Skip to content

Release v1.6.0
Compare
Choose a tag to compare
@nim65s nim65s released this 05 Feb 13:59
· 1740 commits to master since this release
v1.6.0
This tag was signed with the committer’s verified signature.
nim65s Guilhem Saurel
GPG key ID: 7D2ACDAF4653CF28
Learn about vigilant mode.
cbf81a3

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
Assets 4
Loading