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@domire8 domire8 released this 09 Jun 06:38
· 38 commits to main since this release
v6.0.0
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Control Libraries version 6.0.0

Version 6.0.0 refactors the StateType enum in state representation to be more descriptive and widely useful as well as
the dynamical systems factory for easier creation of these classes. This major change breaks implementations using
StateType enums explicitly (e.g. for parameters) and dynamical systems from the prior version.

See the updated documentation for usage guidelines for the DynamicalSystemsFactory.

This release also includes a few new features, fixes and improvements as well as updated documentation in
all parts of the control libraries.

Breaking changes

This release contains the following breaking changes:

  • Refactor StateType enum and ParameterType enum (#277, #278, #280, #284)
  • Relocate the DYNAMICAL_SYSTEM_TYPE enum to the general dynamical_systems namespace (#288)

state_representation

To make the StateType enum more descriptive and useful, individual spatial state types have been added
and the ParameterType moved to a separate enum. This change helps with the translation of parameters and
encoded states in downstream projects by allowing for greater introspection of data types from this enum.

Any implementations that use StateType from a prior version to create parameters or compare state types should be
updated.

dynamical_systems

The previous DYNAMICAL_SYSTEM enum has been removed from the dynamical system factory class and put directly in the
general dynamical_systems namespace and renamed to DYNAMICAL_SYSTEM_TYPE to shorten the creation and to have the
same structure as the controllers factory.

Any implementations that use the previous enum have to be updated. See the documentation for more information.

Features

state_representation

  • Add CartesianState attribute setters from std vector and coefficients (#291)

python

  • Use pyquaternion in bindings (#283)

protocol

  • Add encode/decode options for shared pointer of State (#287)
  • Add CMake config for clproto (#292)

Fixes and improvements

state_representation

  • Mark Parameter getters as const (#289)
  • Throw exception upon parameter validation in controllers (#290)

python

  • Fix if else conditions in setup.py to correctly install modules (#285)

general

  • Update and extend demos with Python examples and migrate ROS demos away (#293)
  • Update documentation (#294)
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