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@tkoolen tkoolen released this 25 Apr 18:20
· 413 commits to master since this release
v0.6.0
c498998
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Learn about vigilant mode.

Highlights:

  • Progress towards compatibility with Julia master
  • Add an example notebook showcasing automatic differentiation
  • Put q̇ in DynamicsResult
  • Stop relying on inference so much in DynamicsResult-related code (#414). This works around inference limits that can be triggered when using ForwardDiff.
  • Fix flip_direction (called when rerooting the kinematic tree): it should flip the joint bounds as well.
  • Add support for planar joint parsing from URDF (#424) (work done by @rdeits)

Deprecations:

  • Deprecate Base.set!(state::MechanismState, x::AbstractVector) in favor of Base.copy!(state, x)
  • Deprecate state_vector(state::MechanismState) in favor of Vector(state)
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