aligator v0.9.0

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
• the BCLParams struct is no longer used in SolverProxDDP. Now there is an inner AlmParams struct with its own fields
• scaling of constraints in ProxDDP has completely changed. Non-dynamics constraints are driven by the overall mu parameter, with dynamics being scaled down according to the value of solver.bcl_params.dyn_al_scale_

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

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

aligator v0.8.0

This is a majorly API-breaking release following the corresponding proxsuite-nlp release, which started the work on introducing value semantics for all models in the library (without requiring clone() methods everywhere)

What's Changed

• Switch shared_ptr<T> for polymorphic<T> for several classes by @edantec in #159
• [modelling/costs] Add getResidual() templated getter for composite cost functions by @ManifoldFR in #198
• Fixing include of LU from Eigen by @quentinll in #200
• [modelling] Change CostStack backend to an unordered_map type by @ManifoldFR in #199

Full Changelog: v0.7.0...v0.8.0

aligator v0.7.0

What's Changed

• [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in #161
• Simplify CMake by @jorisv in #162
• [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in #163
• [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in #164
• [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in #165
• [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in #166
• [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in #167
• [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in #171
• Update CITATION.cff by @ManifoldFR in #170
• Fix RiccatiSolverDense initialization by @jorisv in #174
• Update minimal fmt version by @jorisv in #173
• Enable jrl-cmakemodules workspace compatiblity by @jorisv in #172
• Set policy CMP0167 and CMP0169 to avoid warnings with CMake 3.30 by @jorisv in #176
• [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in #175
• [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in #181
• [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in #182
• [solvers] use placement-new for creating worksapce and results structs by @ManifoldFR in #183
• [fwd.hpp] add deprecations for uses of Eigen::aligned_allocator by @ManifoldFR in #184
• Remove Tracy from link interface, change it to a submodule, install selected headers to new aligator/third-party include dir by @ManifoldFR in #186
• [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in #190
• Call destructor first before doing placement-new on workspace and results objects by @ManifoldFR in #192
• Use tracy.cmake to easily set/remove tracy dependency by @jorisv in #191

Full Changelog: v0.6.1...v0.7.0

v0.6.1

What's Changed

Added

• Add force and wrench cone costs #151
• Add centroidal momentum cost

Changed

• Do not compile or use gar::ParallelRiccatiSolver<> when OpenMP support is disabled (#160)

Full Changelog: v0.6.0...v0.6.1

v0.6.0

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

aligator v0.5.1 - kinodynamical models for robots

What's changed

Fixed

• Fix finite difference function in python unittest (#128)

Added

• Add kinodynamics forward scheme
• Add centroidal dynamics derivative cost to regularize the time derivative of centroidal dynamics
• Add Python example of Solo stepping in place
• Add wrench cone cost for 6D contact in centroidal dynamics
• Add a 6D contact formulation for every centroidal cost and dynamics, including kinodynamics

Full Changelog: v0.5.0...v0.5.1

aligator v0.5.0 - Nonlinear centroidal dynamics and filter line-search

What's Changed

Added

• Add a pair filter strategy as an alternative to linesearch methods
• Add a python example of a locomotion OCP with the robot Talos
• Add two nonlinear centroidal dynamical models, where the control is respectively contact forces and their time derivative
• Add a set of cost functions to generate a centroidal problem with user-defined contacts
• Add unittests and example of typical centroidal problem

Full Changelog: v0.4.1...v0.5.0

aligator v0.4.1

What's Changed

Changed

• CMake: fetch submodule if not available in (#103)
• CMake: move benchmark dependency speecification in main file
• Document and simplify the LQR example
• Finish the se2-car.cpp example (#110)
• Add template instantiation for IntegratorAbstract, ExplicitIntegratorAbstract and IntegratorRK2 (#114)
• Don't output numpy matrices in example-talos-arm

Fixed

• Fix name of frame parent attribute in examples
• Export C++ definitions in CMake config file
• Fix Doxyfile python bindings directory (#110)
• Fix for eigenpy 3.3 (#121)

Full Changelog: v0.4.0...v0.4.1

aligator v0.4.0

What's Changed

• This is the first release of aligator. This library is a joint effort between INRIA and LAAS-CNRS, and will be maintained and expanded in the future. Please provide constructive feedback and contribute!

Full Changelog: v0.3.0...v0.4.0