Skip to content

CHANGELOG.md

Latest commit

 

History

History
524 lines (390 loc) · 31.6 KB

CHANGELOG.md

File metadata and controls

524 lines (390 loc) · 31.6 KB

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

Unreleased

0.19.0 - 2026-04-17

Added

  • Support the new Pinocchio 4 release (#390)
  • manifolds: add PinocchioLieGroup::lieGroup() getter, expose to Python

Changed

  • Deprecate <aligator/modelling/dynamics/context.hpp> (#390)
  • pixi: require Pinocchio>=3.9.0 (#390)
  • pixi: allow Eigen3>=5.0.0 (#390)
  • CMake: require Eigen3 between 3.4.0 and major version 5 (#390)

Removed

  • Remove test solver-storage (#390)
  • Remove templated using-alias StdVectorEigenAligned (#390)

Fixed

  • Update finite difference helper to support explicit dynamics, replacing the obsolete implicit-only implementation. (#392)
  • Fix SolverProxDDP::tryLinearStep() temporary control update buffer allocation to use nu_max instead of ndx_max. (#397)

0.18.0 - 2026-01-27

Added

  • Add Ubuntu 22.04 support with the BUILD_WITH_UBUNTU_22_COMPATIBILITY cmake option (#383)

Fixed

  • Fixed the missing minus signs in the LogResidualCost (#382)
  • Fix build without pinocchio dependency (#384)

Changed

  • Change uses of future-deprecated macro PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR to PINOCCHIO_ALIGNED_STD_VECTOR (#386)

0.17.1 - 2025-12-01

0.17.0 - 2025-11-21

Added

  • pixi: add pixi-build (preview support) (#369)
  • gar/blk-matrix : added BlkMatrix::isApprox() (#366)
  • core : added mimalloc-based memory resource (#366)
  • modelling/costs : add getter and setter for cost term weights (#359)
  • Support for Pinocchio 4 (#361)
  • Added a hash function ExtendedStringHash for string types (e.g. std::string) which supports transparent/heterogeneous lookup in compatible hash maps (e.g. boost::unordered_map) using types other than key type e.g. std::string_view (#364)
  • Added support in Python bindings for std::string_view (converting to and from Python's str built-in type) (#364)
  • Added TwoFrameEquality residual to enforce relative pose equality between two Pinocchio frames (#378)

Changed

  • Change several classes (including solvers and contact-related modelling) to take std::string_view where possible (#364)
  • core : have replaceStageCircular() return ejected knot (#376)
  • python : do not import utils.plotting automatically (#369)
  • ci: display ccache statistics (#369)
  • pixi: update environments (#369)
  • Move header <aligator/gar/blk-matrix.hpp> to <aligator/core/blk-matrix>
  • solver-proxddp : make new mimalloc memory resource the allocator resource for ProxDDP solver (#367)
  • tests/gar/block-matrix.cpp : test against BunchKaufman factorization
  • move headers allocator.hpp and arena-matrix.hpp to aligator/core dir (#362)
  • python: aligator now requires eigenpy version 3.10.3 at least
  • python: remove eigenpy version checks
  • python: improve CostStack.getComponent() error message
  • tests/python: more comprehensive test for aligator.CostStack (#359)
  • modelling/multibody : merge header context.hpp into fwd.hpp

Fixed

  • Fixed pixi build and Tracy integration issues: add ninja dependency and update configs (#375)
  • Fixed num_threads arg missing in call to problem.evaluate() in SolverProxDDP::tryLinearStep() (#373)

Removed

  • modelling/multibody : remove txx files, remove context.hpp
  • core : remove callback-base.txx, remove constraint.txx
  • core : remove deprecated class template StageConstraintTpl, and its Python bindings

0.16.0 - 2025-10-15

This release brings a major change to the ProxDDP solver, which no longer uses proximal iteration the co-state (the dynamics' Lagrange multiplies). This choice is made to increase the solver's overall performance.

The ProxDDP solver now defaults to using a linear rollout for the state-control trajectory update.

Furthermore, on a temporary basis, implicit discrete dynamics are no longer supported in the API and solvers.

One major new addition is the ArenaMatrix template class, which is a allocator-aware class which manages an Eigen matrix-like object and is compatible with Eigen operations. The design is inspired from stan-dev/math's arena_matrix class.

Fixed

  • gar : fix missing move assignment operator in LqrProblemTpl
  • Fix C++20 support. Fix consteval compilation errors related to fmt
  • Fix aligator::gar::ParallelRiccatiSolver missing from docs
  • Fix missing set of Pinocchio-support (cost, dynamics, etc) classes
  • solver-proxddp : fix return type of LinesearchVariant::isValid()
  • memory : added template class ArenaMatrix (#348)

Changed

  • gar : allow setting number of refinement iterations for condensed KKT solver
  • ProxDDP solver : change default rollout type to RolloutType::LINEAR/ROLLOUT_LINEAR
  • solvers/proxddp : make Workspace an allocator-aware class
  • add [[nodiscard]] attribute to several functions in:
    • core/manifold-base
    • gar/lqr-problem
    • gar/utils
    • modelling/spaces/cartesian-product
    • solvers/proxddp/solver-proxddp
  • readme/cmake : update actually expected minimum version of eigenpy to 3.9
  • solvers : make proxddp algo's Results class copyable again (in C++ and Python) (#322)
  • python/visitors : also set __copy__ method on exposed class with CopyableVisitor (#322)
  • python : make Results copyable (using CopyableVisitor) (#322)
  • ProxDDP solver : remove proximal iteration/ALM over co-states
  • ProxDDP solver : throw when given invalid linesearch enum value
  • core/linesearches : move LinesearchOptions struct out of the Linesearch template class, add CTAD
  • Change all tests to use Catch2 instead of Boost.Test
  • The Riccati algorithms now run faster after the dual-regularisation on co-states and the QR for the implicit dynamics have been removed. The algos might be less numerically accurate.
    • the base interface and derived solvers no longer take the scalar argument mudyn (dual regularisation on the costate)
  • Several classes are now allocator-aware:
    • the Riccati-based solvers in gar (ProximalRiccatiSolver, ParallelRiccatiSolver)
    • WorkspaceTpl in aligator/solvers/proxddp
  • cmake/pixi: update maximum version for fmt library to v12 included (#355)

Changes to dynamics

  • Remove explicit dynamics (incl. explicit integrators) from DynamicsModel class hierarchy
  • Make ExplicitDynamicsModel used everywhere in API (e.g. StageModel now takes/stores polymorphic<ExplicitDynamicsModel>)
  • Directly store state space repr dim and actual dim (nx and ndx) in ManifoldAbstract class

Added

  • gar: add CTAD for the ParallelRiccatiSolver and ProximalRiccatiSolver classes
  • testing: added a test_mpc.py script to test parallel and serial mpc implementations (#331)
  • modelling : added wheeled inverted pendulum dynamics (#326)
  • CMake option to BUILD_STANDALONE_PYTHON_INTERFACE (#347)
  • utils: add free function forwardDynamics() (replaces previous struct) in aligator/utils/forward-dyn.hpp

Removed

  • fwd.hpp : remove deprecated typedef ODEDataTpl
  • gar: remove Cholmod backend (#345)
  • cmake / pixi : remove Cholmod dependency (#345)
  • gar: remove support for implicit dynamics in LQ solver interface
    • remove member LqrKnotTpl::E
    • simplify Riccati kernel algorithm
  • memory : removed template class ManagedMatrix (#348)
  • removed several .txx template instantiation declaration files
  • third-party : remove headers related to boost::span: boost/core/data.hpp, boost/core/make_span.hpp, boost/core/span.hpp
  • removed header aligator/tags.hpp

0.15.0 - 2025-05-23

Changed

  • CMake : sync submodule (#318)
  • Update minimum required version of CMake to 3.22 (#318)

0.14.1 - 2025-05-23

Added

  • Expose vs in ProxDDP result

0.14.0 - 2025-05-07

This release brings many major changes to aligator.

We officially drop support for Pinocchio 2. As we start looking forward to Pinocchio 4, aligator will require at least Pinocchio 3.4. If you need support for a lower version of Pinocchio 3, please contact us and suggest patches.

Furthermore, aligator will no longer depend on the proxsuite-nlp library, which will be archived in the near future - all functionality (manifolds, constraints) has been merged into aligator itself.

Added

  • Add allocator-aware class ManagedMatrix to wrap Eigen::Map types along with allocator-managed memory. Update gar classes to use ManagedMatrix. (#313)
  • Add CMake macro aligator_create_python_extension() to export (#298)
  • Add LqrProblemTpl::isApprox() and helper lqrKnotsSameDim, check dimensions in LqrKnotTpl::isApprox() (#300)
  • Add class aligator::polymorphic_allocator leveraging C++17 memory resources (#243)
  • Add memory allocator support for LqrKnot and LqrProblem (#243)
  • Add class DenseKernel for the stagewise-dense Riccati algo -- rework DenseRiccatiSolver class (#243)
  • Add gar/fwd.hpp header (#301)
  • Add/transfer some headers from proxsuite-nlp (see #309):
    • Add aligator/fmt-eigen.hpp to use fmt with Eigen
    • Add aligator/third-party/polymorphic_cxx14.h (#312)
    • Add Bunch-Kaufman solver, port from proxsuite-nlp in aligator/bunchkaufman.hpp (#312)
    • Add linesearch classes LinesearchBase and ArmijoLinesearch (#312)

Changed

  • Merge parts of proxsuite-nlp (manifolds and constraints) into aligator (#309)
    • Remove dependency on proxsuite-nlp.
    • Make aligator/math.hpp independent: copy code for math::check_value, math::check_scalar, struct math_types.
    • Change VerboseLevel from a using-decl to its own enum in the aligator namespace.
    • Copy ManifoldAbstractTpl and subclasses over to aligator.
    • Copy ConstraintSetTpl and subclasses over to aligator, change using-decl in fwd.hpp to a proper fwd-declaration in the aligator namespace (#310)
  • control-box-function.hpp: update docstring, add deprecation dox tag (#310)
  • Rename { riccati-impl.hpp => riccati-kernel } (and associated files) (#301)
  • Move HistoryCallbackTpl from aligator/helpers (subdirectory was removed) to aligator/core (#243)
  • Move headers results-base, solver-util, value-function, workspace-base to aligator/core (#243)
  • fwd.hpp: do not include <pinocchio/config.hpp> header anymore (#243)
  • blk-matrix.hpp: remove protected ctors, add conversion ops (#243)
  • Headers aligator/gar/*.hpp merged into main library (#243)
  • CMake: rework declaration of examples & benchmarks (applying liberal use of cmake_parse_arguments()) (#243)
  • CMake: add bench/CMakeLists.txt to gersemi defs, apply formatting (#243)
  • CMake: apply compile definitions to aligator target directly (reduce use of global compile definitions) (#243)

Removed

  • Removed gar as a separate CMake target and shared library, merge into main library (#243)
  • Remove function allocate_shared_eigen_aligned() (#243)
  • Officially remove support for Pinocchio 2, require Pinocchio >= 3.1 (#307)
    • Remove the ALIGATOR_PINOCCHIO_V3 compile definition.
  • Remove macro header aligator/macros.hpp and macros ALIGATOR_WITH_CPP_14, ALIGATOR_WITH_CPP_17, and ALIGATOR_MAYBE_UNUSED (#309)
  • Remove deprecated typedef aligator::context::CostBase (#310)
  • Remove header aligator/core/linesearch.hpp (which using-decl linesearch classes from proxsuite-nlp) (#312)
  • Remove header aligator/python/polymorphic-convertible.hpp (#309)

0.13.0 - 2025-04-26

Added

  • Add macro ALIGATOR_OUT_OF_RANGE_ERROR to throw std::out_of_range exceptions (#294)

Changed

  • Rename LQRKnotTpl (C++)/LqrKnot (Python) to LqrKnot(Tpl) (#283)
  • Rename LQRProblemTpl (C++)/LQRProblem (Python) to LqrProblem(Tpl) (#283)
  • Reverse sign of StateErrorResidual (#292)

Fixed

  • Correct references to paper's equations (#284)
  • Fix segfault in FrameCollisionResidual, instead throw std::runtime_error (C++, RuntimeError in Python) (#294)

0.12.0 - 2025-03-27

Changed

  • Update for crocoddyl v3: boost -> std pointers (#278)

0.11.0 - 2025-03-17

Changed

  • Only link against needed pinocchio libraries (#260)
  • Use Pinocchio instantiated functions (#261)
  • Link to pinocchio collision
  • Some internal code now uses TrajOptProblemTpl::initializeSolution() to initialize state-control trajectories (#274)
  • Fix HistoryCallback init in examples (#277)

Fixed

  • Fixed copy of TrajOptProblem (#265)
  • LinesearchVariant::init() should not be called unless the step accpetance strategy is a linesearch
  • Fixed compilation issues with C++20 (resolving #246 and #254)
  • Prevent duplication of log columns (#271)

Added

  • Add MPC test/example (#272)
  • Allow customization of the initial solution, introduce initialization strategies (#274)
  • Add a collision distance residual for collision pair
  • Add a relaxed log-barrier cost function
  • Add Nix support (#268)

0.10.0 - 2024-12-09

Added

  • Add a multibody friction cone cost (#234)
  • Add a GravityCompensationResidual, modelling $r(x,u) = Bu - G(q)$ (#235)
  • Add Pixi support (#240)
  • Added a nonmonotone linesearch procedure (#244)
  • Add enum value StepAcceptanceStrategy::LINESEARCH_NONMONOTONE (#244)

Changed

  • API BREAKING: Change enum value StepAcceptanceStrategy::LINESEARCH to LINESEARCH_NONMONOTONE (#244)
    • Add constructor argument StepAcceptanceStrategy sa_strategy, defaults to nonmonotone
  • The minimum required version of proxsuite-nlp is now 0.10.0 (#244)
  • SolverProxDDP: add temporary vectors for linesearch
  • SolverProxDDP: remove exceptions from computeMultipliers(), return a bool flag
  • HistoryCallback: take solver instance as argument
  • gar: rework and move sparse matrix utilities to gar/utils.hpp
  • SolverProxDDP: Rename maxRefinementSteps_ and refinementThreshold_ to snake-case
  • SolverProxDDP: make linesearch_ public
  • Change uses of ConstraintSetBase template class to ConstraintSetTpl (following changes in proxsuite-nlp 0.9.0) (#223)
  • [gar] Throw an exception if trying to instantiate ParallelRiccatiSolver with num_threads smaller than 2.
  • [API BREAKING] Rename friction cone for centroidal into CentroidalFrictionCone (#234)
  • Change the linear multibody friction cone to the true "ice cream" cone (#238)
  • [gar] Rework RiccatiSolverDense to not use inner struct FactorData
  • Various changes to gar tests and test_util, add LQRKnot::isApprox()

Removed

  • Default constructor for LQRProblemTpl
  • Removed header gar/fwd.hpp with forward-declarations

Fixed

  • Building aligator without Pinocchio support (including without Pinocchio support in the proxsuite-nlp dependency) is now supported. (#250)

0.9.0 - 2024-10-11

Added

  • [python] Added getter getComponent() for CostStack, similar to C++ API
  • Templated getters getCost<U>() and getDynamics<U>() in the StageModel class, and another getDynamics<U>() for integrator classes, to get the concrete types (##205)
  • Add a templated getter getConstraint<U> to ConstraintStack (#222)
  • python: Add helper aligator.has_pinocchio_features() (#206)
  • Add a cycleProblem function that properly rotates the problem data for MPC applications (#215)
  • Add a DCM cost function
  • Add a cycleAppend function in Riccati solver headers to cycle the LQR solver
  • SolverProxDDP: add manually settable dual feasibility tolerance target_dual_tol_ with a getter and setter (with side effects)

Changed

  • All map types are now boost::unordered_map (#203)
  • Separate CostFiniteDifference out of finite-difference.hpp (#212)
  • Change the API of the wrench cost functions to allow 3D and 6D forces
  • Separate centroidal wrench cone and multibody wrench cone costs
  • Add a contact_name item to the CostMap structure
  • Re-define ALM params struct internally to aligator (#219)
  • SolverProxDDP: add dynamics AL parameter scaling
  • Rename has_dyn_model -> hasDynModel and is_explicit -> isExplicit
  • Add cost (trajectory cost) column to logger
  • TrajOptProblem: rename member init_condition_ to init_constraint_ (fitting with ctor argument name)
  • python/utils: return axes instances from velocity/controls plotting helpers
  • make LinearFuntionTpl::evaluate() call more efficient (using .noalias())
  • HistoryCallbackTpl now stores stored data directly
  • Deprecate the StageConstraintTpl template struct, deprecate the related typedefs
  • [python] Deprecate aligator.StageConstraint, functions and methods (e.g. StageModel.addConstraint(cstr: StageConstraint)) which use it
  • Change formatting of exceptions, using variadic macro and type-erased implementation (#230)

The following API-BREAKING changes come from PR #229

  • Separate DynamicsModelTpl and its subclasses from the StageFunctionTpl class hierarchy
  • Methods (.evaluate(), .computeJacobians()) in StageFunctionTpl are now binary (take only (x, u))

Removed

  • Remove constraint scalers (including header core/alm-weights.hpp) from ProxDDP algorithm (#214)
  • SolverProxDDP: remove solver parameter rho_ (#221)
  • Remove deprecated functions ConstraintStackTpl::getDims and StageModelTpl::dyn_model
  • Remove CallbackBaseTpl::post_linesearch_call(boost::any)
  • Remove unused headers clone.hpp and version.hpp

Fixed

  • Restore Pinocchio 3 Python tests (#206)
  • Fix warnings in multibody-constraint-fwd.{hpp, hxx} about deprecated Pinocchio types and functions (commit df04100c)

0.8.0 - 2024-09-18

Added

  • Getter getResidual<Derived>() for composite cost functions (#198)
  • Getter getComponent<Derived>() for CostStack (#199)

Changed

  • Optimize a bunch of includes
  • core: remove headers proximal-penalty.hpp/proximal-penalty.hxx
  • Change storage of CostStack to boost::unordered::unordered_map, pointing to pair of cost function and weight (#199)
  • Change storage for ConstraintStack to using two std::vector<polymorphic<>> the struct StageConstraintTpl is now merely a convenient API shortcut for the end-user.
  • Remove StageConstraintTpl::nr() (in C++ only)
  • Update minimum required version of eigenpy to 3.7.0
  • Add tracy macros to stage-model.hxx
  • Change minimum required version of proxsuite-nlp to 0.8.0

0.7.0 - 2024-09-12

Changed

  • Use placement-new for Workspace and Results in solvers (FDDP and ProxDDP)
  • Deprecate typedef for std::vector<T, Eigen::aligned_allocator<T>>
  • Deprecate function template allocate_shared_eigen_aligned<T>
  • Use custom macro defined in aligator/tracy.hpp to call Tracy (#191)
  • Change default behaviour with regards to Tracy (DOWNLOAD_TRACY is set to OFF)
  • Upgrade minimum required version of proxsuite-nlp to 0.7.0

Fixed

  • Fix RiccatiSolverDense initialization (#174)
  • Remove CMake CMP0167 and CMP0169 warnings (#176)

Added

  • Add compatibility with jrl-cmakemodules workspace (#172)

0.6.1 - 2024-05-27

Added

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

Changed

  • Do not compile or use gar::ParallelRiccatiSolver<> when OpenMP support is disabled (#160)
  • Allow to build with fmt 11 (#173)

0.6.0 - 2024-05-23

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

0.5.1 - 2024-04-24

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

0.5.0 - 2024-02-13

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

0.4.1 - 2024-01-25

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)

0.4.0 - 2023-12-22

Added

  • 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!