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New v0.4

Completely new overhaul of the existing API. Now allows for both "inplace" and "out-of-place" methods that work with StaticArrays. The method for differentiation can be chosen at runtime. No methods are provided by default, but the @autodiff macro is provided which implements forward automatic differentiation via ForwardDiff.jl and finite differencing via FiniteDiff.jl.

Support for linear models is no longer provided. This functionality is likely to appear in a downstream package such as RobotZoo.jl.

New in v0.3

integrate method

Allow for more flexibility for defining discrete dynamics by using integrate(Q, model, x, u, t, dt) to apply integration rule Q instead of discrete_dynamics. This allows users to customize discrete_dynamics for any integration rule Q, and optionally apply the integration rule to part of the state vector.

New options for state_diff

Any valid Rotations.ErrorMap to be passed as a 4th argument to state_diff, which will be used to compute the error state for all 3D rotations in the LieState.

New in v0.2

Trajectory Types

Moved trajectory types from TrajectoryOptimization.jl to RobotDynamics.jl.

  • AbstractTrajectory represents a vector of AbstractKnotPoints
  • Traj is a trajectory of KnotPoints, and has a variety of convenient constructors
  • set_states!, set_controls!, and get_times! now live in RobotDynamics.jl

Trajectory Plotting

Added plotting recipes for plotting trajectories vs time and 2D plots of one state vs another (e.g. x and y positions)

  • plot(t,X; inds=inds) plots a trajectory X (a vector of static vectors) vs the time t. Optional inds argument plots a subset of the states.
  • traj2(X; xind=1, yind=2) plots a 2D trajectory of x[xind] vs x[yind].

Linear Models (v0.2.2)

Created specialized types for dealing with linear models, including AbstractLinearModel, ContinuousLTI, ContinuousLTV, DiscreteLTI, and DiscreteLTV. All types can include an affine term. Custom types that inherit from these abstract types will inherit their functionality.