Release v1.7.0

Changes in v1.7.0:

• 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

Release v1.6.0

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

Release v1.5.0

Changes in v1.5.0:

• 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

Release v1.4.0

Changes in v1.4.0:

• 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

Release v1.3.0

Changes in v1.3.0:

• 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.

Release v1.2.1

Changes in v1.2.1:

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

Release v1.2.0

Changes since v1.1.0:

• 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

Release v1.1.0

Changes since v1.0.0:

• 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

Release v1.0.0

Release of version 1.0.0.

Release v0.9.0

This project is being rewritten in C++ with python bindings, instead of staying a pure python library