v0.6.0

[ManifoldFR]

What's changed

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

Full Changelog: v0.5.1...v0.6.0

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This discussion was created from the release v0.6.0.