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| # Changelog | ||
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| All notable changes to this project will be documented in this file. | ||
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| The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/). | ||
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| ## [Unreleased] | ||
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| * 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 | ||
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| ## [2.0.1] - 2023-06-17 | ||
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| * Fixed notebooks | ||
| * Fixed build on aarch64-linux | ||
| * Fixed CMake for OpenMP with conda | ||
| * Fixed lints | ||
| * Updated for example-robot-data 4.0.7 | ||
| * Added support for 18.04 back: CMake 3.10, Boost 1.65, Python 3.6 | ||
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| ## [2.0.0] - 2023-05-13 | ||
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| * 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 | ||
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| ## [1.9.0] - 2022-03-03 | ||
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| * 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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| ## [1.8.1] - 2021-08-01 | ||
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| * Fixed Vx computation | ||
| * Fixed memory allocations | ||
| * Fixed linkage of the python library | ||
| * Deprecated FramXX in constructors and frames.hpp | ||
| * Cleaned up code | ||
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| ## [1.7.0] - 2021-05-05 | ||
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| * 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 | ||
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| ## [1.6.0] - 2021-02-01 | ||
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| * 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 | ||
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| ## [1.5.0] - 2020-09-23 | ||
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| * 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 | ||
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| ## [1.4.0] - 2020-08-05 | ||
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| * 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 | ||
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| ## [1.3.0] - 2020-05-25 | ||
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| * Minor improvement in state-base class (enabling limits once we define only one component) | ||
| * Added functions to print the active/inactive status of costs, contacts and impulses | ||
| * Running computations in the contact / impulse dynamics using the active number of contacts / impulses, respectively | ||
| * Used NumPy Array in examples / notebooks | ||
| * Initial integration of Meshcat viewer and used in notebooks | ||
| * Improved efficiency of Jdiff, Jintegrate in multibody state | ||
| * Added an extra operator in Jintegrate signature (state classes) | ||
| * Added an extra function parallel transport in the state class (i.e. JintegrateTransport) | ||
| * Added functions to retrieve the inactive costs, contacts and impulses | ||
| * Fixed target_link_libraries use | ||
| * Improved efficiency of few activation models | ||
| * Added the action-base class for code generation + unittest | ||
| * Added codegen bench for 4 dof arm and biped | ||
| * Renamed all bench files | ||
| * Updated dependency versions for Pinocchio and example-robot-data | ||
| * Fixed bug in the impulse dynamics that appears in multiple threads | ||
| * Fixed various issues regarding data alignment | ||
| * Added doxygen file with the documentation state-base class | ||
| * Fixed an issue when we updates reference in frame-placement and frame-rotation costs | ||
| * Fixed an issue with Python3 compatibility in few examples | ||
| * Proper display of friction cones + do not display when the contact / impulse is inactive/ | ||
| * Extended the computation of impulses derivatives | ||
| * Added a friction cost for impulse dynamics | ||
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| ## [1.2.1] - 2020-04-21 | ||
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| * Fixed backup files inside notebook folder | ||
| * Fixed an issue with the friction cone display | ||
| * Added quadcopter actuation model | ||
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| ## [1.2.0] - 2020-04-03 | ||
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| * Templatized all the classes and structures with the scalar (for codegen and autodiff) | ||
| * Fixed a bug in the formulation for the quadrupedal problem (state bounds) | ||
| * Reduced the compilation time in Python bindings (re-structured the code) | ||
| * Fixed error in the expected improvement computation for terminal action in SolverFDDP | ||
| * Added unittest code for cost classes (included cost factory) | ||
| * Reorganized the various factories used for c++ unittesting | ||
| * Developed the pinocchio model factory for c++ unittesting | ||
| * Added unittest code for contact classes (included the contact factory) | ||
| * Described cost items through shared_ptr | ||
| * Described contact items through shared_ptr | ||
| * Described impulse items through shared_ptr | ||
| * Fixed Gauss-Newton approach for cost num-diff | ||
| * Added contact num-diff class | ||
| * Used virtual keyword in declaration of derived functions | ||
| * Added the unittest code for free forward dynamics action model | ||
| * Added the unittest code for contact forward dynamics action model | ||
| * Included the cost status in cost sum for global memory allocation | ||
| * Included the contact status in cost sum for global memory allocation | ||
| * Included the impulse status in cost sum for global memory allocation | ||
| * Removed duplication function for retrieving models and datas in solvers (now we do only through shooting problem interface) | ||
| * Allowed to write internal data of Numpy-EigenPy objects | ||
| * Added a general method for setting and getting cost reference | ||
| * Added squashing function abstraction | ||
| * Added unittest code for testing cost, contact and impulse status | ||
| * Moved to CMake exports | ||
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| ## [1.1.0] - 2020-02-14 | ||
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| * Added few cost functions related to forces and impulses (e.g. friction-cone, com impulse) | ||
| * Improved the display tools (friction cone, contact forces and end-effector trajectories) | ||
| * Fixed a problem in the printed message by the callback | ||
| * Fixed a problem in the box-qp | ||
| * Improved the box-ddp | ||
| * Added a new solver called box-fddp | ||
| * Added extra examples (box-ddp vs box-fddp, taichi task, humanoid manipulation) | ||
| * Added a script for automatically updating the log files | ||
| * Checked that all examples runs in the CI (for release mode only) | ||
| * Improved the quadrupedal and bipedal examples by adding all the constraints | ||
| * Improved the efficiency in differential free-forward dynamics | ||
| * Added extra setter functions in action models | ||
| * Improved efficiency in all solvers (removed extra computation) | ||
| * Improved plot functions | ||
| * Fixed a bug in few notebooks | ||
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| ## [1.0.0] - 2019-08-30 | ||
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| Initial release | ||
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| [Unreleased]: https://github.com/loco-3d/crocoddyl/compare/v2.0.1...HEAD | ||
| [2.0.1]: https://github.com/loco-3d/crocoddyl/compare/v2.0.0...v2.0.1 | ||
| [2.0.0]: https://github.com/loco-3d/crocoddyl/compare/v1.9.0...v2.0.0 | ||
| [1.8.0]: https://github.com/loco-3d/crocoddyl/compare/v1.7.0...v1.8.0 | ||
| [1.7.0]: https://github.com/loco-3d/crocoddyl/compare/v1.6.0...v1.7.0 | ||
| [1.6.0]: https://github.com/loco-3d/crocoddyl/compare/v1.5.0...v1.6.0 | ||
| [1.5.0]: https://github.com/loco-3d/crocoddyl/compare/v1.4.0...v1.5.0 | ||
| [1.4.0]: https://github.com/loco-3d/crocoddyl/compare/v1.3.0...v1.4.0 | ||
| [1.3.0]: https://github.com/loco-3d/crocoddyl/compare/v1.2.1...v1.3.0 | ||
| [1.2.1]: https://github.com/loco-3d/crocoddyl/compare/v1.2.0...v1.2.1 | ||
| [1.2.0]: https://github.com/loco-3d/crocoddyl/compare/v1.1.0...v1.2.0 | ||
| [1.1.0]: https://github.com/loco-3d/crocoddyl/compare/v1.0.0...v1.1.0 | ||
| [1.0.0]: https://github.com/loco-3d/crocoddyl/releases/tag/v1.0.0 |
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