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