Update CHANGELOG

ami-iit · Dec 13, 2023 · 65bbf2e · 65bbf2e
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -7,6 +7,7 @@ All notable changes to this project are documented in this file.
 - Implement `MANN::generateDummyMANNOutput` and `MANN::generateDummyMANNInput` in `ML` component (https://github.com/ami-iit/bipedal-locomotion-framework/pull/771)
 - Add `MANNAutoregressive` and `MANNTrajectoryGenerator` examples (https://github.com/ami-iit/bipedal-locomotion-framework/pull/771)
 - Implement `Spline::evaluateOrderedPoints` to evaluate the spline at a set of time ordered points (https://github.com/ami-iit/bipedal-locomotion-framework/pull/773)
+- Add process model for external contacts in `RobotDynamicsEstimator` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/759)
 
 ### Changed
 - Restructure of the `CentroidalMPC` class in `ReducedModelControllers` component. Specifically, the `CentroidalMPC` now provides a contact phase list instead of indicating the next active contact. Additionally, users can now switch between `ipopt` and `sqpmethod` to solve the optimization problem. Furthermore, the update allows for setting the warm-start for the non-linear solver. (https://github.com/ami-iit/bipedal-locomotion-framework/pull/766)
@@ -17,6 +18,7 @@ All notable changes to this project are documented in this file.
 - Restructure `MANNTrajectoryGenerator` to remove the need for foot positions in `setInitialState` and enhanced reset capabilities. Corrected position and time scaling for precise CoM, base, and feet positioning (https://github.com/ami-iit/bipedal-locomotion-framework/pull/771)
 - Move `Spline` into `Math` component. (https://github.com/ami-iit/bipedal-locomotion-framework/pull/773)
 - Deprecate `Planners::Spline`, `Planners::QuinticSpline`, `Planners::CubicSpline` in favor of `Math::Spline`, `Math::QuinticSpline`, `Math::CubicSpline` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/773)
+- Change use of dynamics name for fts, contacts, accelerometers, gyroscopes in `RobotDynamicsEstimator` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/759)
 
 ### Fixed