Crocoddyl Versions Save

[2.0.2] - 2023-12-07

• Added nu, ng, and nh setters for Python bindings in https://github.com/loco-3d/crocoddyl/pull/1192
• Added CHANGELOG.md in https://github.com/loco-3d/crocoddyl/pull/1188
• Supported nu==0 in actuation models in https://github.com/loco-3d/crocoddyl/pull/1188
• Included Python bindings for Crocoddyl exceptions by cmastalli in https://github.com/loco-3d/crocoddyl/pull/1186
• Updated cmake submodule update by jcarpentier in https://github.com/loco-3d/crocoddyl/pull/1186
• Fixed getters for contraints bounds by skleff1994 in https://github.com/loco-3d/crocoddyl/pull/1180
• Extended solver abstract and callbacks for arbitrary solvers by cmastalli in https://github.com/loco-3d/crocoddyl/pull/1179
• Fixed the check of pair_id in collision residual by ArthurH91 in https://github.com/loco-3d/crocoddyl/pull/1178
• Exploited control-residual structure when computing Lu, Luu by cmastalli in https://github.com/loco-3d/crocoddyl/pull/1176
• Added LWA fram convention and introduced different axis for 1d contacts by skleff1994 in https://github.com/loco-3d/crocoddyl/pull/1172
• Python bindings for setting control bounds by cmastalli in https://github.com/loco-3d/crocoddyl/pull/1171
• Fixed missed scalar in cost sum and activation data by cmastalli in https://github.com/loco-3d/crocoddyl/pull/1165
• Added actuation unit tests by cmastalli in https://github.com/loco-3d/crocoddyl/pull/1161
• Introduced method for obtaining the dimension of floating-bases by cmastalli in https://github.com/loco-3d/crocoddyl/pull/1160
• Fixed set_reference in state residual by cmastalli in https://github.com/loco-3d/crocoddyl/pull/1158
• Enabled CONDA CI jobs with CppADCodeGen by cmastalli in https://github.com/loco-3d/crocoddyl/pull/1156
• Added other CI jobs by cmastalli in https://github.com/loco-3d/crocoddyl/pull/1152
• Fixed compiltation issue when building with CppADCodeGen by cmastalli in https://github.com/loco-3d/crocoddyl/pull/1151
• Fixed include order used in frames.cpp by ManifoldFR in https://github.com/loco-3d/crocoddyl/pull/1150

Changes in v2.0.1:

• fix notebooks
• fix build on aarch64-linux
• fix CMake for OpenMP with conda
• fix lints
• update for example-robot-data 4.0.7
• add support for 18.04 back:
  • CMake 3.10
  • Boost 1.65
  • Python 3.6

Changes in v2.0.0:

• Changed stopping criteria to better evaluate the converge criteria
• Extended numdiff routines to compute second-order derivatives + other minor improvements
• Improved the overall project documentation (still many things to be done)
• Added collision residual unit tests and missing Python bindings
• Allowed accuracy configuration of verbose callback
• Closed gaps once feasibility is achieved in FDDP
• Supported different Python versions
• Added procedure to check example log files
• Added support to M1 apple chip + fixed compilation issues with Clang
• Fixed a small issue in the solver's Armijo condition
• Added shareMemory unit tests
• Introduced the notion of resizing data in solvers
• Added unit test for impulse actions
• Deprecated set_id functions in contact residuals
• Supported Ipopt solver with Python bindings
• Extended (diff)-action API to handle arbitrary constraints + unit tests
• Introduce the notion of ConstraintManager and used it in diff-actions + unit tests + integrated action support
• Added the HyQ robot for extra unit testing
• Updated doxygen documentation in many parts of the project
• Used std::set for storing cost/constraint activation status
• Fixed small issues in terminal-node computations
• Supported Meshcat display of contact forces, friction cone and foot-swing trajectories
• Introduced the notion of equality constraint feasibility in solvers
• Created a data collector to store joint effort and accelerations
• Created joint-effort/acceleration residuals + unit tests
• Created inverse-dynamics action models + unit tests
• Added the SolverIntro which handles inverse-dynamics OC problems + unit tests
• Added invdyn examples and log files + cleaned up filenames
• Enabled copyable for various objects used in Python
• Supported different contact/impulse frames + unit test + changes in example/logfiles.
• Removed deprecated FrameXX code.
• Updated readme file.
• Updated CMake configuration
• Updated numpy usage

Changes in v1.9.0:

• Introduced the control parametrization notion and three polynomial parametrization (PolyZero, PolyOne, PolyTwoRK)
• Improved the documentation of the actuation model and especially the floating-base actuation
• Improved the efficiency of the RK integrator (added to the benchmarks)
• Improved the documentation of Euler and RK integrators
• Added unittests for checking the analytical derivatives of the contact forces/impulses
• Computed the dynamic feasibility in solvers (also print this relevant information)
• Improved the documentation of solvers
• Removed dynamic memory allocation in ContactModel3D
• Added the notion of terminal (calc, calcDiff) computations (fixed some tiny inaccuracies in the problem formulation + reduced useless computations)
• Added a class to easily profile the computation cost of any block code (included relevant blocks in the solvers and shooting problem)
• Fixed error in the documentation of ActivationModel2NormBarrier
• Added the 2d contact
• Added method to resized solver data (e.g., it is not needed to allocate the biggest control dimension)
• Fixed issue in the Gepetto viewer display
• Improved the CI and fixed a few errors that appears in unittests code compiled with clang
• Removed dynamics memory allocation in LQR action and CostModelResidual
• Removed Travis buildfarm and substituted by ROS one
• Used std::set for contact/impulse active/inactive set (added bindings)
• Added Python bindings to be able to set state dimensions from a Python derived class.
• Added Python bindings of StateNumDiff class

Changes in v1.8.1:

• fix Vx computation
• fix memory allocations
• fix linkage of the python library
• deprecate FramXX in constructors and frames.hpp
• cleanups

ChangeLog:

[example] Updated jupyter notebook
Fixed issue in the plotSolution function for biped robots
Fix typo in README
Run unittests in ROS-CI, deactivate Travis-CI
Align the arguments in python
[cmake] use OPTION to set BUILD_TESTING
Introduced pair collision cost
fix include sequence after pinocchio commit c1ff8821c437e2401b80b7aa7f3f118464e2c051
Introduced the printing functions for action, cost, activation, residual, contact, and impulse models
Only build Python-examples if bindings are built
RK4 unittests
Enable to derive quasiStatic in Python #825
[C++14] Move default C++ standard support to 14
Deprecated BUILD_UNIT_TEST + removed legacy files + updated README file (with pip installation)
Fixed GV display after changes in #911
Created residual models to be shared between cost and constraint models

Changes in v1.7.0:

• Updated the examples based on new API in example-robot-data
• Removed reference in std::sized_t (and other primitives)
• Improved computation and handled richer conditions in friction and wrench cone (e.g., inner/outer apprx. in wrench cone, and rotation matrix in friction cone)
• Added more unit-tests for cones
• Included the CoP support notion
• Updated minimal version of EigenPy as it fixes a bug with 4x6 matrices
• Developed a gravity-based cost function for both free and in contact conditions (included its unit-test code)
• Added assignment operator in FrameXXX structures
• Replaced isMuchSmallerThan by isZero in all the unit-tests
• Enabled free-flyer joint in full actuation model
• Improved multicopter actuation API + unit-tests
• Exposed in Python ActionModelUnicyle::dt_
• Fixed multithreading support: running the correct number of threads
• Enabled that the user can set the number of threads (also in Python)
• Added publication list and updated README file
• Registered in Python the shared pointers of all the model classes
• Fixed Meshcat visualizer after update
• Added Github Action CI with ROS dependency resolution
• Improved efficiency of backward pass by defining properly RowMajor matrices
• Activated all warnings and Werror
• Improved documentation

Changes in v1.6.0:

• Refactored the Cost API with breaking compatibility (cost depends on state abstract, not multibody state)
• Fixed issue in c++98 compatibility
• Added shared_ptr registers for solver classes (Python bindings)
• Initialized missed data in SolverQP (not really producing a bug)
• Fixed issue with FrameXXX allocators (Python bindings)
• Created aligned std vectors for FrameXXX (Python bindings)
• Used the proper nu-dimension in shooting problem and solvers
• Doxygen documentation of smooth-abs activation
• Renamed the activation model: smooth-abs to smooth-1norm (deprecated old names)
• Added the smooth-2norm activation model with Python bindings
• Updated README file with Credits and committee information
• Added throw_pretty in Python bindings of action models (checks x,u dimensions)
• Improved the documentation (doxygen, docstrings), and fixed grammar, of various classes
• Cleaned up a few things related with cost classes
• Cleaned up unnecessary typedef in cost models
• Extended the differential action model for contacts to handle any actuation model (not just floating-base derived ones)
• Added conda support
• Added the quadratic-flat activation models
• Fixed issue with gepetto viewer display (appearing in some OS)
• Added contact/impulse action unit tests
• Added contact/impulse cost unit tests
• Added a proper gap threshold (it was too big and created different behavior in feasibility-driven solvers)
• Improved the copyright starting year for many files

Changes in v1.5.0:

• Improved and cleaned up the bench-marking code for code-generation
• Fixed bug for computing quasicStatic torques under inactive contacts
• Added unit-test code that disables contacts
• Created CoP cost with Python bindings and unit-test
• Multi-threading support for quasicStatic computation in shooting problem
• Modifications in Travis CI + included Gepgitlab CI
• Created contact wrench cone (CWC) cost with Python bindings and unit-test
• Created RK4 integrator with Python bindings and unit-test
• Throw exception for setting candidates xs/us in solvers
• Fixed a few spelling errors in the docstring documentation
• Exposed the KKT solver in Python
• Checked the dimension of the warm-start vectors for xs and us
• Cleaned up some part of the Python code that were using Numpy Matrix (now Numpy Array!)
• Created the 2d contact
• Checked the feasibility by the gap values
• Created the Crocoddyl logo + integrated in the README file

Changes in v1.4.0:

• Allowed different values of nu in action models
• Adapted the contact force cost to accept 3d contacts.
• Added CppAD support to (weighted) quadratic barrier activation
• Added the contact impulse cost
• Added contact CoP cost,
• fixes:
• Fixed display of contact forces in Gepetto viewer
• Fixed a bug in the definition of the terminal node in updateNode (defined in ShootingProblem)
• Fixed memory allocation produced by Python binds.
• Fixed printed error message in ShootingProblem
• and improvements:
• Added documentation of the differential action model
• Deprecated legacy functions to define reference in cost functions.
• Set to zero inactive contact forces for correctness
• Simplified FDDP code by using calcDiff from DDP solver
• Improved the display of benchmark timings
• Improved the documentation of contact force cost
• Improved few notebooks and added an extra one
• Removed legacy Python unittest