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[core] Improve C++ core code quality.
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@duburcqa duburcqa released this 24 Apr 21:00
· 106 commits to master since this release
1.6.12
8cc93c8
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Learn about vigilant mode.

Minor release mainly intended to improve C++ core code quality to make it easier to read and maintain. It also fixes the last remaining issues to easily build Boost.Python extension modules when Jiminy is installed using pip.

Improvements

  • [core] Allow arbitrary large controller update period.
  • [core] Improve error reporting by printing fully qualified function name without arguments.
  • [core] Do not shuffle first iteration cycle of 'PGSolver', and initialize indices in reverse order to make convergence (hopefully) faster.
  • [gym/common/envs] Refresh action space before observation space since action could be part of observation but not conversely.
  • [gym/examples] Automatically monitor env step 'info' on Tensorboard's histograms when using RLlib backend.

Bug fixes

  • [core] Fix computation of visco-elastic coupling forces.

Miscellaneous

  • [core] Remove C-style cast, and avoid unnecessary cast.
  • [core] Remove irrelevant virtual keywords.
  • [core] Replace (u)int32_t by std::size_t/ptrdiff_t when appropriate for clarity and portability.
  • [core] Enable implicit conversion, deprecation, c-style cast, and unused variables warnings.
  • [core] Remove all dependencies to jsoncpp in core headers.
  • [core/python] Add fallback to complementary unsigned/signed type for integers for 'convertFromPython'.
  • [gym/common/wrappers] Relax argument type of 'FilteredFrameStack' for convenience.
  • [gym/common/wrappers] Rename 'FilterFrameStack' in 'FilteredFrameStack' for clarity.
  • [gym/examples] RLlib 'evaluate' helper method now returns aggregated info over episode.
  • [gym/examples] Only log data in Tensorboard format when RLlib is used, to dramatically reduce log folder size.
  • [misc] Minor update of easy install dependencies.
  • [misc] Do not install 'robotpkg-urdfdom' binaries since 'liburdom-dev' is already installed by other easy-install dependencies.
  • [misc] Relax Ubuntu version check for easy install script since it should work on any release in practice.
  • [misc] More robust Python library finding in provided CMake configuration file.
  • [misc] Check compatibility with required jiminy version if any in provided CMake configuration file.
  • [misc] Detect Numpy headers in provided CMake configuration file.
  • [misc] Add missing boost definitions in CMake configuration file.
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