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@eeberhard eeberhard released this 08 Sep 08:24
· 142 commits to main since this release
v4.0.0
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Control Libraries version 4.0.0

Version 4.0.0 introduces some powerful new features for using state_representation objects
in real applications, including the brand new clproto C++ serialization library on the basis of Protobuf.

Many additional fixes and improvements have been made across the modules, and some deprecated methods
have now been removed with this major version release.

This release also marks the repository being renamed to control-libraries (formerly control_libraries).

See the following notes for more details.

Breaking changes

This release contains the following breaking changes:

  • Rename repository to control-libraries
  • Remove previously deprecated from_std_vector function (#186)
  • Remove invalid multiplication operators for CartesianState and its derived classes (#195)

Repository namespace

The repository and all associated references have been renamed from epfl-lasa/control_libraries to
epfl-lasa/control-libraries. This is to better match the GitHub repository standard style and to match
the pattern in the container names. This breaking change will necessitate downstream users to update their
installation paths when cloning from GitHub.

state_representation

The following functions have been removed:

  • CartesianState::from_std_vector
  • CartesianPose::from_std_vector
  • Ellipsoid::from_std_vector
  • JointState::from_std_vector
  • JointPositions::from_std_vector

The following multiplication operations are no longer permitted:

  • CartesianState *= CartesianPose | CartesianTwist | CartesianWrench
  • CartesianPose *= CartesianTwist | CartesianWrench | CartesianState
  • CartesianTwist *= CartesianPose | CartesianTwist | CartesianWrench | CartesianState
  • CartesianTwist * CartesianPose | CartesianTwist | CartesianWrench | CartesianState
  • CartesianWrench *= CartesianPose | CartesianTwist | CartesianWrench | CartesianState
  • CartesianWrench * CartesianPose | CartesianTwist | CartesianWrench | CartesianState

The permitted multiplication operations are:

  • CartesianState *= CartesianState
  • CartesianState * CartesianPose | CartesianTwist | CartesianWrench | CartesianState
  • CartesianPose *= CartesianPose
  • CartesianPose * CartesianPose | CartesianTwist | CartesianWrench | CartesianState

Features

The biggest feature to come with 4.0.0 is the Protobuf schema for state_representation types and the
associated clproto C++ serialization library. See the documentation for more information.

Speaking of documentation, documentation is now generated and hosted for each release and for the main and develop
branches at:
https://epfl-lasa.github.io/control-libraries

Similarly, docker images for development and downstream use are now also built and hosted automatically.

The state_representation API has seen a number of smaller features to introduce new classes, methods and operators.

  • Protobuf message protocol and C++ binding library clproto for serializing and deserializing control library objects
    (#168, #175, #177, #179, #180, #190)
  • Build and push development dependencies image in CI and related restructuring of Docker resources (#169)
  • Add automatic documentation generation and deployment to GitHub Pages (#170, #199)
  • Add set_data function declaration to all State objects (#163, #166)
  • Add class JointAccelerations (#173)
  • Methods for packing and unpacking multiple encoded state messages
    into serialized message packets (#182)
  • Add scalar division operator for CartesianState and its derived classes (#192)

Fixes and improvements

  • Correct an error in the makefile of the protobuf bindings and remove
    the generated bindings from the repository, while providing installation scripts (#174)
  • Fix clamp_state_variable function for CartesianState and JointState (#176, #191)
  • Install tagged versions of osqp and osqpEigen (#184)
  • Add missing integration constructor from JointAccelerations for JointVelocities (#185)
  • Fix path to Dockerfile in demos (#197)

Behind the scenes

  • Refactor JointState tests and split them into separate test suites (#183, #187)
  • Refactor CartesianState tests and split them into separate test suites (#188)
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