- 3.0.2 Documentation
Change Log

Table of Contents

For a complete list of changes, we encourage you to check out our git repository at https://github.com/ethz-adrl/control-toolbox

Version 3.0.2

  • upgraded HPIPM to version 0.1.1, which simplified the interface for getting Riccati-matrices from the solver
  • resolved ordering-bug for box-constraints
  • switched back to differential formulation of LQ problems to maintain comparability with other solutions
  • simplified user-interface to the 7 different iLQR-style solver variants
  • removed copied code from external repos (CppAD and CppADCodeGen) and provided install script instead

Version 3.0.2

  • enabled compatibility with pure cmake (no catkin or ROS required anymore)
  • fixed bug in explicit template prespecification
  • fixed bug in exporting dependencies on external solvers
  • default linear solver for NLPs is now a non-commercial one

Version 3.0.0

  • cleaned up the state-estimation headers and fixed bugs in disturbance estimator
  • renamed a costfunction-headers to avoid naming conflicts when unzipping on windows.
  • migrating to C++14 minimal requirement
  • migrated to github

Version 2.3

  • added a nonlinear-programming based inverse kinematics solver (for fix-base systems and single end-effectors)
  • changed representation of Riccati solvers from differential to global coordinates
  • NLOC-type algorithms (iLQR, GNMS) now fully compatible with discrete-time systems.

Version 2.2

  • added switched systems, allowing for switches between dynamic models according to a pre-defined schedule.
  • projected system dynamics are now compatible with the Auto-Diff tools.

Version 2.1

  • added (in)equality constrained linear-quadratic optimal control problems
  • refactored HPIPM interface (HPIPM is a high-performance interior-point QP solver)
  • changed from pure state and state-input constraints to box constraints and general inequality constraints in optimal control problems
  • provide general in-equality constrained versions of iLQR, GNMS and their hybrid variants.
  • minor improvements to NLOCBackends

Version 2.0

Features

  • added GNMS algorithm
  • type simplifications
  • explicit template instantiation for faster compilation speed
  • improved interfaces for SNOPT/IPOPT
  • several speed improvements
  • added HPIPM interface
  • improved Auto-Diff JIT and code-generation support
  • Constraints module

Version 1.0

  • initial release