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Minor release
No due date•5/5 issues closed## Summary New features: * Lots of new functions (cos, sin, etc.), operators (plus, minus, scalar, map, etc.) and decorators (cached function etc.), * Callback system (logger, callback multiplexer), * Simple Matplotlib support for visualization, * Function pools, * Set argument names (useful for plotting). Improvements: * Support `Eigen::Ref`: now RobOptim functions accept blocks/segments of Eigen matrices as input, * Improved `CachedFunction` with LRU cache, * Automatic conversion of constraints/cost function types when creating problems, * Faster forward-difference rule for finite differences. Other changes: * Removed exception specifiers (`void function(...) ` ~~`throw()`~~) * Storage order was changed from Eigen's default (column-major) to row-major. The storage order is available in the `GenericFunctionTraits` (`StorageOrder`). * Move metaprogramming magic to `roboptim/core/detail/utility.hh` * Merge `roboptim/core/visualization/util.hh` to `roboptim/core/util.hh` ## Migration from 2.0 to 3.0 * Remove all the `throw ()` exception specifiers * For Eigen::Ref support, a new API is used. For instance, for `argument_t`: `argument_t&` ---> `argument_ref` `const argument_t&` ---> `const_argument_ref` Same goes for `vector_t`, `matrix_t`, `result_t`, `gradient_t`, `jacobian_t` and `hessian_t`. For instance, the signature of `impl_compute` was: ```cpp void impl_compute (result_t& result, const argument_t& argument) const throw (); ``` Now, it is: ```cpp void impl_compute (result_ref result, const_argument_ref argument) const; ``` The reason behind this change is that we now use `Eigen::Ref`, and const references become `const Eigen::Ref<const xxx_t>&`, while references are `Eigen::Ref<xxx_t>&`. That way, we keep signatures simple, and using `Eigen::Ref`s makes it possible to avoid both temporary allocations and extra copies, thus increasing RobOptim's performance.
No due date•17/17 issues closed