#48](https://github.com/orocos/orocos_kinematics_dynamics/issues/48)
- PyKDL: \_\_version\_\_ method missing [\#43](https://github.com/orocos/orocos_kinematics_dynamics/issues/43)
- PyKDL: specifying a root name when intializing a Tree causes segfault [\#42](https://github.com/orocos/orocos_kinematics_dynamics/issues/42)

**Merged pull requests:**

- Prepare release 1.5 [\#333](https://github.com/orocos/orocos_kinematics_dynamics/pull/333) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- \(PyKDL\) update doc depend to be python3 compatible [\#326](https://github.com/orocos/orocos_kinematics_dynamics/pull/326) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- \(PyKDL\) set PYBIND11\_PYTHON\_VERSION to supress warning [\#325](https://github.com/orocos/orocos_kinematics_dynamics/pull/325) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Bump python\_orocos\_kdl/pybind11 from `59a2ac2` to `8de7772` [\#324](https://github.com/orocos/orocos_kinematics_dynamics/pull/324) ([dependabot[bot]](https://github.com/apps/dependabot))
- Update PyBind11 to v2.6.2 [\#321](https://github.com/orocos/orocos_kinematics_dynamics/pull/321) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- \(actions\) fix industrial CI missing variable [\#319](https://github.com/orocos/orocos_kinematics_dynamics/pull/319) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- \(PyKDL\) extend named args [\#315](https://github.com/orocos/orocos_kinematics_dynamics/pull/315) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- External wrench estimator: first-order momentum observer [\#311](https://github.com/orocos/orocos_kinematics_dynamics/pull/311) ([DjoleMNE](https://github.com/DjoleMNE))
- fixes \#302, Update docstring of ChainJntToJacSolver [\#307](https://github.com/orocos/orocos_kinematics_dynamics/pull/307) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Replace Travis by GH Actions [\#306](https://github.com/orocos/orocos_kinematics_dynamics/pull/306) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Add Industrial CI for ABI check [\#299](https://github.com/orocos/orocos_kinematics_dynamics/pull/299) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Update copyright/author info [\#298](https://github.com/orocos/orocos_kinematics_dynamics/pull/298) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Version check [\#297](https://github.com/orocos/orocos_kinematics_dynamics/pull/297) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- \[PyKDL\] Extended constructor LMA solver [\#295](https://github.com/orocos/orocos_kinematics_dynamics/pull/295) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Remove the SIP version of PyKDL [\#294](https://github.com/orocos/orocos_kinematics_dynamics/pull/294) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Update pybind11 to v2.6.0 [\#293](https://github.com/orocos/orocos_kinematics_dynamics/pull/293) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Fix/geometry example [\#290](https://github.com/orocos/orocos_kinematics_dynamics/pull/290) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Remove python\_orocos\_kdl env-hooks, support devel-space build of python\_orocos\_kdl and invoke catkin\_package\(\) [\#285](https://github.com/orocos/orocos_kinematics_dynamics/pull/285) ([meyerj](https://github.com/meyerj))
- Replace M\_PI by custom PI [\#282](https://github.com/orocos/orocos_kinematics_dynamics/pull/282) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- First step into fixing inconsistent test results [\#281](https://github.com/orocos/orocos_kinematics_dynamics/pull/281) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Vereshchagin Solver: Adding documentation and improvements on interfaces, computations and test cases [\#280](https://github.com/orocos/orocos_kinematics_dynamics/pull/280) ([DjoleMNE](https://github.com/DjoleMNE))
- Declare assignment operator private for SIP [\#270](https://github.com/orocos/orocos_kinematics_dynamics/pull/270) ([jspricke](https://github.com/jspricke))
- Don't use isApprox, but isZero [\#262](https://github.com/orocos/orocos_kinematics_dynamics/pull/262) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- \(kdl\) \(ChainDynParam\) public inherit from SolverI [\#261](https://github.com/orocos/orocos_kinematics_dynamics/pull/261) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Fix compiler warnings with -Wextra [\#256](https://github.com/orocos/orocos_kinematics_dynamics/pull/256) ([meyerj](https://github.com/meyerj))
- Make .pc file relocatable and refactor cmake config [\#255](https://github.com/orocos/orocos_kinematics_dynamics/pull/255) ([meyerj](https://github.com/meyerj))
- \(PyKDL\) fix missing condition of build\_depend [\#250](https://github.com/orocos/orocos_kinematics_dynamics/pull/250) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- Expose Jacobian Dot Solver via pybind [\#247](https://github.com/orocos/orocos_kinematics_dynamics/pull/247) ([JohnSilverFarmer](https://github.com/JohnSilverFarmer))
- Add \(deep\)copy support for PyKDL [\#244](https://github.com/orocos/orocos_kinematics_dynamics/pull/244) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- \(PyKDL\) add \(deep\)copy test functions [\#240](https://github.com/orocos/orocos_kinematics_dynamics/pull/240) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- add xml model to package.xml [\#238](https://github.com/orocos/orocos_kinematics_dynamics/pull/238) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- \(PyKDL\) update pybind11 to 2.5.0 [\#237](https://github.com/orocos/orocos_kinematics_dynamics/pull/237) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- PyKDL: PyBind11 based [\#229](https://github.com/orocos/orocos_kinematics_dynamics/pull/229) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- python\_orocos\_kdl requires orocos\_kdl [\#226](https://github.com/orocos/orocos_kinematics_dynamics/pull/226) ([sloretz](https://github.com/sloretz))
- back to use a more numerically stable method to compute the rotation angle \[master\] [\#223](https://github.com/orocos/orocos_kinematics_dynamics/pull/223) ([meyerj](https://github.com/meyerj))
- Use CMP0048 New behavior to suppress warning [\#221](https://github.com/orocos/orocos_kinematics_dynamics/pull/221) ([sloretz](https://github.com/sloretz))
- added a test for the memory leak in Tree.getChain from \#211 [\#216](https://github.com/orocos/orocos_kinematics_dynamics/pull/216) ([mag-sruehl](https://github.com/mag-sruehl))
- Fix build warnings in gcc 9.2.1 [\#215](https://github.com/orocos/orocos_kinematics_dynamics/pull/215) ([ivanpauno](https://github.com/ivanpauno))
- Cleanup of PyKDL tests [\#214](https://github.com/orocos/orocos_kinematics_dynamics/pull/214) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- \#211 declared Tree.getChain as factory [\#212](https://github.com/orocos/orocos_kinematics_dynamics/pull/212) ([mag-sruehl](https://github.com/mag-sruehl))
- Correct return code of PyKDL test [\#210](https://github.com/orocos/orocos_kinematics_dynamics/pull/210) ([MatthijsBurgh](https://github.com/MatthijsBurgh))
- General cleanup [\#209](https://github.com/orocos/orocos_kinematics_dynamics/pull/209) ([mvieth](https://github.com/mvieth))
- Forward port Release 1.3 fixes [\#208](https://github.com/orocos/orocos_kinematics_dynamics/pull/208) ([smits](https://github.com/smits))
- back to use a more numerically stable method to compute the rotation angle [\#199](https://github.com/orocos/orocos_kinematics_dynamics/pull/199) ([maverick-long](https://github.com/maverick-long))
- Simplify implementation of addDelta\(\) for rotations [\#197](https://github.com/orocos/orocos_kinematics_dynamics/pull/197) ([meyerj](https://github.com/meyerj))
- Joint: getDamping\(\) & getStiffness\(\) [\#196](https://github.com/orocos/orocos_kinematics_dynamics/pull/196) ([francofusco](https://github.com/francofusco))
- Add compatibility for ROS\_PYTHON\_VERSION [\#193](https://github.com/orocos/orocos_kinematics_dynamics/pull/193) ([tfoote](https://github.com/tfoote))
- Fixed PyKDL windows target suffix bug [\#189](https://github.com/orocos/orocos_kinematics_dynamics/pull/189) ([zchen24](https://github.com/zchen24))
- Misc. source comment typo and whitespace fixes [\#188](https://github.com/orocos/orocos_kinematics_dynamics/pull/188) ([luzpaz](https://github.com/luzpaz))
- warning fixes and auto\_ptr replacement [\#187](https://github.com/orocos/orocos_kinematics_dynamics/pull/187) ([francisco-miguel-almeida](https://github.com/francisco-miguel-almeida))
- fix build for missing isnan definition in newer compilers [\#186](https://github.com/orocos/orocos_kinematics_dynamics/pull/186) ([francisco-miguel-almeida](https://github.com/francisco-miguel-almeida))
- Misc doxy and source comment typo fixes [\#184](https://github.com/orocos/orocos_kinematics_dynamics/pull/184) ([luzpaz](https://github.com/luzpaz))
- Fix memory leak in Path\_Circle constructor. Fixes \#177 [\#180](https://github.com/orocos/orocos_kinematics_dynamics/pull/180) ([martiniil](https://github.com/martiniil))
- Revert "Add private constructor for delegating initialization. Fixes \#177." [\#179](https://github.com/orocos/orocos_kinematics_dynamics/pull/179) ([smits](https://github.com/smits))
- Add private constructor for delegating initialization. Fixes \#177. [\#178](https://github.com/orocos/orocos_kinematics_dynamics/pull/178) ([martiniil](https://github.com/martiniil))
- \[Windows\] Fix SIPMacros.cmake for Windows build. [\#176](https://github.com/orocos/orocos_kinematics_dynamics/pull/176) ([seanyen](https://github.com/seanyen))
- New Tree features: sub-tree extraction and better tree printing [\#174](https://github.com/orocos/orocos_kinematics_dynamics/pull/174) ([francofusco](https://github.com/francofusco))
- Extend Recursive Newton-Euler for Inverse Dynamics of Trees [\#173](https://github.com/orocos/orocos_kinematics_dynamics/pull/173) ([francofusco](https://github.com/francofusco))
- Create chain forward dynamics solver class [\#171](https://github.com/orocos/orocos_kinematics_dynamics/pull/171) ([craigirobot](https://github.com/craigirobot))
- Adding the Jacobian Dot Solver to PyKDL [\#169](https://github.com/orocos/orocos_kinematics_dynamics/pull/169) ([milutter](https://github.com/milutter))
- fix typos [\#164](https://github.com/orocos/orocos_kinematics_dynamics/pull/164) ([ahoarau](https://github.com/ahoarau))
- trivial typo fixes [\#163](https://github.com/orocos/orocos_kinematics_dynamics/pull/163) ([luzpaz](https://github.com/luzpaz))
- Minor: fixed error message in PyKDL Wrench [\#162](https://github.com/orocos/orocos_kinematics_dynamics/pull/162) ([zchen24](https://github.com/zchen24))
- Added QUIET to find catkin to suppress message [\#161](https://github.com/orocos/orocos_kinematics_dynamics/pull/161) ([zchen24](https://github.com/zchen24))
- Add joint inertia dynamics [\#155](https://github.com/orocos/orocos_kinematics_dynamics/pull/155) ([craigirobot](https://github.com/craigirobot))
- Adding catkin env-hooks to support Python venv [\#154](https://github.com/orocos/orocos_kinematics_dynamics/pull/154) ([jbohren-hbr](https://github.com/jbohren-hbr))
- Adding setters and getters for RotationalInertia [\#153](https://github.com/orocos/orocos_kinematics_dynamics/pull/153) ([jbohren-hbr](https://github.com/jbohren-hbr))
- Added ChainIdSolver python wrapper [\#152](https://github.com/orocos/orocos_kinematics_dynamics/pull/152) ([zchen24](https://github.com/zchen24))
- Fixed velocityprofile\_dirac does not stop bug and replaced tab with 4… [\#151](https://github.com/orocos/orocos_kinematics_dynamics/pull/151) ([zchen24](https://github.com/zchen24))
- Increase threshold tolerance in jacobiandottest [\#149](https://github.com/orocos/orocos_kinematics_dynamics/pull/149) ([morxa](https://github.com/morxa))
- Fixed python3 std string conversion issue [\#145](https://github.com/orocos/orocos_kinematics_dynamics/pull/145) ([zchen24](https://github.com/zchen24))
- Minor: replace tab with spaces in chainiksolvervel\_wdls [\#144](https://github.com/orocos/orocos_kinematics_dynamics/pull/144) ([zchen24](https://github.com/zchen24))
- Misc. trivial typos [\#142](https://github.com/orocos/orocos_kinematics_dynamics/pull/142) ([luzpaz](https://github.com/luzpaz))
- Fix 'nan's in path rounded composite [\#140](https://github.com/orocos/orocos_kinematics_dynamics/pull/140) ([ahoarau](https://github.com/ahoarau))
- KDL Frames/GetRotAngle:  Removed incorrect singularity checks and added unit tests for improper rotation matrices [\#139](https://github.com/orocos/orocos_kinematics_dynamics/pull/139) ([craigirobot](https://github.com/craigirobot))
- Remove metapackage [\#92](https://github.com/orocos/orocos_kinematics_dynamics/pull/92) ([smits](https://github.com/smits))

## [1.3.2](https://github.com/orocos/orocos_kinematics_dynamics/tree/1.3.2) (2019-10-23)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/v1.4.0...1.3.2)

**Closed issues:**

- Release 1.4.0 for ROS kinetic? [\#183](https://github.com/orocos/orocos_kinematics_dynamics/issues/183)
- Memory leak: Path\_Circle does not delete orient ptr [\#177](https://github.com/orocos/orocos_kinematics_dynamics/issues/177)
- Compilation Error PyKDL Bindings [\#158](https://github.com/orocos/orocos_kinematics_dynamics/issues/158)
- jacobiandottest fails on i686 [\#148](https://github.com/orocos/orocos_kinematics_dynamics/issues/148)
- PyKDL: Missing Recursive newton euler inverse dynamics solver? [\#138](https://github.com/orocos/orocos_kinematics_dynamics/issues/138)
- PyKDL not building from source [\#136](https://github.com/orocos/orocos_kinematics_dynamics/issues/136)
- does KDL have python3 binding? [\#115](https://github.com/orocos/orocos_kinematics_dynamics/issues/115)
- chainjnttojacdotsolver.hpp not available in Indigo, Kinetic and Lunar versions [\#102](https://github.com/orocos/orocos_kinematics_dynamics/issues/102)
- liborocos-kdl.so.1.4: cannot open shared object file: No such file or directory [\#101](https://github.com/orocos/orocos_kinematics_dynamics/issues/101)
- Landing ABI changes in ROS Lunar [\#97](https://github.com/orocos/orocos_kinematics_dynamics/issues/97)

**Merged pull requests:**

- Cherry pick some RotAngleAxis related fixes [\#195](https://github.com/orocos/orocos_kinematics_dynamics/pull/195) ([smits](https://github.com/smits))

## [v1.4.0](https://github.com/orocos/orocos_kinematics_dynamics/tree/v1.4.0) (2018-03-21)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/1.3.1...v1.4.0)

**Closed issues:**

- framestest.py TabError: inconsistent use of tabs and spaces in indentation  [\#123](https://github.com/orocos/orocos_kinematics_dynamics/issues/123)
- Const correctness for operator\* of class Frame2 [\#120](https://github.com/orocos/orocos_kinematics_dynamics/issues/120)
- potential buffer overrun [\#108](https://github.com/orocos/orocos_kinematics_dynamics/issues/108)
- Install cmake configs to share/orocos\_kdl/cmake for catkin convenience [\#99](https://github.com/orocos/orocos_kinematics_dynamics/issues/99)
- catkin dependency [\#95](https://github.com/orocos/orocos_kinematics_dynamics/issues/95)
- Using Eigen for KDL::Vector, KDL::Rotation, KDL::RotationInertia, etc.  [\#89](https://github.com/orocos/orocos_kinematics_dynamics/issues/89)
- Release 1.3.1 for ROS kinetic? [\#88](https://github.com/orocos/orocos_kinematics_dynamics/issues/88)
- Improvement of chainiksolverpos\_nr\_jl.hpp [\#86](https://github.com/orocos/orocos_kinematics_dynamics/issues/86)
- Incorrect version number [\#82](https://github.com/orocos/orocos_kinematics_dynamics/issues/82)
- upcoming new release ? [\#60](https://github.com/orocos/orocos_kinematics_dynamics/issues/60)
- Python bindings fail to build with python 3 [\#59](https://github.com/orocos/orocos_kinematics_dynamics/issues/59)

**Merged pull requests:**

- More trivial typos [\#135](https://github.com/orocos/orocos_kinematics_dynamics/pull/135) ([luzpaz](https://github.com/luzpaz))
- Trivial typo fixes [\#133](https://github.com/orocos/orocos_kinematics_dynamics/pull/133) ([luzpaz](https://github.com/luzpaz))
- Added q\_min and q\_max size mismatch check in ChainIkSolverPos\_NR\_JL [\#132](https://github.com/orocos/orocos_kinematics_dynamics/pull/132) ([zchen24](https://github.com/zchen24))
- Added weights/opt-pos/alpha getter functions in ChainIkSolverVel\_pinv… [\#131](https://github.com/orocos/orocos_kinematics_dynamics/pull/131) ([zchen24](https://github.com/zchen24))
- Fixed DeprecationWarning: Please use assertTrue instead. in PyKDL tests [\#128](https://github.com/orocos/orocos_kinematics_dynamics/pull/128) ([zchen24](https://github.com/zchen24))
- More typos [\#127](https://github.com/orocos/orocos_kinematics_dynamics/pull/127) ([luzpaz](https://github.com/luzpaz))
- Replaced tab with spaces in framestest.py and frameveltest.py [\#126](https://github.com/orocos/orocos_kinematics_dynamics/pull/126) ([zchen24](https://github.com/zchen24))
- Fixed \_\_repr\_\_ returns non string in Python 3 [\#125](https://github.com/orocos/orocos_kinematics_dynamics/pull/125) ([zchen24](https://github.com/zchen24))
- Fixed Vector2::Norm\(\) [\#122](https://github.com/orocos/orocos_kinematics_dynamics/pull/122) ([pdima](https://github.com/pdima))
- Typos: doxygen [\#121](https://github.com/orocos/orocos_kinematics_dynamics/pull/121) ([luzpaz](https://github.com/luzpaz))
- Add Frame2 const operator\* [\#118](https://github.com/orocos/orocos_kinematics_dynamics/pull/118) ([mcopejans](https://github.com/mcopejans))
- Add edge testcase for GetRotAngle [\#117](https://github.com/orocos/orocos_kinematics_dynamics/pull/117) ([smits](https://github.com/smits))
- Added a get function to read the singular values [\#114](https://github.com/orocos/orocos_kinematics_dynamics/pull/114) ([craigirobot](https://github.com/craigirobot))
- Check buffer size, fix strncpy [\#113](https://github.com/orocos/orocos_kinematics_dynamics/pull/113) ([smits](https://github.com/smits))
- fixed thresshold param typo [\#111](https://github.com/orocos/orocos_kinematics_dynamics/pull/111) ([luzpaz](https://github.com/luzpaz))
- Trivial typo fixes [\#110](https://github.com/orocos/orocos_kinematics_dynamics/pull/110) ([luzpaz](https://github.com/luzpaz))
- Fix some singularities when using Rotation::GetRotAngle\(\) [\#109](https://github.com/orocos/orocos_kinematics_dynamics/pull/109) ([daenny](https://github.com/daenny))
- avoiding printing status messages to stderr [\#107](https://github.com/orocos/orocos_kinematics_dynamics/pull/107) ([dirk-thomas](https://github.com/dirk-thomas))
- Make SetToZero usable for Jacobian [\#105](https://github.com/orocos/orocos_kinematics_dynamics/pull/105) ([ptenbrock](https://github.com/ptenbrock))
- orocos\_kdl: install cmake config to share/orocos\_kdl/cmake [\#100](https://github.com/orocos/orocos_kinematics_dynamics/pull/100) ([meyerj](https://github.com/meyerj))
- Enable RPATH for OSX for cmake \>= 2.8.12 by default [\#93](https://github.com/orocos/orocos_kinematics_dynamics/pull/93) ([smits](https://github.com/smits))
- Fixed documentation for python\_orocos\_kdl [\#87](https://github.com/orocos/orocos_kinematics_dynamics/pull/87) ([meyerj](https://github.com/meyerj))
- Release 1.3 [\#84](https://github.com/orocos/orocos_kinematics_dynamics/pull/84) ([smits](https://github.com/smits))
- Cherry picked fixes for 1.3 [\#83](https://github.com/orocos/orocos_kinematics_dynamics/pull/83) ([smits](https://github.com/smits))
- support for Visual Studio 2015 C++ compiler [\#81](https://github.com/orocos/orocos_kinematics_dynamics/pull/81) ([mvistein](https://github.com/mvistein))
- Jacobian Time Derivative \(Jdot\) Solver: Follow-up [\#76](https://github.com/orocos/orocos_kinematics_dynamics/pull/76) ([wannesvanloock](https://github.com/wannesvanloock))
- add update step for apt-get [\#73](https://github.com/orocos/orocos_kinematics_dynamics/pull/73) ([smits](https://github.com/smits))
- orocos\_kdl: Support getting eps from WDLS velocity solver [\#71](https://github.com/orocos/orocos_kinematics_dynamics/pull/71) ([snrkiwi](https://github.com/snrkiwi))
- Make orocos\_kdl installspace relocatable. [\#70](https://github.com/orocos/orocos_kinematics_dynamics/pull/70) ([mikepurvis](https://github.com/mikepurvis))
- sip: Re-enabling keyword arguments \(fixes \#68\) [\#69](https://github.com/orocos/orocos_kinematics_dynamics/pull/69) ([jbohren](https://github.com/jbohren))
- Fix config when Eigen\_INCLUDE\_DIR includes a space [\#66](https://github.com/orocos/orocos_kinematics_dynamics/pull/66) ([traversaro](https://github.com/traversaro))
- Jacobian Time Derivative \(Jdot\) Solver [\#64](https://github.com/orocos/orocos_kinematics_dynamics/pull/64) ([ahoarau](https://github.com/ahoarau))
- Feature/solvers use reference of chain [\#63](https://github.com/orocos/orocos_kinematics_dynamics/pull/63) ([smits](https://github.com/smits))
- solvers: deploy solvers return value infrastructure [\#62](https://github.com/orocos/orocos_kinematics_dynamics/pull/62) ([smits](https://github.com/smits))
- Fix Fk Solvers return in vector  [\#61](https://github.com/orocos/orocos_kinematics_dynamics/pull/61) ([ahoarau](https://github.com/ahoarau))
- Add possibility to return all the FK frames in a vector [\#58](https://github.com/orocos/orocos_kinematics_dynamics/pull/58) ([ahoarau](https://github.com/ahoarau))
- Added check in IK solver, chainiksolvervel\_pinv\_nso, for division by zero. [\#55](https://github.com/orocos/orocos_kinematics_dynamics/pull/55) ([rethink-forrest](https://github.com/rethink-forrest))
- cmake: make Python version configurable [\#52](https://github.com/orocos/orocos_kinematics_dynamics/pull/52) ([morxa](https://github.com/morxa))
- Fixes to chainiksolvervel\_pinv\_nso [\#50](https://github.com/orocos/orocos_kinematics_dynamics/pull/50) ([rethink-forrest](https://github.com/rethink-forrest))
- Use SolverI interface for chainidsolvers [\#47](https://github.com/orocos/orocos_kinematics_dynamics/pull/47) ([snrkiwi](https://github.com/snrkiwi))
- Making KDL errorstack static \(prevents 'double-free or corruption' on exit\) [\#45](https://github.com/orocos/orocos_kinematics_dynamics/pull/45) ([jbohren](https://github.com/jbohren))
- Python bindings: Add Python 3+ compatibility. [\#44](https://github.com/orocos/orocos_kinematics_dynamics/pull/44) ([aballier](https://github.com/aballier))
- Check that the maxvel is obtainable in a half trapezoidal velocity profile [\#39](https://github.com/orocos/orocos_kinematics_dynamics/pull/39) ([rethink-forrest](https://github.com/rethink-forrest))
- Added support to RPATH for CMake \>= 2.8.12 [\#37](https://github.com/orocos/orocos_kinematics_dynamics/pull/37) ([francesco-romano](https://github.com/francesco-romano))

## [1.3.1](https://github.com/orocos/orocos_kinematics_dynamics/tree/1.3.1) (2016-04-05)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/v1.3.1...1.3.1)

## [v1.3.1](https://github.com/orocos/orocos_kinematics_dynamics/tree/v1.3.1) (2016-04-05)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/v1.3.0...v1.3.1)

**Closed issues:**

- chainidsolver\_recursive\_newton\_euler.cpp lines 36-38 [\#78](https://github.com/orocos/orocos_kinematics_dynamics/issues/78)
- PyKDL keyword arguments don't work on 14.04/indigo [\#68](https://github.com/orocos/orocos_kinematics_dynamics/issues/68)
- version tags incompatible with rosinstall\_generator --upstream [\#56](https://github.com/orocos/orocos_kinematics_dynamics/issues/56)
- inertiatest fails on 32bit architectures [\#54](https://github.com/orocos/orocos_kinematics_dynamics/issues/54)
- Issue in velocityprofile\_spline.cpp [\#51](https://github.com/orocos/orocos_kinematics_dynamics/issues/51)
- chainiksolvervel\_pinv\_nso math implementation incorrect [\#46](https://github.com/orocos/orocos_kinematics_dynamics/issues/46)
- orocos\_kdl breaks catkin make under ROS Indigo [\#38](https://github.com/orocos/orocos_kinematics_dynamics/issues/38)
- KDL::ChainIkSolverPos\_LMA is length unit sensitive [\#33](https://github.com/orocos/orocos_kinematics_dynamics/issues/33)
- Properly update version number during release [\#30](https://github.com/orocos/orocos_kinematics_dynamics/issues/30)

**Merged pull requests:**

- Fixes GetQuaternion non-zero matrix trace check [\#32](https://github.com/orocos/orocos_kinematics_dynamics/pull/32) ([rethink-kmaroney](https://github.com/rethink-kmaroney))
- really small adjustements to the docs [\#31](https://github.com/orocos/orocos_kinematics_dynamics/pull/31) ([MrMagne](https://github.com/MrMagne))
- Use the FindEigen3.cmake from the Eigen repository [\#29](https://github.com/orocos/orocos_kinematics_dynamics/pull/29) ([traversaro](https://github.com/traversaro))

## [v1.3.0](https://github.com/orocos/orocos_kinematics_dynamics/tree/v1.3.0) (2014-07-15)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/1.3.0...v1.3.0)

## [1.3.0](https://github.com/orocos/orocos_kinematics_dynamics/tree/1.3.0) (2014-07-15)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/v1.2.2...1.3.0)

**Closed issues:**

- Make4x4 divide by 1000 [\#28](https://github.com/orocos/orocos_kinematics_dynamics/issues/28)
- Unable to build python\_orocos\_kdl on OS X with brewed Python [\#23](https://github.com/orocos/orocos_kinematics_dynamics/issues/23)
- merge rosdistro blocks for src/doc and release [\#20](https://github.com/orocos/orocos_kinematics_dynamics/issues/20)

**Merged pull requests:**

- solvers: Add lambda\_scaled computation check for sigmaMin in WDLS [\#27](https://github.com/orocos/orocos_kinematics_dynamics/pull/27) ([snrkiwi](https://github.com/snrkiwi))
- solvers: Fix chainjnttojacsolver to use solver interface [\#26](https://github.com/orocos/orocos_kinematics_dynamics/pull/26) ([snrkiwi](https://github.com/snrkiwi))
- Adding metapackage for orocos\_kinematics\_dynamics [\#25](https://github.com/orocos/orocos_kinematics_dynamics/pull/25) ([jbohren](https://github.com/jbohren))
- Miscellaneous fixes [\#24](https://github.com/orocos/orocos_kinematics_dynamics/pull/24) ([snrkiwi](https://github.com/snrkiwi))
- Add Boost header path to KDL\_INCLUDE\_DIRS variable [\#22](https://github.com/orocos/orocos_kinematics_dynamics/pull/22) ([francesco-romano](https://github.com/francesco-romano))
- Added .travis.yml file for travis-ci support [\#21](https://github.com/orocos/orocos_kinematics_dynamics/pull/21) ([traversaro](https://github.com/traversaro))
- Correct friend function declarations with default arguments [\#19](https://github.com/orocos/orocos_kinematics_dynamics/pull/19) ([jensenb](https://github.com/jensenb))
- CMake config file fixes [\#18](https://github.com/orocos/orocos_kinematics_dynamics/pull/18) ([snrkiwi](https://github.com/snrkiwi))
- Bump version in CMakeLists.txt to 1.2.2 [\#17](https://github.com/orocos/orocos_kinematics_dynamics/pull/17) ([jensenb](https://github.com/jensenb))
-  Remove definitions of stl containers with incomplete types [\#4](https://github.com/orocos/orocos_kinematics_dynamics/pull/4) ([jensenb](https://github.com/jensenb))

## [v1.2.2](https://github.com/orocos/orocos_kinematics_dynamics/tree/v1.2.2) (2014-02-17)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/v1.2.1...v1.2.2)

**Closed issues:**

- RigidBodyInertia addition [\#16](https://github.com/orocos/orocos_kinematics_dynamics/issues/16)
- PyKDL does not provide wrappers to ChainIkSolverVel\_pinv\_nso, ChainIkSolverVel\_pinv\_givens and most important ChainIkSolverPos\_LMA [\#12](https://github.com/orocos/orocos_kinematics_dynamics/issues/12)
- alpha default value ChainIkSolverVel\_pinv\_nso is 0.25, while that type is an int [\#11](https://github.com/orocos/orocos_kinematics_dynamics/issues/11)
- PyKDL \_\_repr\_\_ method for Joint type generates error [\#10](https://github.com/orocos/orocos_kinematics_dynamics/issues/10)

**Merged pull requests:**

- Jf/pykdl fixes [\#15](https://github.com/orocos/orocos_kinematics_dynamics/pull/15) ([jf---](https://github.com/jf---))
- Add url to ROS wiki in package.xml [\#14](https://github.com/orocos/orocos_kinematics_dynamics/pull/14) ([spencerjackson](https://github.com/spencerjackson))

## [v1.2.1](https://github.com/orocos/orocos_kinematics_dynamics/tree/v1.2.1) (2013-12-09)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/v1.2.0...v1.2.1)

**Closed issues:**

- When will there be a new release? [\#2](https://github.com/orocos/orocos_kinematics_dynamics/issues/2)

## [v1.2.0](https://github.com/orocos/orocos_kinematics_dynamics/tree/v1.2.0) (2013-12-03)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/1.1.102...v1.2.0)

**Closed issues:**

- Error in documentation: Rotation::RPY \[frames.hpp: 426\] [\#8](https://github.com/orocos/orocos_kinematics_dynamics/issues/8)
- python-orocos-kdl: FindSIP.cmake - crosscompiling problems and proposed fixes [\#6](https://github.com/orocos/orocos_kinematics_dynamics/issues/6)
- pkg-config wrong when path contains spaces [\#3](https://github.com/orocos/orocos_kinematics_dynamics/issues/3)

## [1.1.102](https://github.com/orocos/orocos_kinematics_dynamics/tree/1.1.102) (2013-04-18)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/1.1.101...1.1.102)

## [1.1.101](https://github.com/orocos/orocos_kinematics_dynamics/tree/1.1.101) (2013-04-17)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/1.1.100...1.1.101)

## [1.1.100](https://github.com/orocos/orocos_kinematics_dynamics/tree/1.1.100) (2013-04-17)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/1.1.99-1...1.1.100)

## [1.1.99-1](https://github.com/orocos/orocos_kinematics_dynamics/tree/1.1.99-1) (2013-04-17)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/v1.1.99-1...1.1.99-1)

## [v1.1.99-1](https://github.com/orocos/orocos_kinematics_dynamics/tree/v1.1.99-1) (2013-04-17)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/v1.1.99...v1.1.99-1)

## [v1.1.99](https://github.com/orocos/orocos_kinematics_dynamics/tree/v1.1.99) (2013-04-17)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/orocos_kinematics_dynamics-0.2.3...v1.1.99)

## [orocos_kinematics_dynamics-0.2.3](https://github.com/orocos/orocos_kinematics_dynamics/tree/orocos_kinematics_dynamics-0.2.3) (2011-10-21)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/orocos_kinematics_dynamics-0.2.2...orocos_kinematics_dynamics-0.2.3)

## [orocos_kinematics_dynamics-0.2.2](https://github.com/orocos/orocos_kinematics_dynamics/tree/orocos_kinematics_dynamics-0.2.2) (2011-10-05)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/orocos_kinematics_dynamics-0.1.3...orocos_kinematics_dynamics-0.2.2)

## [orocos_kinematics_dynamics-0.1.3](https://github.com/orocos/orocos_kinematics_dynamics/tree/orocos_kinematics_dynamics-0.1.3) (2011-07-13)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/orocos_kinematics_dynamics-0.1.2...orocos_kinematics_dynamics-0.1.3)

## [orocos_kinematics_dynamics-0.1.2](https://github.com/orocos/orocos_kinematics_dynamics/tree/orocos_kinematics_dynamics-0.1.2) (2011-07-12)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/orocos_kinematics_dynamics-0.1.1...orocos_kinematics_dynamics-0.1.2)

## [orocos_kinematics_dynamics-0.1.1](https://github.com/orocos/orocos_kinematics_dynamics/tree/orocos_kinematics_dynamics-0.1.1) (2011-06-09)

[Full Changelog](https://github.com/orocos/orocos_kinematics_dynamics/compare/593a296ed03ebe6c0e9b44952c4faaf470e2eafd...orocos_kinematics_dynamics-0.1.1)



\* *This Changelog was automatically generated by [github_changelog_generator](https://github.com/github-changelog-generator/github-changelog-generator)*