v2.3.2

RigidBodyDynamics v2.3.2

Diff since v2.3.1

Closed issues:

• Is modelling flexible links sensible with RigidBodyDynamics.jl? (#613)
• Non-allocating construction of externalwrenches (#615)
• NaN Values in Simulation with QuaternionSpherical Joint (#617)

Merged pull requests:

• Fix numerical epsilon check in rotation_vector_rate. (#618) (@tkoolen)
• Bump version for patch release (#620) (@tkoolen)

v2.3.1

RigidBodyDynamics v2.3.1

Diff since v2.3.0

Closed issues:

• Unexpected allocations in point_jacobian! in Julia 1.5.1: (#590)
• Update the Project.toml and release a new version (#595)
• some puzzle at spatial acceleration transition (#597)

Merged pull requests:

• CompatHelper: bump compat for "Reexport" to "1.0" (#596) (@github-actions[bot])
• Update compat to include StaticArrays 1.0 (#598) (@kevin-tracy)
• Removes unnecessary call to setdirty! in examples 1 and 3 (#599) (@ferrolho)
• Try turning on GitHub CI (#601) (@rdeits)
• Fix bug in test that causes occasional test failure on Julia 1.5. (#603) (@tkoolen)
• Rm travis CI config. (#604) (@tkoolen)
• Fix broken allocation test on 1.5 (#605) (@tkoolen)
• Update example deps and reenable testing of sympy and interval arithmetic examples (#606) (@tkoolen)
• Better way to transform spatial inertias (#607) (@tkoolen)
• Update benchmark results (#608) (@tkoolen)

v2.3.0

RigidBodyDynamics v2.3.0

Diff since v2.2.0

Closed issues:

• URDF.parse and LightXML fail during precompilation (#581)
• SymEngine.jl in future (#586)
• Body wrench from forces applied at different points (#589)

Merged pull requests:

• Add benchmark for simulate. (#575) (@tkoolen)
• Add UnorderedPair. (#576) (@tkoolen)
• Adds missing using Base: promote_eltype to contact.jl module (#578) (@ferrolho)
• Add base.view overloads for SegmentedVector. (#579) (@tkoolen)
• Install TagBot as a GitHub Action (#582) (@JuliaTagBot)
• CompatHelper: bump compat for "LightXML" to "0.9" (#583) (@github-actions[bot])
• Update Rotations.jl to 1.0 (#587) (@rdeits)
• Bump version to 2.2.1 and mark broken tests (#591) (@rdeits)
• bump minor version (since Julia compat changed) (#600) (@rdeits)

v2.2.0

Adapt to dependency changes.

v2.1.1

Fix for missing contact points after remove_fixed_tree_joints! call

v2.1.0

• Change over from Jupyter notebooks to Literate.jl source files (from which both Markdown documentation and Jupyter notebooks are generated) (#489)
• Minor parse_urdf API update (#552). Although this is technically a breaking change, I doubt anyone was relying on the old behavior already, hence the minor version update.

v2.0.0

This is a major version update not because it contains a lot of changes, but because (by semantic versioning rules) it contains breaking API changes. Unfortunately it wasn't possible to provide deprecation warnings in all cases this time. Please refer to the linked pull requests for more information.

• Improve mechanism modification API (#534, breaking)
• Change multi-threading behavior of StateCache, DynamicsResultCache, SegmentedVectorCache (#549, breaking)
• Fully switch to Project.toml setup.
• Add findbody and findjoint methods that take BodyID/JointID arguments (#543)
• Upgrade SymPy for symbolic double pendulum notebook example (#544)

v1.4.0

• Add unexported configuration_index_to_joint_id / velocity_index_to_joint_id (#523)
• More transpose overloads and mul! / * methods involving matrix types from the Spatial module (#524, #526)
• Make constructing MechanismStates threadsafe by not using canonicalize_graph!(mechanism) in the constructor anymore (#525)
• Improve support for FixedPointNumbers (#527)
• clean up mass_matrix!, constraint_jacobian!, momentum_matrix! (#532, #537)
• stop recommending the use of the --fastmath flag

v1.3.0

• modest performance improvements due to more inlining (#522)
• improve API and documentation for SpatialInertia construction (#521)

v1.2.0

• Add SinCosRevolute joint type (#512)
• More parse_urdf API improvements (#513, fixes #504 and adds more features)
• Consistently omit normalization for quaternions except in normalize_configuration! (#514)
• Compatibility with StaticArrays >= 0.9 (#515)