Version 9.3.2

Version 9.3.2 is a patch that makes an empty parameter object throw when accessing its value in Python to make it behave like a C++ object.

This is the last planned release before control libraries X.

Full changelog

• fix: raise exception when accessing an empty parameter value in python (#260)

Version 9.3.1

Version 9.3.1 is a patch that introduces a reference frame compatibility check in the inverse kinematics functions of the robot model.

Full changelog

• fix: IK compatibility check (#257)

Version 9.3.0

Version 9.3.0 is a minor update that installs the protocol files of clproto along with the other generated files. Additionally, it adds a missing Python binding for a state_representation helper.

Full changelog

• feat: add state type name getter to python bindings (#248)
• feat: install proto files (#253)

Version 9.2.0

Version 9.2.0 brings better support for transformation matrices in state_representation and adds a timeout setter for
UDP sockets in communication_interfaces.

Full changelog

• feat: improve support for transformation matrices (#146)
• fix: unstable python test (#221)
• feat: improve devcontainer configuration (#230)
• chore: format code (#235)
• ci: allow workflow dispatch for rc images (#234)
• feat: add timeout setter for udp sockets (#728)

Version 9.1.0

Version 9.1.0 adds integrate and differentiate methods to relevant Cartesian and joint states to allow integration and differentiation with double types as well as chrono types. Additionally, this version improves the performance of the Inverse Kinematics algorithm in the
robot_model` library.

Full changelog

• feat: add integrate and differentiate methods to Cartesian and joint types (#193)
• fix(robot-model): improve ik performance (#205)

Version 9.0.1

Version 9.0.1 is a minor version update that exposes Cartesian and Joint state utility functions from the corresponding state_representation classes.

Features

It is now possible to convert CartesianStateVariable and JointStateVariables from and to std::string.

Full changelog

• feat(state-representation): add utilities for CartesianStateVariable (#195, #201)
• feat(state-representation): add utilities for JointStateVariable (#197, #201)
• feat(robot-model): add clamp_in_range function for individual JointStateVariable (#194)

Version 9.0.0

Version 9.0.0 is a new major version of control libraries that is built on Ubuntu 24.04 with Python 3.12. It does not
contain any new features or fixes compared to version 8.1.0.

Version 7.4.1

Version 7.4.1 is a retro-active patch that adds metadata to the final control-libraries Docker image required for aica-technology/package-builder:v1.

Version 8.1.0

Version 8.1.0 adds a new module called communication_interfaces to the control libraries. This is a library for
simple socket communication and was previously developed in a different place. It currently implements sockets for UPD,
TCP, and ZMQ communication.

Full changelog

• feat: migrate communication interfaces (#190)

Version 8.0.0

Version 8.0.0 is a major update that adds new state types and collision detection features to control-libraries.

Breaking changes

robot_model

As part of the collision detection features in robot_model::Model, the dependencies of the robot_model module have
changed which constitutes a breaking change that requires users of the module to rebuild their code.

General

As of version 8.0.0, the develop branch will be deleted and the Linear Git-Flow workflow will be abandoned in favor of
easier release cycles (see CONTRIBUTING). Additionally, the development-dependencies and
proto-dependencies images will no longer be supported or maintained.

Features

The robot_model module now supports collision detection features from pinocchio, allowing to retrieve minimum
distances between links.

General

The behind-the-scenes structural improvements to the build system and the CI that have existed in parallel since version
7.1.0 have now replaced the legacy build system with multiple shell scripts and Dockerfiles. All information regarding
building and using control-libraries should still be available in the READMEs.

Full changelog

• feat: add metadata to docker image (#188)
• chore: touch up workflows and documentation (#181)
• feat: update demos directory (#179)
• fix: update copy constructor to avoid warnings (#180)
• build: remove deprecated Dockerfiles and scripts and update installation instructions (#176)
• refactor: optimize copy and swap constructor for robot model (#174)
• fix: refactor cmake project to deal with robot model dependencies (#178)
• feat: integrate minimum distance calculation feature into robot model(#167)
• ci: update workflows (#175)
• feat: integrate collision detection feature into robot model (#163)
• ci: use caching from docker to run tests in CI (#169)
• build: add missing licenses (#170)
• feat(build): handle installation and linking of dependencies for pinocchio collision support (#161)