Newer
Older
* TransformationR3xSO3 and RelativeTransformationR3xSO3 return error values
is R3xSO3 LiegroupSpace.
* Solvers now handle constraints with right hand sides in Lie groups.
* A mask has been added to class Implicit to select which lines of the
constraint should be taken into account (active rows).
New in 4.10.0
* ConvexShapeContact classes have been improved.
- stable position of objects is now unique for any right hand side value of
the complement constraint.
* Use cmake to handle dependencies (cmake submodule).
* Architecture of constraint classes has been simplified.
* Use Romeo instead of Baxter in tests.
* Enable users to use GenericTransformation with a joint2 equal to 0x0.
* Add serialization functions.
New in 4.9.0
* Computation of constraint right hand side have been fixed
- in ExplicitConstraintSet, the computation was wrong, it has been fixed,
- in Implicit, the computation has been made similar to the one in
HierarchicalIterative.
* Template flag definitions in GenericTransformation have been fixed
- to comply with C++11 standard.
* throw declaration have been removed to comply with C++11 standard.
* Configuration variable RUN_TESTS has benn replaced by BUILD_TESTING
- for homogeneity with other hpp packages.
New in 4.8.0
* Wrong indentation in output stream has been fixed.
New in 4.7.0
* Class HierarchicalIterative
Florent Lamiraux
committed
- a bug in right hand side getter by constraint has been fixed,
- a getter to numerical constraints has been added. It returns the implicit
and explicit constraints,
- a method computing whether a solver solution manifold is a submanifold of
another solver solution manifold has been added,
- method merge adds the constraints of another solver to this one.
* Class Implicit has been cleaned up
- methods setting and getting the right hand side are not deprecated anymore,
- deprecated methods have been remove.
* Class Implicit has been improved.
- It does not handle right hand side anymore: methods setting and getting
right hand side have been made deprecated.
- It does not store value and Jacobian anymore: setters and getters have been
made deprecated.
- The function of the constraint may now have output in a Lie group other
than a vector space.
- The documentation has been made more accurate.
* Accessor to right hand side by constraint have been fixed
- in HierarchicalIterative.
* Move ExplicitRelativeTransformation from hpp-core and refactor
- explicit_::RelativePose now derive from Explicit and from
implicit::RelativePose,
- only implicit formulation is used to evaluate error.
* Rename LieGroupTpl -> LieGroupMap,
* Rename a few classes and make old names deprecated:
- DifferentiableFunctionStack -> DifferentiableFunctionSet,
- ExplicitSolver -> ExplicitConstraintSet,
- HierarchicalIterativeSolver -> solver::HierarchicalIterative,
- HybridSolver -> solver::BySubstitution.
* Move and rename some classes from hpp-core:
- core::Equation and core::NumericalConstraints -> constraints::Implicit,
- core::ExplicitNumericalConstraints -> constraints::Explicit,
- constraints::Explicit now derive from constraints::Implicit,
- warning: default comparison type is now equality for all constraints.
* Refactor ExplicitConstraintSet: rename members and methods to better fit RSS
paper notation and pinocchio convention:
- argSize -> nq,
- derSize -> nv,
- freeArgs -> notOutArgs_,
- freeDers -> notOutDers_,
- viewJacobian -> jacobianNotOutToOut.
* Constructor and create methods of Explicit take a LiegroupSpace instead of a
robot,
* Modify prototype of BySubstitution::projectVectorOnKernel
- vectorIn_t -> ConfigurationIn_t,
- vectorOut_t -> ConfigurationOut_t.
* In class HierarchicalIterative, rename "reduction" -> "free variables".
New in 4.1, 2018-05-13