<commit_before>iDynTree 0.10 (2018-06-20)                                              {#v0_10}
========================

[TOC]

iDynTree 0.10 Release Notes
=========================


Important Changes
-----------------
* Since 0.10 release, iDynTree uses C++14 in its headers, and requires GCC >= 5 and Visual Studio >= 2015
  to compile.
* Similar to the YARP policy, any new version of iDynTree will have a consecutive minor version number.
  Development version (the one contained in the `devel` branch before release will be denoted with a
  patch version number greater than 100. The next minor release of iDynTree will be 0.11 .


#### `core`
* Added the `iDynTree::Span` class (https://github.com/robotology/idyntree/pull/434), modeled after
  the C++20's `std::span` ( http://en.cppreference.com/w/cpp/container/span ). This class can be used to write
  methods and functions that access a contiguous sequence of objects in memory with a known length.
  This is extremly useful to make sure that `iDynTree` classes are easy to use regardless of which
  vector type the downstream code is using, for example if it is one of `std::vector<double>`,
  `Eigen::VectorXd` or `yarp::sig::Vector` .

#### `inverse-kinematics`

* Frame Constraints can now be enabled and disabled dynamically ( https://github.com/robotology/idyntree/pull/389 ).<commit_msg>Updated changelog<commit_after>iDynTree 0.10 (2018-06-20)                                              {#v0_10}
========================

[TOC]

iDynTree 0.10 Release Notes
=========================


Important Changes
-----------------
* Since 0.10 release, iDynTree uses C++14 in its headers, and requires GCC >= 5 and Visual Studio >= 2015
  to compile.
* Similar to the YARP policy, any new version of iDynTree will have a consecutive minor version number.
  Development version (the one contained in the `devel` branch before release will be denoted with a
  patch version number greater than 100. The next minor release of iDynTree will be 0.11 .


#### `core`
* Added the `iDynTree::Span` class (https://github.com/robotology/idyntree/pull/434), modeled after
  the C++20's `std::span` ( http://en.cppreference.com/w/cpp/container/span ). This class can be used to write
  methods and functions that access a contiguous sequence of objects in memory with a known length.
  This is extremly useful to make sure that `iDynTree` classes are easy to use regardless of which
  vector type the downstream code is using, for example if it is one of `std::vector<double>`,
  `Eigen::VectorXd` or `yarp::sig::Vector` .

#### `high-level`
* Added method to obtain relative Jacobians sparsity pattern
* Added method to obtain free floating Jacobians sparsity pattern

#### `inverse-kinematics`
* Frame Constraints can now be enabled and disabled dynamically ( https://github.com/robotology/idyntree/pull/389 ).
* Constraints Jacobian now exploit sparsity pattern
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