0.22.5

What's Changed

• bookmark:0.22.4 by @Beomyeong in #72
• 🔖0.22.4 by @Beomyeong in #73
• Release/0.22.5 by @Beomyeong in #74
• Deleting unnecessary while statement by @Beomyeong in #75
• Switched to full precision when throwing exception. by @SylvainBertrand in #62

Full Changelog: 0.22.4...0.22.5

0.22.4

What's Changed

• Feature/fix polygon by @rjgriffin42 in #71

Full Changelog: 0.22.3...0.22.4

0.22.3

What's Changed

• ⬆️ ihmc-commons 0.35.1 by @ds58 in #70

0.22.2

What's Changed

• Upped commons version to 0.34.0
• Rolled back the randomAxisAngle method to guarantee it exists on a unit sphere, and fixed the corresponding tests.

Full Changelog: 0.21.0...0.22.2

0.22.0

• Updated the github workflow and added the build status to the ReadMe
• pulled in missing tools that had been developed on the ihmc-open-robotics-software repository
• added a FramePlane3D object from open-robotics, as well as FramePlane3DBasics, FixedFramePlane3DBasics, and FramePlane3DReadOnly interfaces to match the standard Euclid format
• Pulled in the QuaternionCalculus tools to allow for extracting quaternion rates from angular velocities and accelerations, as well providing an easy SLERP function.
• Pulled in PoseReferenceFrame, Pose2DReferenceFrame, and TranslationReferenceFrame as basic reference frame implementations.

Release notes

Changes:

• Expanded setMatchingFrame API for frame pose 2D/3D, frame tuple 2D/3D/4D.
• New tools around positive definite 3D matrices.

Updated dependencies:

• ihmc-ci 7.7 -> 8.3
• ihmc-build 0.29.0 -> 0.29.4

Release notes

Changes:

• New naming restriction framework for controlling reference frame creation.

Updated dependencies:

• ihmc-ci 7.6 -> 7.7
• ihmc-build 0.28.6 -> 0.29.0

Release Notes

This is minor release to address a limitation of EuclidCoreTools.epsilonEquals(...). The method now handles Double.POSITIVE_INFINITY and Double.NEGATIVE_INFINITY.

Updated dependencies:

• ihmc-commons: 0.31.0 -> 0.32.0
• ihmc-build: 0.28.2 -> 0.28.6

Release notes

The main change in this release is the optimization of some common methods for convex polygons, affecting both ConvexPolygon2D and FrameConvexPolygon2D:

• set methods are a little smarter and copies the data over when possible to avoid having to update the polygon which is expensive.
• translate method skips the update by directly translating the bounding-box and centroid.
• applyTransform and applyInverseTransform re-order the vertices if needed to avoid relying onto the update to do so.
• Switched to doing lazy updates for the bounding box, area, and centroid of a polygon. They are only updated (if needed) when their respective getter is called.

Other changes include:

• Introduction of a new enum Location
• Used the new Location to improve methods in EuclidGeometryTools:
  • added: whichPartOfRay2DIsPoint2DOn, whichSideOfLine2DIsPoint2DOn, whichSideOfPlane3DIsPoint3DOn
  • deprecated some methods which signature was deemed confusing: isPoint2DOnSideOfLine2D, isPoint3DAboveOrBelowPlane3D
• Updated EuclidFrameTools to keep up with EuclidGeometryTools changes.
• Moved list operations from EuclidGeometryPolygonTools to EuclidCoreTools and added garbage free implementations of Collections.reverse(...) and Collections.rotate(...) while also allowing to specify a range of the list to be modified.

Updated ihmc-build from 0.28.0 to 0.28.2

Release notes

This release addresses issues of the version 0.18.0.

• Added FrameTorus3D and its interfaces.
• SupportingVertexHolder is no longer an EuclidGeometry. It didn't provide any benefit and made implementation of the interface more tedious and didn't make much sense. The shapes remain implementations of EuclidGeoemetry/EuclidFrameGeometry.
• Made the various final types implement Settable<T> again.
• Added EuclidFrameTestTools back but only with the assertion methods for EuclidFrameGeometry.
• Added equals methods in EuclidCoreTools:
  • boolean EuclidCoreTools.equals(EuclidGeometry, EuclidGeometry)
  • boolean EuclidCoreTools.epsilonEquals(EuclidGeometry, EuclidGeometry, double)
  • boolean EuclidCoreTools.geometricallyEquals(EuclidGeometry, EuclidGeometry, double)
• Added in EuclidFrameTools the equals methods for EuclidFrameGeometry:
  • boolean EuclidFrameTools.equals(EuclidFrameGeometry, EuclidFrameGeometry)
  • boolean EuclidFrameTools.epsilonEquals(EuclidFrameGeometry, EuclidFrameGeometry, double)
  • boolean EuclidFrameTools.geometricallyEquals(EuclidFrameGeometry, EuclidFrameGeometry, double)