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CHANGELOG.md

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Changelog

[Unreleased]

Added

Fixed

Changed

Removed

[0.0.5] - 2024-20-8

Added

  • Core:

    • algebraic and geometric operators to Disc and Neighbor
    • added custom YAML serialization/deserialization to registered subclasses (C++ and Python)
    • behavior modulations
      • acceleration limiting modulation
      • motor PID modulation
    • behavior tag manipulation from Python
    • dynamic two-wheeled diff drive kinematics

  • Sim:

    • Eigen tensor view of datasets
    • jumping to time steps in recorded runs
    • user customizable World termination criteria
    • World bounds property
    • grid, agent following, rotation and trimming to visualization/videos
    • support to make videos from simulated runs
    • python (sub) modules for notebook and pyplot
    • exposed random generator (seed) in Python
    • sensor combination and boundary sensor
    • recording sensor readings and neighbors
    • experiment init callback
    • method to extract collision "events"

  • Python:

    • stubs for core and sim
    • increased pickle support

Fixed

  • Corrected (registered) Python sub-classes pickling
  • Lines were sometimes ignored by ORCA
  • Replaced implicit zero eigen vectors with explicit `Vector2::Zero()`` calls

Changed

  • Core:

    • improved ORCA: switched to most recent library version, new options, exposed ORCA lines, neighbor computation aligned to RVO2 implementation
    • improved HRVO: new options and cleaned up
    • improved SocialForce: exposed options
    • it is now possible to instantiate "empty" behaviors from YAML
    • refactored Behavior::compute_cmd into public not virtual class and protected virtual internal implementation

  • Sim:

    • group number is now a random variable
    • function to sample discs
    • lattice implementation does not use ghosts anymore
    • refactored World preparation and validity checks
    • requires now multiprocess instead of multiprocessing
    • added option to report nearest point instead of center and id to DiscsStateEstimation
    • wall/obstacle YAML include Line/disc as an child now
    • corrected collision with walls
    • scenario properties are now random variables too.
    • experiments now stores Python probes
    • samplers reset seed is now optional

Removed

[0.0.4] - 2024-1-4

Added

  • All:

    • support for Windows and MSVC
    • simplified installation using VCS
    • colcon deps and config files
    • pickle serialization via YAML

  • Docs

    • how to use probes

  • Sim:

    • waypoints task now supports random order and dynamically changing waypoints
    • discs state estimation now supports more parameters
    • added an option to retrieve the runs when running a multi-process experiment and saving them to a single HFD5 file
    • datasets
    • methods to remove agents from a world
    • function to open an HTML view

  • CoppeliaSim:

    • properties accessors
    • adding/removing agents

Fixed

  • YAML-CPP target
  • CSS style so that real time HTML visualization works in all major browsers
  • Snap twists to zero when dumping World to YAML, else the YAML may contain invalid numbers.
  • Silenced moviepy
  • Moved registration to compiled files to support MSVC which does not like complex inline initializations

Changed

  • All:

    • @registered_property to @property + @register
    • C++ plugins uses now the ament index and do not require setting env variables anymore.

  • Core:

    • removed optionals from social margin API.

  • Sim:

    • moved random generator to World.
    • separated data ("records") from data recorders ("probes")
    • we now have three classes of probes: Probe, RecordProve (1 dataset), GroupRecordProbe (a map of datasets). They are defined by three callbacks to prepare, update, finalize an experimental run.
    • moved notebook view functions to separate module.

  • CoppeliaSim:

    • now uses CoppeliaSim handles instead of navground UID as keys

Removed

  • Sim:
    • do not store anymore number and indices of agents in ExperimentalRun but compute them on the fly.

[0.0.3] - 2024-12-1

Added

  • All:

    • added cmake option and C macro NAVGROUND_USES_DOUBLE to use double instead of floats. It is disabled by default.

  • Core:

    • added Buffer and SensingState to use homogeneous multi-dimensional array as environmental states.
    • added deprecated names to properties
    • added deadlocked/stuck
    • add efficacy

  • Sim:

    • added Lidar and Discs State estimations
    • added agent color
    • added property update_static_obstacles to BoundedStateEstimation
    • added the possibility to record custom data during experiments
    • added support to run experiment in parallel.
    • added class to load recorded experiment.
    • added capability to render worlds and record videos
    • added runs and run_index params to the run[_py] executables
    • added optional tqdm progress bar to simulations.
    • added displaying deadlocks, collisions, and custom decoration in UI

  • CoppeliaSim:

    • added support for CoppeliaSim 4.6

  • Examples:

    • added examples for custom recordings
    • added example for custom decoration

Fixed

  • Sim:
    • competed World::get_static_obstacles_in_region

Changed

  • Core:

    • changed Collisions to use std::valarray and split angles/ranges

  • Sim:

    • changed range_of_view to range
    • moved to optional seed for Scenario::init_world
    • refactored Trace into 2 separate classes, ExperimentalRun that holds the data, and Probe that records data.
    • Experiment can now store multiple runs, not just the last.
    • Each world has now its own random generator

Removed

[0.0.2] - 2023-1-12

Added

  • Sim:

    • run_until and callbacks to World
    • Task logging
    • replay
    • added once parameter to sample only once per run

  • CoppeliaSim:

    • support for CoppeliaSim 4.5
    • recording experiments in CoppeliaSim
    • support for externally controlled agents in CoppeliaSim

  • Docs:

    • experiment tutorial
    • scenarios' documentation

  • Support for clang15

Fixed

  • HL relaxation.

Changed

  • HL behavior when overlapping safety margin
  • Pass optional seed to Scenario::init_world
  • An additional state argument to the protected virtual interface of StateEstimation::update.
  • Various other changes to the internal interface.

Removed

[0.0.1] - 2023-05-05

Added

  • Initial release