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Change Log

Introduction

Drake is undergoing continuous development and cannot yet offer a stable API. To help downstream users cope, this document provides brief summaries of user-facing changes.

Unreleased: changes on master, not yet released

Added

  • #2602 Added DRAKE_ASSERT and DRAKE_DEMAND macros to replace built-in assert() macro.
  • #2621 Added DRAKE_DEPRECATED macro for portable deprecation.

Changed

  • #3902 Moved all System 1.0 code to drake/system1/ subdirectory.
  • #3253 Moved all MATLAB code to drake/matlab/ subdirectory.
  • [#3605][] Deprecated KinematicsCache::getNumPositions() and KinematicsCache::getNumVelocities() in favor of KinematicsCache::get_num_positions() and KinematicsCache::get_num_velocities().
  • #3566 Replaced number_of_foo() with get_num_foo().
  • #3276 The measure::execution() function has been replaced by MeasureExecutionTime().
  • #3246 Replaced RigidBody::hasParent() with RigidBody::has_mobilizer_joint().
  • #3191 All matlab solvers code moved from solvers/ to matlab/solvers/.
  • #3183 The gflags library is now a required dependency from the superbuild.
  • #3168 Renamed RigidBodyTree::findAncestorBodies() to be RigidBodyTree::FindAncestorBodies(). Modified method to return the results rather than store them in a parameter.
  • #3157 Renamed RigidBodyTree::findJoint() to be RigidBodyTree::FindChildBodyOfJoint() and RigidBodyTree::findJointId() to be RigidBodyTree::FindIndexOfChildBodyOfJoint().
  • #3115 Modified SDF parser method names to be style guide compliant and more meaningful.
  • #3078 Changed RigidBodyTree::kWorldLinkName to be RigidBodyTree::kWorldName.
  • #3056 Renamed methods that add model instances to RigidBodyTree and RigidBodySystem.
  • #3049 Changed AddRobotFromURDF* to be AddModelInstanceFromURDF*.
  • #3003 Made RigidBodyFrame member variables private. Added accessors.
  • #3010 All header file names under solvers are now spelled with lower case and underscore names.
  • #2984 Renamed and moved Polynomial.h and TrigPoly.h from drake/util to drake/common and into the drakeCommon library.
  • #2963 Rename RigidBody::CollisionElement to RigidBodyCollisionElement.
  • #3003 Made RigidBodyFrame member variables private. Added accessors.
  • #2997 Renamed drake/Path.h to drake/common/drake_path.h
  • #2983 Renamed namespace Drake to be drake.
  • #2923 Updated member variables of RigidBodyLoop and RigidBodActuator to conform to style guide.
  • #2913 Made RigidBody::com and RigidBody::I private. Added accessors for them.
  • #2911 Made RigidBody::contact_pts and RigidBody::mass private. Added accessors for them.
  • #2909 Made RigidBody::collision_element_ids and RigidBody::collision_element_groups private. Added accessors for them.
  • #2908 Made RigidBody::visual_elements private. Renamed accessors based on style guide to be RigidBody::AddVisualElement() and RigidBody::GetVisualElements().
  • #2907 Made RigidBody::position_num_start and RigidBody::velocity_num_start private. Renamed accessors to conform to style guide.
  • #2905 Made RigidBody::body_index private. Added necessary accessors.
  • #2904 Made RigidBody::parent private. Re-named it to be RigidBody::parent_. Added necessary accessors.
  • #2903 Made RigidBody::robotnum private. Re-named it to be RigidBody::model_id_.
  • #2902 Made RigidBody::model_name_ private. Re-named RigidBody::model_name() to be RigidBody::get_model_name(). Added RigidBody::set_model_name().
  • #2900 Made RigidBody::name_ private. Re-named RigidBody::name() to be RigidBody::get_name(). Added RigidBody::set_name().
  • #2666 Changed TWIST_SIZE to drake::kTwistSize
  • #2597 Changed RigidBodyTree::findLink() to be RigidBodyTree::FindBody().
  • #2426 Changed RigidBodyTree::findLinkId() to be RigidBodyTree::FindBodyIndex(). Updated APIs of RigidBodyTree, RigidBody, RigidBodyTree, and RigidBodyFrame to support notion of a "model ID" that uniquely identifies a model within a RigidBodySystem. This enables the same SDF file to be loaded multiple times into the same RigidBodySystem.
  • #2303 The following member variables should now be accessed via accessor methods: RigidBody::linkname, RigidBody::model_name, RigidBodyTree::num_positions, and RigidBodyTree::num_velocities.
  • #2325 The following member variable should now be accessed via an accessor method: RigidBodyConstraint::robot.
  • #1992 Matlab tests must now be explicitly listed in CMakeLists.
  • #1970 The drake pod Makefile now includes the install action.
  • #1953 Replace valuecheckMatrix() with CompareMatrices().
  • #2018 Fix capitalization of Constraint and OptimizationProblem APIs to match style guide.
  • #2415 Require CMake 3.5 or higher to configure and build.
  • #2779 Move some rotation functions from drakeGeometryUtil to drake/math.

Removed / Deprecated

  • #4936 Drake's MATLAB support on OSX has been removed.
  • #3973 The common/drake_export.h header is deprecated and will be removed.
  • #3685 Remove support for the Windows platform.
  • #2610 RigidBodyTree::getContactPositions and ::getContactPositionsJac are removed.
  • #2102 Macports and Cygwin are no longer supported.
  • #2067 core/Core.h is removed.
  • #2039 Ubuntu 12.04 Trusty is no longer supported.
  • #2809 Building the Drake superbuild as a POD is no longer natively supported. Use https://sourceforge.net/p/pods/svn/HEAD/tree/Makefile if you require this functionality.

Fixes

  • #2027 Realtime C++ tests no longer fail under ctest.
  • #2008 Drake::simulate(4-arg) actually compiles again now.
  • #1990 Windows builds that include bullet are working again.
  • #1975 Fix coordinate frame error in rigid body collisions.
  • (Assorted) Non-functional fixes for cpplint compliance.

Note that not all changes since v0.9.11 have been captured above. Only changes since approximately 2016-04-01 are noted.

v0.9.11 (2015-10-08)

Changes in version v0.9.11 and before are not provided.