Skip to content

Latest commit

 

History

History
247 lines (185 loc) · 13.5 KB

CHANGELOG.md

File metadata and controls

247 lines (185 loc) · 13.5 KB
Raw

Changelog

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

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

Unreleased

0.10.0 - 2024-12-09

Added

  • Add a multibody friction cone cost (#234)
  • Add a GravityCompensationResidual, modelling $r(x,u) = Bu - G(q)$ (#235)
  • Add Pixi support (#240)
  • Added a nonmonotone linesearch procedure (#244)
  • Add enum value StepAcceptanceStrategy::LINESEARCH_NONMONOTONE (#244)

Changed

  • API BREAKING: Change enum value StepAcceptanceStrategy::LINESEARCH to LINESEARCH_NONMONOTONE (#244)
    • Add constructor argument StepAcceptanceStrategy sa_strategy, defaults to nonmonotone
  • The minimum required version of proxsuite-nlp is now 0.10.0 (#244)
  • SolverProxDDP: add temporary vectors for linesearch
  • SolverProxDDP: remove exceptions from computeMultipliers(), return a bool flag
  • HistoryCallback: take solver instance as argument
  • gar: rework and move sparse matrix utilities to gar/utils.hpp
  • SolverProxDDP: Rename maxRefinementSteps_ and refinementThreshold_ to snake-case
  • SolverProxDDP: make linesearch_ public
  • Change uses of ConstraintSetBase template class to ConstraintSetTpl (following changes in proxsuite-nlp 0.9.0) (#223)
  • [gar] Throw an exception if trying to instantiate ParallelRiccatiSolver with num_threads smaller than 2.
  • [API BREAKING] Rename friction cone for centroidal into CentroidalFrictionCone (#234)
  • Change the linear multibody friction cone to the true "ice cream" cone (#238)
  • [gar] Rework RiccatiSolverDense to not use inner struct FactorData
  • Various changes to gar tests and test_util, add LQRKnot::isApprox()

Removed

  • Default constructor for LQRProblemTpl
  • Removed header gar/fwd.hpp with forward-declarations

Fixed

  • Building aligator without Pinocchio support (including without Pinocchio support in the proxsuite-nlp dependency) is now supported. (#250)

0.9.0 - 2024-10-11

Added

  • [python] Added getter getComponent() for CostStack, similar to C++ API
  • Templated getters getCost<U>() and getDynamics<U>() in the StageModel class, and another getDynamics<U>() for integrator classes, to get the concrete types (##205)
  • Add a templated getter getConstraint<U> to ConstraintStack (#222)
  • python: Add helper aligator.has_pinocchio_features() (#206)
  • Add a cycleProblem function that properly rotates the problem data for MPC applications (#215)
  • Add a DCM cost function
  • Add a cycleAppend function in Riccati solver headers to cycle the LQR solver
  • SolverProxDDP: add manually settable dual feasibility tolerance target_dual_tol_ with a getter and setter (with side effects)

Changed

  • All map types are now boost::unordered_map (#203)
  • Separate CostFiniteDifference out of finite-difference.hpp (#212)
  • Change the API of the wrench cost functions to allow 3D and 6D forces
  • Separate centroidal wrench cone and multibody wrench cone costs
  • Add a contact_name item to the CostMap structure
  • Re-define ALM params struct internally to aligator (#219)
  • SolverProxDDP: add dynamics AL parameter scaling
  • Rename has_dyn_model -> hasDynModel and is_explicit -> isExplicit
  • Add cost (trajectory cost) column to logger
  • TrajOptProblem: rename member init_condition_ to init_constraint_ (fitting with ctor argument name)
  • python/utils: return axes instances from velocity/controls plotting helpers
  • make LinearFuntionTpl::evaluate() call more efficient (using .noalias())
  • HistoryCallbackTpl now stores stored data directly
  • Deprecate the StageConstraintTpl template struct, deprecate the related typedefs
  • [python] Deprecate aligator.StageConstraint, functions and methods (e.g. StageModel.addConstraint(cstr: StageConstraint)) which use it
  • Change formatting of exceptions, using variadic macro and type-erased implementation (#230)

The following API-BREAKING changes come from PR #229

  • Separate DynamicsModelTpl and its subclasses from the StageFunctionTpl class hierarchy
  • Methods (.evaluate(), .computeJacobians()) in StageFunctionTpl are now binary (take only (x, u))

Removed

  • Remove constraint scalers (including header core/alm-weights.hpp) from ProxDDP algorithm (#214)
  • SolverProxDDP: remove solver parameter rho_ (#221)
  • Remove deprecated functions ConstraintStackTpl::getDims and StageModelTpl::dyn_model
  • Remove CallbackBaseTpl::post_linesearch_call(boost::any)
  • Remove unused headers clone.hpp and version.hpp

Fixed

  • Restore Pinocchio 3 Python tests (#206)
  • Fix warnings in multibody-constraint-fwd.{hpp, hxx} about deprecated Pinocchio types and functions (commit df04100c)

0.8.0 - 2024-09-18

Added

  • Getter getResidual<Derived>() for composite cost functions (#198)
  • Getter getComponent<Derived>() for CostStack (#199)

Changed

  • Optimize a bunch of includes
  • core: remove headers proximal-penalty.hpp/proximal-penalty.hxx
  • Change storage of CostStack to boost::unordered::unordered_map, pointing to pair of cost function and weight (#199)
  • Change storage for ConstraintStack to using two std::vector<polymorphic<>> the struct StageConstraintTpl is now merely a convenient API shortcut for the end-user.
  • Remove StageConstraintTpl::nr() (in C++ only)
  • Update minimum required version of eigenpy to 3.7.0
  • Add tracy macros to stage-model.hxx
  • Change minimum required version of proxsuite-nlp to 0.8.0

0.7.0 - 2024-09-12

Changed

  • Use placement-new for Workspace and Results in solvers (FDDP and ProxDDP)
  • Deprecate typedef for std::vector<T, Eigen::aligned_allocator<T>>
  • Deprecate function template allocate_shared_eigen_aligned<T>
  • Use custom macro defined in aligator/tracy.hpp to call Tracy (#191)
  • Change default behaviour with regards to Tracy (DOWNLOAD_TRACY is set to OFF)
  • Upgrade minimum required version of proxsuite-nlp to 0.7.0

Fixed

  • Fix RiccatiSolverDense initialization (#174)
  • Remove CMake CMP0167 and CMP0169 warnings (#176)

Added

  • Add compatibility with jrl-cmakemodules workspace (#172)

0.6.1 - 2024-05-27

Added

  • Add force and wrench cone costs
  • Add centroidal momentum cost

Changed

  • Do not compile or use gar::ParallelRiccatiSolver<> when OpenMP support is disabled (#160)
  • Allow to build with fmt 11 (#173)

0.6.0 - 2024-05-23

Added

  • Added constrained LQR example (#145)
  • Adds tracy as a profiling tool
  • Adds a new sublibrary called gar to represent and solve time-varying linear-quadratic subproblems
  • Adds a parallel, block-sparse factorization for the implicit/proximal Riccati algorithm
  • Integrates the CHOLMOD solver from the SuiteSparse library into gar
  • Add a C++ example and benchmark of Talos walking by @edantec
  • Add a BlkMatrix<> template class for dealing with block Eigen matrices effectively
  • Copy the headers from boost::core::span
  • Add SE2 car benchmark bench/se2-car.cpp
  • Split part of macros.hpp into new header eigen-macros.hpp, add ALIGATOR_NOMALLOC_SCOPED macro to disable Eigen's malloc per-scope and a caching system to restore the malloc status
  • Add context.hpp file for aligator/modelling/dynamics

Changed

  • Standardized CMake output directories (#147)
  • Split derivative computation into first- and second-order functions per stage by @fabinsch
  • Changed minimum version of C++ to C++17 (no longer use boost::optional or boost::filesystem)
  • SolverProxDDP now uses linear solvers provided by gar (API breaking), add LQSolverChoice enum
  • Minimum version of eigenpy upgraded to 3.4 (for supporting std::unique_ptr)
  • Move cost functions to aligator/modelling/costs
  • Deprecate ControlBoxFunction
  • Remove LDLTChoice enum (API breaking)
  • Refactor computation of problem Lagrangian's gradient
  • Remove aligator/core/stage-data.hxx
  • StageModel/StageData now store dynamics model/data separate from other constraints, add dynamics_data to StageData
  • Rewrite the Logger class (rename from BaseLogger) using map data structures to store line formatting info + content
  • Merge struct ODEData into ContinousDynamicsData, rename continous-base.hpp header to continuous-dynamics-abstract
  • Optimize a few includes for faster compilation:
    • aligator/modelling/dynamics/fwd.hpp
    • aligator/core/stage-model.hpp no longer includes aligator/core/cost-abstract.hpp
    • Split traj-opt-data.hpp out of traj-opt-problem.hpp

Python API

  • Rename ContinousDynamicsBase to ContinousDynamicsAbstract
  • Rename CostBase to CostAbstract
  • Expose TrajOptData.init_data
  • Remove LDLTChoice enum and SolverProxDDP.ldlt_solver_choice attribute

0.5.1 - 2024-04-24

Fixed

  • Fix finite difference function in python unittest (#128)

Added

  • Add kinodynamics forward scheme
  • Add centroidal dynamics derivative cost to regularize the time derivative of centroidal dynamics
  • Add Python example of Solo stepping in place
  • Add wrench cone cost for 6D contact in centroidal dynamics
  • Add a 6D contact formulation for every centroidal cost and dynamics, including kinodynamics

0.5.0 - 2024-02-13

Added

  • Add a pair filter strategy as an alternative to linesearch methods
  • Add a python example of a locomotion OCP with the robot Talos
  • Add two nonlinear centroidal dynamical models, where the control is respectively contact forces and their time derivative
  • Add a set of cost functions to generate a centroidal problem with user-defined contacts
  • Add unittests and example of typical centroidal problem

0.4.1 - 2024-01-25

Changed

  • CMake: fetch submodule if not available in (#103)
  • CMake: move benchmark dependency speecification in main file
  • Document and simplify the LQR example
  • Finish the se2-car.cpp example (#110)
  • Add template instantiation for IntegratorAbstract, ExplicitIntegratorAbstract and IntegratorRK2 (#114)
  • Don't output numpy matrices in example-talos-arm

Fixed

  • Fix name of frame parent attribute in examples
  • Export C++ definitions in CMake config file
  • Fix Doxyfile python bindings directory (#110)
  • Fix for eigenpy 3.3 (#121)

0.4.0 - 2023-12-22

Added

  • This is the first release of aligator. This library is a joint effort between INRIA and LAAS-CNRS, and will be maintained and expanded in the future. Please provide constructive feedback and contribute!