v2.1.3

pycapacity v2.1.3

• Extending the reachable space approximation to take in consideration environmental constraints see the docs

v2.1.2

Pycapacity v2.1.2 - JOSS paper accepted 🎉

This release corresponds to the version of the package published in JOSS

The full paper review is available here: openjournals/joss-reviews#5670
The published paper is available here: https://joss.theoj.org/papers/73f155afc0dfa7730792639ac374b348

v2.1

What's changed

• Polytope class - see API docs
  • Added Minkowski sum (operator +) and intersection operations (operator &)
  • Added inner approximation using the Chebyshev ball (chebyshev_ball method)
• Visualisation tools - see API docs
  • plot_polytope function now has color parameter that can be used to set face_color and edge_color and vertex_color at once - see docs
• Algorithms: - see API docs
  • Added Chebyshev ball algorithm (chebyshev_ball) - see docs
• Human metrics - see API docs
  • Added ellipsoid: metrics acceleration, velocity and force
• New module added: pycapacity.examples - see API docs
  • Contains 4 dof planar robot model - see docs
  • In future it will contain more toy models, for jump starting the library usage
• More examples
  • examples folder now contains more examples on how to use the library
    • python scripts - see scripts
    • jupyter notebooks - see notebooks
    • benchmarking scripts - see scripts
  • More example in the docs - see docs
• Journal of OpenSource software submission:
  • pycapacity paper is submitter to the Journal of OpenSource software - see paper
• Improved the docs with more information about the library
  • Implemented polytope algorithms and their performance - see docs
  • Implemented capacity metrics - see docs

PRs

• Update human english.py by @laisnegautier in #2
• Fix affiliation index for the JOSS draft paper by @Kevin-Mattheus-Moerman in #3
• [JOSS Review] Fix typos by @sea-bass in #8

New Contributors

• @laisnegautier made their first contribution in #2
• @Kevin-Mattheus-Moerman made their first contribution in #3
• @sea-bass made their first contribution in #8

--Full Changelog--: v2.0.0...v2.1

v2.0.0

Changelog v2.0 (05-2023)

• polyope and ellipsoid algorithms now return Polytope and Ellipsoid objects (see api docs)
  • Polytope class can be used as a standalone class to find vertex, halfplane and face representation of a polytope
• Visualisation tools improved: (see api docs)
  • new plot_polytope function for plotting polytopes
  • functions plot_polytope_vertex and plot_polytope_faces now can receive a polyope object
  • function plot_ellipsoid now can receive a ellipsoid object
  • better management of the matplotlib figures and axes, now user can provide an ax, plt or figure to the plotting functions
• Added support for robot reachable workspace approximation using convex polytopes (see api docs)
• Added unit testing + continuous integration
• improved docs with sphinx

Github Changelog: v1.2.17...v2.0.0

v1.2.17

Full Changelog: v1.2.16...v1.2.17

v1.2.15

• A lot of code restructuring
• Added better check for None when LP does not have a solution
• docs updated