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CHANGELOG.md

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Changelog

All notable changes will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning with pre-1.0 development conventions. In particular, the API is still evolving and may change between minor versions, although we'll aim to document such changes here.

[Unreleased]

[0.1.0] - 2025-04-26

Added

  • Initial unofficial "public" release
  • Core functionality:
    • NumPy-compatible symbolic arrays
    • Function compilation with @arc.compile
    • Automatic differentiation (grad, jac, hess)
    • ODE solvers and integration
    • Optimization and root-finding capabilities
    • PyTree data structures
    • C code generation
  • Examples for:
    • Basic usage and function compilation
    • ODE integration (Lotka-Volterra, pendulum)
    • Optimization (Rosenbrock problem)
    • Root-finding and implicit functions
  • Documentation:
    • Installation guide
    • Getting started tutorials
    • API reference
    • Conceptual framework explanation
    • "Under the hood" technical details
    • Common pitfalls and gotchas
    • Extended tutorials for "multirotor dynamics" and "deploying to hardware"

[0.2.0a1] - 2025-08-25

New version tag for release to PyPI (previous "Archimedes" project tagged with v0.1.0).

[0.2.0a3] - 2025-09-26

Changes

  • Added support for autogenerating C structs from tree data types (PR #78)
  • Added experimental Rotation class (PR #83)
  • Added StructConfig and UnionConfig for managing configuration of complex struct hierarchies (PR #84)
  • Refactored FlightVehicle to RigidBody (PR #86)
  • Added new tutorial series on end-to-end controls development workflow w/ HIL proof-of-concept (PR #88)
  • Added experimental IIRFilter class (PR #88)
  • Moved images, data, notebooks, etc. to LFS (PR #88)
  • Migrated "PyTree" to "struct" terminology (Issue #89)
  • Renamed @pytree_node decorator to @struct (Issue #89)

[0.3.0] - 2025-10-06

  • Added MyPy to CI checks
  • Fixed all type checking errors
  • Use Rotation for attitude in RigidBody
  • Revised "Hierarchical Modeling" tutorial
  • Add blog to website
  • Convert all notebooks to MyST

[0.3.1] - 2025-10-15

  • Bugfix for Rotation.as_euler for rotations with odd permutations
  • Move RigidBody and related functionality to spatial module
  • Move spatial module out of experimental (+codecov, documentation)

[0.3.2] - 2025-11-01

  • Bump pip to 25.3 to resolve vulnerability (Issue #103)

[0.4.0] - 2025-11-09

  • Overhaul spatial module: Attitude protocol, low-level functions, wrapper classes, RigidBody singleton (Issue #114)
  • Bugfix for struct type name resolution with inner classes (Issue #115)

[0.4.1] - 2025-11-26

  • Performance improvements to @compile calls from Python runtime
  • Add buffered mode to @compile
  • Support addition and scalar multiplication for Quaternion
  • Bugfix for non-commutative broadcasting (PR #122 and #123)

[0.4.2] - 2025-12-11

  • Bump urllib3 to 2.6.0 to resolve vulnerabilities (Issue #126)

[0.4.3] - 2025-12-23

  • Raise error instead of silently incorrect result on __bool__ evaluation (Issue #128)
  • Fix transpose error for nonsquare matrices in buffered compile (Issue #130)
  • Add support for np.block
  • Add logic for creating additional struct types in codegen if they have differently-sized children (Issue #135)
  • Add acronym handling to snake case conversion in codegen (IIRFilter -> iir_filter_t, not i_i_r_filter_t) - (Issue #136)
  • Bump filelock to 3.20.1 to resolve vulnerabilities (Issue #138)

[0.4.4] - 2026-02-27

  • Bump control requirement to 0.10.2 (required for Lynx diagram export compatibility)
  • Bump pip version in uv.lock to 26.0 to resolve vulnerability GHSA-6vgw-5pg2-w6jp
  • Bump nbconvert to 7.17.0 to resolve vulnerability GHSA-xm59-rqc7-hhvf
  • Enable finite differencing for callback functions
  • Fix bug in switch where args were passed directly during Function creation
  • Implement DFS for sorting struct order in codegen (fixes struct definition bug)
  • Remove Python 3.10+ features to allow for force-installing into legacy environments (3.9 + NumPy 1.20, in particular)