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Release v1.4.0
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@nim65s nim65s released this 05 Aug 18:43
· 2177 commits to master since this release
v1.4.0
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nim65s Guilhem Saurel
GPG key ID: 7D2ACDAF4653CF28
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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
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