v0.8.69 GRF moment reference frame detection in DynamicsFitter

The moment values in GRF data can be calculated in a number of different reference frames, according to different conventions. This patch includes heuristics to auto-detect some common conventions and standardize the GRF data into a format we expect.

v0.8.68 Longer trials in DynamicsFitter

This release adds support for much longer trials (in the multiple 10k's of frames) in DynamicsFitter, by both solving performance issues and adding some mechanisms to compensate for dynamics drift on longer trials by adding low-frequency signals to GRF data.

v0.8.67 Scaling tweaks for DynamicsFitter

This uses sparse matrices and iterative solvers for the AccelerationSmoother in DynamicsFitter, and adds an option to DynamicsFitProblemConfig.setMaxNumBlocksPerTrial(), which allows sub-sampling long trials for efficient dynamics fitting.

v0.8.66 Switching to iterative least squares solvers for DynamicsFitter

This release helps DynamicsFitter scale to much longer trials, by using iterative least squares solvers instead of direct matrix factorization.

v0.8.65 More efficient least-squares solvers for smoothing

AccelerationSmoother and VelocityMinimizingSmoother now use iterative least squares solvers on long sequences, instead of explicit methods.

v0.8.64 Fixing bug with GRF assignment to feet

We had a bug where GRF would assign to the nearest GRF body on each frame, irrespective of history. We were getting flickering on some walking data where GRF would reassign to the swing foot suddenly during swing as the GRF body on the swing foot came close to the CoP.

This release also fixes some CSV output bugs.

v0.8.63 Stability Improvements

Checking before we attempt to joint->getDof(0) on weld joints in MarkerFitter.

v0.8.62 IK improvements in MarkerFitter

This attempts to reduce jitter on pure IK results from MarkerFitter.

Also adds some warning outputs to OpenSimParser.

v0.8.61 Automatic setup of OpenSim Inverse Dynamics + Stability Improvements

Updating OpenSimParser to correctly output inverse dynamics setup files, and fixing a few bugs.

v0.8.60 Adding GRF exporters for OpenSimParser

Adding OpenSimParser::saveOsimInverseDynamicsProcessedForcesXMLFile() and OpenSimParser::saveProcessedGRFMot()