Skip to content

Release v1.2.0
Compare
Choose a tag to compare
@nim65s nim65s released this 03 Apr 08:44
· 2822 commits to devel since this release
v1.2.0
This tag was signed with the committer’s verified signature.
nim65s Guilhem Saurel
GPG key ID: 7D2ACDAF4653CF28
Learn about vigilant mode.
55a0522

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
Assets 4
Loading