aligator v0.9.0

[ManifoldFR]

Version 0.9.0 of aligator brings a host of changes:

• some for performance (cycling problems properly, with big thanks to @edantec),
• some for convenience,
• some for the ProxDDP algorithm,
• and big changes to the dynamics class hierarchy

Users should assume these changes are API-breaking (in both C++ and Python). Namely:

• the StageFunction methods (e.g. evaluate and computeJacobians) now take arguments (x,u), no more y (corresponding to the next state in the OCP); StageData objects no longer have the Jacobian field StageData::Jy_
• the DynamicsModel class and its subclasses are no longer subclasses of StageFunction following this change. These are now distinct class hierarchies
  Checking the changes to the unit tests and examples is recommended.

Known issues

• cycling the ParallelRiccatiSolver linear solver is still broken. This requires a more in-depth look, coming in the next version.

What's Changed

• Change all map types to boost::unordered_map by @ManifoldFR in Change all map types to boost::unordered_map #203
• [core | modelling] Add templated getters for cost and dynamics by @ManifoldFR in [core | modelling] Add templated getters for cost and dynamics #205
• [tests/python] Restore Pinocchio 3 tests, add check for Pinocchio features from Python by @ManifoldFR in [tests/python] Restore Pinocchio 3 tests, add check for Pinocchio features from Python #206
• [ci] Cancel PR workflow on new push by @ManifoldFR in [ci] Cancel PR workflow on new push #210
• [autodiff] separate out CostFiniteDifferenceHelper by @ManifoldFR in [autodiff] separate out CostFiniteDifferenceHelper #212
• [solvers] Remove constraint prox scalers by @ManifoldFR in [solvers] Remove constraint prox scalers #214
• Fix the cycling of problem data in MPC by @edantec in Fix the cycling of problem data in MPC #215
• Force API updates by @edantec in Force API updates #216
• Re-define ALM params struct internally to aligator by @ManifoldFR in Re-define ALM params struct internally to aligator #219
• core/constraint.hpp : add cast-getter by @ManifoldFR in core/constraint.hpp : add cast-getter #222
• SolverProxDDP: remove solver parameter rho_ by @ManifoldFR in SolverProxDDP: remove solver parameter rho_ #221
• Scale the dynamics' AL parameter instead of the constraints, remove deprecated functions, rename TrajOptProblemTpl::init_condition_ to init_constraint_ by @ManifoldFR in Scale the dynamics' AL parameter instead of the constraints, remove deprecated functions, rename TrajOptProblemTpl::init_condition_ to init_constraint_ #223
• Cycle the Riccati solver by @edantec in Cycle the Riccati solver #217
• Deprecate struct StageConstraint, add option to set dual tolerance on SolverProxDDP, re-implement TrajOptProblemTpl::checkIntegrity() by @ManifoldFR in Deprecate struct StageConstraint, add option to set dual tolerance on SolverProxDDP, re-implement TrajOptProblemTpl::checkIntegrity() #226
• Switch from cmake-format to gersemi for CMake formatting by @ManifoldFR in Switch from cmake-format to gersemi for CMake formatting #227
• Make DynamicsModelTpl separate from StageFunctionTpl class hierarchy by @ManifoldFR in Make DynamicsModelTpl separate from StageFunctionTpl class hierarchy #229
• Change formatting of exceptions, using variadic macro and type-erased implementation by @ManifoldFR in Change formatting of exceptions, using variadic macro and type-erased implementation #230
• Fix support for fmt version 10 by @ManifoldFR in Fix support for fmt version 10 #231

Full Changelog: v0.8.0...v0.9.0 (commits) | CHANGELOG

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This discussion was created from the release aligator v0.9.0.