180 lines
9.0 KiB
Plaintext
180 lines
9.0 KiB
Plaintext
2.5.0 -> next
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- Replaced Contacts API by new Constraints API. The new API allows to
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compute dynamics of models with kinematic loops but otherwise uses a very
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similar API. Loop constraints can be stabilized using Baumgarte
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stabilization. Special thanks to Davide Corradi for this contribution!
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- New inverse kinematics algorithm and API. It now uses the IK method
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described by Sugihara which is faster and more robust than the
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previously implemented damped Levenberg-Marquardt method. The new API
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allows to specify both point and orientation (and mixed) constraints.
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Thanks to Kevin Stein for implementing it!
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- Changed Quaternion multiplication behaviour for a more standard
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convention: multiplying q1 (1,0,0,0) with q2 (0,1,0,0) results now in
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(0,0,1,0) instead of the previous (0,0,-1,0).
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- New joint type JointTypeHelical that can be used for screwing motions
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(translations and simultaneous rotations), contributed by Stuart Anderson.
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2.4.1 -> 2.5.0
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- Added an experimental Cython based Python wrapper of RBDL. The API is
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very close to the C++ API. For a brief glimpse of the API see the file
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python/test_wrapper.py.
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- Matthew Millard added CustomJoints which allow to create different joint
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types completely by user code. They are implemented as proxy joints for
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which their behaviour is specified using virtual functions.
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- Added CalcMInvTimesTau() that evaluates multiplication of the inverse of
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the joint space inertia matrix with a vector in O(n) time.
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- Added JointTypeFloatingBase which uses TX,TY,TZ and a spherical joint for
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the floating base joint.
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- Loading of floating base URDF models must now be specified as a third
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parameter to URDFReadFromFile() and URDFReadFromString()
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- Added the URDF code from Bullet3 which gets used when ROS is not found.
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Otherwise use the URDF libraries found via Catkin.
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- Added CalcPointVelocity6D, CalcPointAcceleration6D, and CalcPointJacobian6D
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that compute both linear and angular quantities
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- Removed Model::SetFloatingBase (body). Use a 6-DoF joint or
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JointTypeFloatingBase instead.
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- Fixed building issues when building DLL with MSVC++.
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2.4.0 -> 2.4.1 (20 April 2016)
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This is a bugfix release that maintains binary compatibility and only fixes
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erroneous behaviour.
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- critical: fixed termination criterion for InverseKinematics. The termination
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criterion would be evaluated too early and thus report convergence too
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early. This was reported independently by Kevin Stein, Yun Fei, and Davide
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Corradi. Thanks for the reports!
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- critical: fixed CompositeRigidBodyAlgorithm when using spherical joints
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(thanks to Sébastien Barthélémy for reporting!)
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2.3.3 -> 2.4.0 (23 February 2015)
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- Added sparse range-space method ForwardDynamicsContactsRangeSpaceSparse()
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and ComputeContactImpulsesRangeSpaceSparse()
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- Added null-space method ForwardDynamicsContactsNullSpace()
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and ComputeContactImpulsesNullSpace()
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- Renamed ForwardDynamicsContactsLagrangian() to
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ForwardDynamicsContactsDirect() and
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ComputeContactImpulsesLagrangian() to ComputeContactImpulsesDirect()
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- Renamed ForwardDynamicsContacts() to ForwardDynamicsContactsKokkevis()
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- Removed/Fixed CalcAngularMomentum(). The function produced wrong values. The
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functionality has been integrated into CalcCenterOfMass().
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- CalcPointJacobian() does not clear the argument of the result anymore.
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Caller has to ensure that the matrix was set to zero before using this
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function.
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- Added optional workspace parameters for ForwardDynamicsLagrangian() to
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optionally reduce memory allocations
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- Added JointTypeTranslationXYZ, JointTypeEulerXYZ, and JointTypeEulerYXZ
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which are equivalent to the emulated multidof joints but faster.
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- Added optional parameter to CalcCenterOfMass to compute angular momentum.
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- Added CalcBodySpatialJacobian()
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- Added CalcContactJacobian()
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- Added NonlinearEffects()
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- Added solving of linear systems using standard Householder QR
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- LuaModel: Added LuaModelReadFromLuaState()
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- URDFReader: Fixed various issues and using faster joints for floating
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base models
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- Various performance improvements
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2.3.2 -> 2.3.3 (21 October 2014)
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- critical: fixed ForwardDynamicsContacts with constraints on a body
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hat is attached with a fixed joint. Previous versions simply crashed.
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Thanks to Yue Hu for reporting!
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- rbdl_print_version() now properly prints whether URDFReader was enabled
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at build time
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- build system: fixed roblems especially building of the URDFreader
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- build system: all CMake variables for RBDL are now prefixed with RBDL_
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- FindRBDL.cmake now can use components to search for the LuaModel or
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URDFReader addon
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2.3.1 -> 2.3.2 (29 August 2014)
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- critical: fixed ForwardDynamicsLagrangian which used uninitialized values for the joint space inertia matrix
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- critical: fixed ForwardDynamicsContacts when using 3-dof joints
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- critical: fixed CalcBodyWorldOrientation for fixed joints (thanks to Hilaro Tome!)
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- critical: fixed CompositeRigidBodyDynamics when using 3-dof joints (thanks to Henning Koch!)
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2.3.0 -> 2.3.1 (13 July 2014)
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- critical: fixed angular momentum computation. Version 2.3.0 produced wrong
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results. Thanks to Hilario Tome and Benjamin Michaud for reporting!
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- critical: fixed JointTypeEulerZYX. Previous versions produce wrong
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results!
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- fixed library version number for the LuaModel addon. It now uses version
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2.3 instead of the wrong 2.2.
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2.2.2 -> 2.3.0 (14 March 2014)
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- disabled clearing of joint space inertia matrix in CRBA.
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It is expected that the matrix is cleared by the user when neccessary.
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- Added experimental joint type JointTypeEulerZYX. It does not emulate
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multiple degrees of freedom using virtual bodies instead it uses a 3 DoF
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motion subspace. Performance is better for the
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CompositeRigidBodyAlgorithm but worse for other algorithms.
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- Using Eigen3's default column-major ordering for matrices when using
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Eigen3. This should have no effect for the user unless matrix elements
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are accessed using the .data()[i] operator of Eigen3's matrix class. However
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if .data()[i] is used the access indices have to be adjusted.
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- added functions to compute kinetic and potential energy and the
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computation of the center of mass and its linear velocity:
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RigidBodyDynamics::Utils::CalcCenterOfMass
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RigidBodyDynamics::Utils::CalcPotentialEnergy
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RigidBodyDynamics::Utils::CalcKineticEnergy
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RigidBodyDynamics::Utils::CalcAngularMomentum
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2.2.1 -> 2.2.2 (06 November 2013)
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- adjusted default constructor for Body. It now has the identity matrix as
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inertia, instead of a zero matrix.
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- LuaModel: made sure that the Body value is optional and uses the default
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Body constructor if not defined.
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2.2.0 -> 2.2.1 04 (November 2013)
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- properly exporting LuaTables++ functions when using LuaModel addon
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Fixes linking
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- fixed exported library version (now at 2.2 as expected)
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2.1.0 -> 2.2.0 (28 October 2013)
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- added spherical joints that do not suffer from singularities:
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Use joint type JointTypeSpherical
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- added Model::q_size, and Model::qdot_size that report the sizes including
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all 4 Quaternion parameters when spherical joints are used.
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User is advised to use Model::q_size and Model::qdot_size instead of
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Model::dof_count.
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- removed "constraint_" prefix from constraint impulses, forces and
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accelerations from the ConstraintSets:
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renaming required if values are queried
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- Contact impulses: specification of a contact velocity after a collision:
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added ConstraintSet::v_plus which can be set for the desired constraint
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velocity after a collision. Previously it used the values stored in
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ConstraintSet::constraint_acceleration.
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User has to store desired exit velocities manually in CS::v_plus
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2.0.1 -> 2.1.0 (29 September 2013)
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- made codebase compatible to Debian
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Binary symbol export was changed. No change in user code required,
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however everything needs to be recompiled and linked.
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- Removed Lua 5.2 source
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When building the addon LuaModel, one hast to have it installed on the
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system already.
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- Removed UnitTest++ sources
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When building tests one has to have it installed on the system already.
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2.0.0 -> 2.0.1 (05 September 2013)
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- fixed compiler errors on some older compilers
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No change required when using RBDL version 2.0.0.
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- fixed CMake configurations for examples
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No change required when using RBDL version 2.0.0.
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1.X.Y -> 2.0.0 (18 July 2013)
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- removed Model::Init():
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All initialization is now done in the default constructor in Model(). To
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be compatible with the new API simply remove any calls to Model::Init().
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- removed Eigen3 sources:
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Eigen3 is no more included in RBDL instead it uses the Eigen3 library
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that is installed on the system. If you want to use RBDL with Eigen3
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you have to install it on your system yourself.
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- inverted sign of contact forces/impulses:
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ConstraintSet::constraint_force and ConstraintSet::constraint_impulse are
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now the forces or impulses that are acting on the constrained body by the
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constraint.
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1.0.0 -> 1.1.0 (20 February 2013)
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- removed constructor Body (mass, com, length, gyration_radii)
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This constructor did some erroneous calculations to compute the real
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radii of gyration. It was removed as the two remaining constructors are
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properly tested and are more general.
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