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NOSALRO · Sep 25, 2024 · 9cb66a2 · 9cb66a2
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diff --git a/docs/api/windowless__gl__application_8hpp/index.html b/docs/api/windowless__gl__application_8hpp/index.html
diff --git a/docs/api/windowless__gl__application_8hpp_source/index.html b/docs/api/windowless__gl__application_8hpp_source/index.html
diff --git a/docs/api/windowless__graphics_8cpp/index.html b/docs/api/windowless__graphics_8cpp/index.html
diff --git a/docs/api/windowless__graphics_8cpp_source/index.html b/docs/api/windowless__graphics_8cpp_source/index.html
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diff --git a/docs/assets/.doxy/api/api/base__application_8hpp_source.md b/docs/assets/.doxy/api/api/base__application_8hpp_source.md
@@ -104,8 +104,14 @@ namespace robot_dart {
                 std::string title = "DART";
 
                 // Shadows
+#ifndef MAGNUM_MAC_OSX
                 bool shadowed = true;
                 bool transparent_shadows = true;
+#else
+                // Disabling shadows by default on OSX
+                bool shadowed = false;
+                bool transparent_shadows = false;
+#endif
                 size_t shadow_map_size = 1024;
 
                 // Lights

diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1control_1_1PDControl.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1control_1_1PDControl.md
@@ -91,23 +91,23 @@ See [robot\_dart::control::RobotControl](classrobot__dart_1_1control_1_1RobotCon
 
 | Type | Name |
 | ---: | :--- |
-|   | [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md#function-robotcontrol-13) () <br> |
-|   | [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md#function-robotcontrol-23) (const Eigen::VectorXd & ctrl, bool full\_control=false) <br> |
-|   | [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md#function-robotcontrol-33) (const Eigen::VectorXd & ctrl, const std::vector&lt; std::string &gt; & controllable\_dofs) <br> |
-|  void | [**activate**](classrobot__dart_1_1control_1_1RobotControl.md#function-activate) (bool enable=true) <br> |
-|  bool | [**active**](classrobot__dart_1_1control_1_1RobotControl.md#function-active) () const<br> |
-| virtual Eigen::VectorXd | [**calculate**](classrobot__dart_1_1control_1_1RobotControl.md#function-calculate) (double t) = 0<br> |
-| virtual std::shared\_ptr&lt; [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**clone**](classrobot__dart_1_1control_1_1RobotControl.md#function-clone) () const = 0<br> |
-| virtual void | [**configure**](classrobot__dart_1_1control_1_1RobotControl.md#function-configure) () = 0<br> |
-|  const std::vector&lt; std::string &gt; & | [**controllable\_dofs**](classrobot__dart_1_1control_1_1RobotControl.md#function-controllable_dofs) () const<br> |
-|  void | [**init**](classrobot__dart_1_1control_1_1RobotControl.md#function-init) () <br> |
-|  const Eigen::VectorXd & | [**parameters**](classrobot__dart_1_1control_1_1RobotControl.md#function-parameters) () const<br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**robot**](classrobot__dart_1_1control_1_1RobotControl.md#function-robot) () const<br> |
-|  void | [**set\_parameters**](classrobot__dart_1_1control_1_1RobotControl.md#function-set_parameters) (const Eigen::VectorXd & ctrl) <br> |
-|  void | [**set\_robot**](classrobot__dart_1_1control_1_1RobotControl.md#function-set_robot) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot) <br> |
-|  void | [**set\_weight**](classrobot__dart_1_1control_1_1RobotControl.md#function-set_weight) (double weight) <br> |
-|  double | [**weight**](classrobot__dart_1_1control_1_1RobotControl.md#function-weight) () const<br> |
-| virtual  | [**~RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md#function-robotcontrol) () <br> |
+|   | [**RobotControl**](#function-robotcontrol-13) () <br> |
+|   | [**RobotControl**](#function-robotcontrol-23) (const Eigen::VectorXd & ctrl, bool full\_control=false) <br> |
+|   | [**RobotControl**](#function-robotcontrol-33) (const Eigen::VectorXd & ctrl, const std::vector&lt; std::string &gt; & controllable\_dofs) <br> |
+|  void | [**activate**](#function-activate) (bool enable=true) <br> |
+|  bool | [**active**](#function-active) () const<br> |
+| virtual Eigen::VectorXd | [**calculate**](#function-calculate) (double t) = 0<br> |
+| virtual std::shared\_ptr&lt; [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**clone**](#function-clone) () const = 0<br> |
+| virtual void | [**configure**](#function-configure) () = 0<br> |
+|  const std::vector&lt; std::string &gt; & | [**controllable\_dofs**](#function-controllable_dofs) () const<br> |
+|  void | [**init**](#function-init) () <br> |
+|  const Eigen::VectorXd & | [**parameters**](#function-parameters) () const<br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**robot**](#function-robot) () const<br> |
+|  void | [**set\_parameters**](#function-set_parameters) (const Eigen::VectorXd & ctrl) <br> |
+|  void | [**set\_robot**](#function-set_robot) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot) <br> |
+|  void | [**set\_weight**](#function-set_weight) (double weight) <br> |
+|  double | [**weight**](#function-weight) () const<br> |
+| virtual  | [**~RobotControl**](#function-robotcontrol) () <br> |
 
 
 
@@ -137,14 +137,14 @@ See [robot\_dart::control::RobotControl](classrobot__dart_1_1control_1_1RobotCon
 
 | Type | Name |
 | ---: | :--- |
-|  bool | [**\_active**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_active)  <br> |
-|  bool | [**\_check\_free**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_check_free)   = = false<br> |
-|  int | [**\_control\_dof**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_control_dof)  <br> |
-|  std::vector&lt; std::string &gt; | [**\_controllable\_dofs**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_controllable_dofs)  <br> |
-|  Eigen::VectorXd | [**\_ctrl**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_ctrl)  <br> |
-|  int | [**\_dof**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_dof)  <br> |
-|  std::weak\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**\_robot**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_robot)  <br> |
-|  double | [**\_weight**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_weight)  <br> |
+|  bool | [**\_active**](#variable-_active)  <br> |
+|  bool | [**\_check\_free**](#variable-_check_free)   = = false<br> |
+|  int | [**\_control\_dof**](#variable-_control_dof)  <br> |
+|  std::vector&lt; std::string &gt; | [**\_controllable\_dofs**](#variable-_controllable_dofs)  <br> |
+|  Eigen::VectorXd | [**\_ctrl**](#variable-_ctrl)  <br> |
+|  int | [**\_dof**](#variable-_dof)  <br> |
+|  std::weak\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**\_robot**](#variable-_robot)  <br> |
+|  double | [**\_weight**](#variable-_weight)  <br> |
 
 
 

diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1control_1_1PolicyControl.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1control_1_1PolicyControl.md
@@ -92,23 +92,23 @@ See [robot\_dart::control::RobotControl](classrobot__dart_1_1control_1_1RobotCon
 
 | Type | Name |
 | ---: | :--- |
-|   | [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md#function-robotcontrol-13) () <br> |
-|   | [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md#function-robotcontrol-23) (const Eigen::VectorXd & ctrl, bool full\_control=false) <br> |
-|   | [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md#function-robotcontrol-33) (const Eigen::VectorXd & ctrl, const std::vector&lt; std::string &gt; & controllable\_dofs) <br> |
-|  void | [**activate**](classrobot__dart_1_1control_1_1RobotControl.md#function-activate) (bool enable=true) <br> |
-|  bool | [**active**](classrobot__dart_1_1control_1_1RobotControl.md#function-active) () const<br> |
-| virtual Eigen::VectorXd | [**calculate**](classrobot__dart_1_1control_1_1RobotControl.md#function-calculate) (double t) = 0<br> |
-| virtual std::shared\_ptr&lt; [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**clone**](classrobot__dart_1_1control_1_1RobotControl.md#function-clone) () const = 0<br> |
-| virtual void | [**configure**](classrobot__dart_1_1control_1_1RobotControl.md#function-configure) () = 0<br> |
-|  const std::vector&lt; std::string &gt; & | [**controllable\_dofs**](classrobot__dart_1_1control_1_1RobotControl.md#function-controllable_dofs) () const<br> |
-|  void | [**init**](classrobot__dart_1_1control_1_1RobotControl.md#function-init) () <br> |
-|  const Eigen::VectorXd & | [**parameters**](classrobot__dart_1_1control_1_1RobotControl.md#function-parameters) () const<br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**robot**](classrobot__dart_1_1control_1_1RobotControl.md#function-robot) () const<br> |
-|  void | [**set\_parameters**](classrobot__dart_1_1control_1_1RobotControl.md#function-set_parameters) (const Eigen::VectorXd & ctrl) <br> |
-|  void | [**set\_robot**](classrobot__dart_1_1control_1_1RobotControl.md#function-set_robot) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot) <br> |
-|  void | [**set\_weight**](classrobot__dart_1_1control_1_1RobotControl.md#function-set_weight) (double weight) <br> |
-|  double | [**weight**](classrobot__dart_1_1control_1_1RobotControl.md#function-weight) () const<br> |
-| virtual  | [**~RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md#function-robotcontrol) () <br> |
+|   | [**RobotControl**](#function-robotcontrol-13) () <br> |
+|   | [**RobotControl**](#function-robotcontrol-23) (const Eigen::VectorXd & ctrl, bool full\_control=false) <br> |
+|   | [**RobotControl**](#function-robotcontrol-33) (const Eigen::VectorXd & ctrl, const std::vector&lt; std::string &gt; & controllable\_dofs) <br> |
+|  void | [**activate**](#function-activate) (bool enable=true) <br> |
+|  bool | [**active**](#function-active) () const<br> |
+| virtual Eigen::VectorXd | [**calculate**](#function-calculate) (double t) = 0<br> |
+| virtual std::shared\_ptr&lt; [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**clone**](#function-clone) () const = 0<br> |
+| virtual void | [**configure**](#function-configure) () = 0<br> |
+|  const std::vector&lt; std::string &gt; & | [**controllable\_dofs**](#function-controllable_dofs) () const<br> |
+|  void | [**init**](#function-init) () <br> |
+|  const Eigen::VectorXd & | [**parameters**](#function-parameters) () const<br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**robot**](#function-robot) () const<br> |
+|  void | [**set\_parameters**](#function-set_parameters) (const Eigen::VectorXd & ctrl) <br> |
+|  void | [**set\_robot**](#function-set_robot) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot) <br> |
+|  void | [**set\_weight**](#function-set_weight) (double weight) <br> |
+|  double | [**weight**](#function-weight) () const<br> |
+| virtual  | [**~RobotControl**](#function-robotcontrol) () <br> |
 
 
 
@@ -143,14 +143,14 @@ See [robot\_dart::control::RobotControl](classrobot__dart_1_1control_1_1RobotCon
 
 | Type | Name |
 | ---: | :--- |
-|  bool | [**\_active**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_active)  <br> |
-|  bool | [**\_check\_free**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_check_free)   = = false<br> |
-|  int | [**\_control\_dof**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_control_dof)  <br> |
-|  std::vector&lt; std::string &gt; | [**\_controllable\_dofs**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_controllable_dofs)  <br> |
-|  Eigen::VectorXd | [**\_ctrl**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_ctrl)  <br> |
-|  int | [**\_dof**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_dof)  <br> |
-|  std::weak\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**\_robot**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_robot)  <br> |
-|  double | [**\_weight**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_weight)  <br> |
+|  bool | [**\_active**](#variable-_active)  <br> |
+|  bool | [**\_check\_free**](#variable-_check_free)   = = false<br> |
+|  int | [**\_control\_dof**](#variable-_control_dof)  <br> |
+|  std::vector&lt; std::string &gt; | [**\_controllable\_dofs**](#variable-_controllable_dofs)  <br> |
+|  Eigen::VectorXd | [**\_ctrl**](#variable-_ctrl)  <br> |
+|  int | [**\_dof**](#variable-_dof)  <br> |
+|  std::weak\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**\_robot**](#variable-_robot)  <br> |
+|  double | [**\_weight**](#variable-_weight)  <br> |
 
 
 

diff --git a/docs/assets/.doxy/api/api/classrobot__dart_1_1control_1_1SimpleControl.md b/docs/assets/.doxy/api/api/classrobot__dart_1_1control_1_1SimpleControl.md
@@ -86,23 +86,23 @@ See [robot\_dart::control::RobotControl](classrobot__dart_1_1control_1_1RobotCon
 
 | Type | Name |
 | ---: | :--- |
-|   | [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md#function-robotcontrol-13) () <br> |
-|   | [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md#function-robotcontrol-23) (const Eigen::VectorXd & ctrl, bool full\_control=false) <br> |
-|   | [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md#function-robotcontrol-33) (const Eigen::VectorXd & ctrl, const std::vector&lt; std::string &gt; & controllable\_dofs) <br> |
-|  void | [**activate**](classrobot__dart_1_1control_1_1RobotControl.md#function-activate) (bool enable=true) <br> |
-|  bool | [**active**](classrobot__dart_1_1control_1_1RobotControl.md#function-active) () const<br> |
-| virtual Eigen::VectorXd | [**calculate**](classrobot__dart_1_1control_1_1RobotControl.md#function-calculate) (double t) = 0<br> |
-| virtual std::shared\_ptr&lt; [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**clone**](classrobot__dart_1_1control_1_1RobotControl.md#function-clone) () const = 0<br> |
-| virtual void | [**configure**](classrobot__dart_1_1control_1_1RobotControl.md#function-configure) () = 0<br> |
-|  const std::vector&lt; std::string &gt; & | [**controllable\_dofs**](classrobot__dart_1_1control_1_1RobotControl.md#function-controllable_dofs) () const<br> |
-|  void | [**init**](classrobot__dart_1_1control_1_1RobotControl.md#function-init) () <br> |
-|  const Eigen::VectorXd & | [**parameters**](classrobot__dart_1_1control_1_1RobotControl.md#function-parameters) () const<br> |
-|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**robot**](classrobot__dart_1_1control_1_1RobotControl.md#function-robot) () const<br> |
-|  void | [**set\_parameters**](classrobot__dart_1_1control_1_1RobotControl.md#function-set_parameters) (const Eigen::VectorXd & ctrl) <br> |
-|  void | [**set\_robot**](classrobot__dart_1_1control_1_1RobotControl.md#function-set_robot) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot) <br> |
-|  void | [**set\_weight**](classrobot__dart_1_1control_1_1RobotControl.md#function-set_weight) (double weight) <br> |
-|  double | [**weight**](classrobot__dart_1_1control_1_1RobotControl.md#function-weight) () const<br> |
-| virtual  | [**~RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md#function-robotcontrol) () <br> |
+|   | [**RobotControl**](#function-robotcontrol-13) () <br> |
+|   | [**RobotControl**](#function-robotcontrol-23) (const Eigen::VectorXd & ctrl, bool full\_control=false) <br> |
+|   | [**RobotControl**](#function-robotcontrol-33) (const Eigen::VectorXd & ctrl, const std::vector&lt; std::string &gt; & controllable\_dofs) <br> |
+|  void | [**activate**](#function-activate) (bool enable=true) <br> |
+|  bool | [**active**](#function-active) () const<br> |
+| virtual Eigen::VectorXd | [**calculate**](#function-calculate) (double t) = 0<br> |
+| virtual std::shared\_ptr&lt; [**RobotControl**](classrobot__dart_1_1control_1_1RobotControl.md) &gt; | [**clone**](#function-clone) () const = 0<br> |
+| virtual void | [**configure**](#function-configure) () = 0<br> |
+|  const std::vector&lt; std::string &gt; & | [**controllable\_dofs**](#function-controllable_dofs) () const<br> |
+|  void | [**init**](#function-init) () <br> |
+|  const Eigen::VectorXd & | [**parameters**](#function-parameters) () const<br> |
+|  std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**robot**](#function-robot) () const<br> |
+|  void | [**set\_parameters**](#function-set_parameters) (const Eigen::VectorXd & ctrl) <br> |
+|  void | [**set\_robot**](#function-set_robot) (const std::shared\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; & robot) <br> |
+|  void | [**set\_weight**](#function-set_weight) (double weight) <br> |
+|  double | [**weight**](#function-weight) () const<br> |
+| virtual  | [**~RobotControl**](#function-robotcontrol) () <br> |
 
 
 
@@ -125,14 +125,14 @@ See [robot\_dart::control::RobotControl](classrobot__dart_1_1control_1_1RobotCon
 
 | Type | Name |
 | ---: | :--- |
-|  bool | [**\_active**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_active)  <br> |
-|  bool | [**\_check\_free**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_check_free)   = = false<br> |
-|  int | [**\_control\_dof**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_control_dof)  <br> |
-|  std::vector&lt; std::string &gt; | [**\_controllable\_dofs**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_controllable_dofs)  <br> |
-|  Eigen::VectorXd | [**\_ctrl**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_ctrl)  <br> |
-|  int | [**\_dof**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_dof)  <br> |
-|  std::weak\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**\_robot**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_robot)  <br> |
-|  double | [**\_weight**](classrobot__dart_1_1control_1_1RobotControl.md#variable-_weight)  <br> |
+|  bool | [**\_active**](#variable-_active)  <br> |
+|  bool | [**\_check\_free**](#variable-_check_free)   = = false<br> |
+|  int | [**\_control\_dof**](#variable-_control_dof)  <br> |
+|  std::vector&lt; std::string &gt; | [**\_controllable\_dofs**](#variable-_controllable_dofs)  <br> |
+|  Eigen::VectorXd | [**\_ctrl**](#variable-_ctrl)  <br> |
+|  int | [**\_dof**](#variable-_dof)  <br> |
+|  std::weak\_ptr&lt; [**Robot**](classrobot__dart_1_1Robot.md) &gt; | [**\_robot**](#variable-_robot)  <br> |
+|  double | [**\_weight**](#variable-_weight)  <br> |