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Release v1.9.0
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@nim65s nim65s released this 03 Mar 11:22
· 830 commits to master since this release
v1.9.0
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nim65s Guilhem Saurel
GPG key ID: 7D2ACDAF4653CF28
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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
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