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@eeberhard eeberhard released this 18 Feb 11:43
· 88 commits to main since this release
v5.0.0
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Control Libraries version 5.0.0

Version 5.0.0 refactors the dynamical systems and controllers libraries with a
factory pattern and parameter interface for easier creation, manipulation and
substitution of these classes. This major change breaks any implementations using
dynamical systems or controllers from the prior version.

See the updated documentation for usage guidelines for the new DynamicalSystemsFactory
and ControllerFactory.

This release also includes substantial improvements to the python bindings, including
class bindings for the dynamical systems library. Additional fixes and improvements
have been made throughout the framework.

Breaking changes

This release contains the following breaking changes:

  • Relocate Jacobian and JointState family headers
  • Refactor dynamical system classes to use IDynamicalSystem base interface
  • Refactor controller classes to use IController base interface

state_representation

To make joint-space files more structurally consistent with Cartesian-space files,
the following headers have been relocated.

  • state_representation/robot/Joint*.hpp headers are now in state_representation/space/joint/Joint*.hpp
  • state_representation/robot/Jacobian.hpp header is now in state_representation/space/Jacobian.hpp

Any C++ implementations that include the files from a prior version should update the file paths
in the #include directives. The namespaces themselves in C++ and Python are unaffected.

dynamical_systems

The previous DS classes inheriting from the concrete DynamicalSystem base class have been
refactored and partially renamed to inherit from the new abstract IDynamicalSystem base class.

  • dynamical_systems::Blending has been removed
  • dynamical_systems::Circular has been refactored
  • dynamical_systems::DynamicalSystem has been refactored and renamed to dynamical_systems::IDynamicalSystem
  • dynamical_systems::Linear has been refactored and renamed to dynamical_systems::PointAttractor
  • dynamical_systems::Ring has been refactored
  • dynamical_systems::DefaultDynamicalSystem has been introduced

It is no longer recommended to directly instantiate and use these classes. The new factory method
dynamical_systems::DynamicalSystemFactory<S>::create_dynamical_system(type) should be used instead.
See the documentation for more information.

controllers

The previous controller classes inheriting from the concrete Controller base class have been
refactored and partially renamed to inherit from the new abstract IController base class.

  • controllers::Controller has been refactored and renamed to controllers::Controller
  • controllers::CartesianTwistController has been refactored and renamed to controllers::CompliantTwist
  • controllers::Dissipative has been refactored
  • controllers::Impedance has been refactored
  • controllers::VelocityImpedance has been refactored

It is no longer recommended to directly instantiate and use these classes. The new factory method
controllers::ControllerFactory<S>::create_controller(type) should be used instead.
See the documentation for more information.

Features

state_representation

  • Add CartesianAcceleration class in state representation (#248)

dynamical_systems

  • Create DS interface and DS factory classes (#227)
  • Refactor Linear DS to PointAttractor DS with factory (#229)
  • Refactor Circular DS with factory (#230)
  • Refactor Ring DS with factory and remove old DS base class (#231)
  • Refactor dynamical systems using factory pattern (#233)
  • Propagate DS refactor to demos (#234)
  • Avoid exception with the default DS in evaluate (#237)
  • Add the set_parameter_value function in the DS base class (#236)
  • Remove the set_base_frame logic for JointState based DS
    and override is_compatible for PointAttractor DS (#236, #239)
  • Return a state that has same name as input in PointAttractor (#241)
  • Update README of dynamical systems (#242)

controllers

  • Add IController and ControllerFactory and refactor Controllers (#253, #254, #255)

python

  • Add python bindings for dynamical_systems module (#238)

clproto

  • Update pybindings and clproto with CartesianAcceleration (#250)

Fixes and improvements

state_representation

  • Add static method to create Parameter pointer (#226)
  • Templated get_value method for Parameter (#228)
  • Mark the JointState as filled when one index was set (#245)
  • Add ParameterMap base class (#247)
  • Relocate Jacobian and JointState family files to the 'space/' directory (#249, #251)

python

  • Add support for copy module in Python bindings (#232)
  • Add empty constructors and python bindings for the
    Shape and Ellipsoid classes (#235)

general

  • Install Eigen version 3.4 manually (#240)

Behind the scenes

  • Fix tag generation for release docs (#225)
  • Add user sshd configuration and user 'developer' in base Dockerfile
    and update all the Dockerfiles and scripts (#244, #246)
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