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CHANGELOG.md

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Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog.

Unreleased

2.1.0 - 2024-05-31

2.0.2 - 2023-12-07

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

2.0.1 - 2023-06-17

  • 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

2.0.0 - 2023-05-13

  • 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

1.9.0 - 2022-03-03

  • 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

1.8.1 - 2021-08-01

  • Fixed Vx computation
  • Fixed memory allocations
  • Fixed linkage of the python library
  • Deprecated FramXX in constructors and frames.hpp
  • Cleaned up code

1.7.0 - 2021-05-05

  • 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

1.6.0 - 2021-02-01

  • 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

1.5.0 - 2020-09-23

  • 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

1.4.0 - 2020-08-05

  • 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

1.3.0 - 2020-05-25

  • 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

1.2.1 - 2020-04-21

  • Fixed backup files inside notebook folder
  • Fixed an issue with the friction cone display
  • Added quadcopter actuation model

1.2.0 - 2020-04-03

  • 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

1.1.0 - 2020-02-14

  • 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

1.0.0 - 2019-08-30

Initial release