From aa0fdc8e5cdf2210028bdb9d055cabc325aed780 Mon Sep 17 00:00:00 2001 From: Pierre Gergondet Date: Fri, 8 Jul 2022 15:51:37 +0200 Subject: [PATCH] Release v1.11.0 Highlights === `mc_rbdyn::Frame` and `mc_rbdyn::RobotFrame` have been introduced. This removes the unnecessary distinction between bodies and surfaces that has existed in the framework. (#247) API breaks === - `mc_rbdyn::Robots` cannot be created directly anymore, one has to go through a factory function (#247) - `mc_rbdyn::Robots` stores indiviual robot as pointer and in particular `robots.robots()` returns a self reference instead of `vector`, `Robots` behaves a little more like a vector now to mitigate the impact of this change (#247) - `EndEffectorTask` and co. cannot use a `bodyPoint` in their constructor anymore, proper frames should be used instead (#247) - `VectorOrientationTask` and co. cannot set or get the `bodyVector` after the fact anymore (#247) Deprecations === - Usage of `body` or `surface` in JSON/YAML is deprecated in favor of frame, the doc will only show `frame` but it should continue to work with all old JSON/YAML files (#247) - Idem for specifications of relative targets (#247) Changes === - [mc_control] Many functionalities of FSM controllers -- notably simplified contact and collision manipulations and configuration based initialization -- are now available in basic controllers (#250) Added === - [mc_control] Controllers can specify extra frames in their configuration frame (#251) - [mc_control] Controllers can specify different `init_pos` for different `MainRobot` (#251) - [mc_rbdyn] Add an overload to load a robot module with a custom name - [mc_rtc_utils] `mc_rtc::shared` is a wrapper around `std::enabled_shared_from_this` to allow reference-style API where the data is backed by a shared pointer (#247) - [mc_tasks] All tasks (when it makes sense) can accept a frame at construction (#247) - [mc_solver] `mc_solver::BoundedSpeedConstr` can be used to constraint a frame velocity (#247) - [mc_solver] Active joints in a collision can be specified via `mc_rbdyn::Collision` objects (#262) - [utils] `build_and_install` now supports Ubuntu Jammy (22.04) (#248) - [utils] `build_and_install` can now install the Panda module (#249) Fixes === - [debian] Python bindings now include mc_observers - [fsm::Meta] Fix missed iterations at the start of meta states (#257) - [mc_control] Make robot position initialization consistant (#245) - [mc_rbdyn] Fix initialization of the default body sensor (#258) - [utils] Fix issues with pip/pip3 on Ubuntu Focal (#246) - [utils] Honor forced selection of Python for mc_log_ui --- CHANGELOG.md | 14 +++++++++++++- CMakeLists.txt | 2 +- debian/changelog | 6 ++++++ 3 files changed, 20 insertions(+), 2 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 33fdac3f10..1fbba70480 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -2,6 +2,8 @@ ## [Unreleased] +## [1.11.0] - 2022-07-08 + ### Highlights `mc_rbdyn::Frame` and `mc_rbdyn::RobotFrame` have been introduced. This removes @@ -26,10 +28,15 @@ framework. (#247) JSON/YAML files (#247) - Idem for specifications of relative targets (#247) +### Changes + +- [mc_control] Many functionalities of FSM controllers -- notably simplified contact and collision manipulations and configuration based initialization -- are now available in basic controllers (#250) + ### Added - [mc_control] Controllers can specify extra frames in their configuration frame (#251) - [mc_control] Controllers can specify different `init_pos` for different `MainRobot` (#251) +- [mc_rbdyn] Add an overload to load a robot module with a custom name - [mc_rtc_utils] `mc_rtc::shared` is a wrapper around `std::enabled_shared_from_this` to allow reference-style API where the data is backed by a shared pointer (#247) - [mc_tasks] All tasks (when it makes sense) can accept a frame at construction (#247) @@ -40,8 +47,12 @@ framework. (#247) ### Fixes +- [debian] Python bindings now include mc_observers +- [fsm::Meta] Fix missed iterations at the start of meta states (#257) - [mc_control] Make robot position initialization consistant (#245) +- [mc_rbdyn] Fix initialization of the default body sensor (#258) - [utils] Fix issues with pip/pip3 on Ubuntu Focal (#246) +- [utils] Honor forced selection of Python for mc_log_ui ## [1.10.0] - 2022-04-06 @@ -467,7 +478,8 @@ mc_rtc website and tutorials are now available in [Japanese](https://jrl-umi3218 Initial release -[Unreleased]: https://github.com/jrl-umi3218/mc_rtc/compare/v1.10.0...HEAD +[Unreleased]: https://github.com/jrl-umi3218/mc_rtc/compare/v1.11.0...HEAD +[1.11.0]: https://github.com/jrl-umi3218/mc_rtc/releases/tag/v1.11.0 [1.10.0]: https://github.com/jrl-umi3218/mc_rtc/releases/tag/v1.10.0 [1.9.0]: https://github.com/jrl-umi3218/mc_rtc/releases/tag/v1.9.0 [1.8.2]: https://github.com/jrl-umi3218/mc_rtc/releases/tag/v1.8.2 diff --git a/CMakeLists.txt b/CMakeLists.txt index 4c088bc40a..c7b49ea7c3 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -12,7 +12,7 @@ endif() set(PROJECT_NAME mc_rtc) set(PROJECT_DESCRIPTION mc_rtc) -set(PROJECT_VERSION 1.10.0) +set(PROJECT_VERSION 1.11.0) set(PROJECT_URL https://gite.lirmm.fr/multi-contact/mc_rtc) set(PROJECT_DEBUG_POSTFIX "_d") set(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE) diff --git a/debian/changelog b/debian/changelog index b1a624bfc1..5c66ce8c12 100644 --- a/debian/changelog +++ b/debian/changelog @@ -1,3 +1,9 @@ +mc-rtc (1.11.0-1debian1) unstable; urgency=medium + + * Update upstream: see CHANGELOG.md + + -- Pierre Gergondet Fri, 08 Jul 2022 15:51:12 +0200 + mc-rtc (1.10.0-1debian1) unstable; urgency=medium * Update upstream: see CHANGELOG.md