Release v0.8.0

[0.8.0] - 2024-08-07

Bug Fixes

• Use py3.11 as it still ships pkg_resources by default which docstr-coverage needs (25d649f)
• Issue was with CI.yml not installing jdrones (7898915)
• Check for different env types (5aae992)
• Check for different env types (d24b766)
• Legacy imports (f6f196c)
• Tensorflow-probability 0.24.0 not compatible with sbx 0.12.0 (6441dc2)
• Reset to initial state z not current z (5679bf1)
• Re-added is_success logging (f429dd1)
• Switch to vector-based velocity method (04ea745)
• Enable policy net_arch for RecurrentPPO to be customizable from the CLI (dcea513)
• Success distance is 1 not 1.5 (32e96bd)
• Don't break the loop if a target is reached to ensure that time stays synchronized (7a2db4a)
• Switch to SB3's DummyVecEnv to handle the multi-env logic (29bbe52)
• Properly handle collision reward (703274e)
• Ensure eval env is the same as training env (3a7833f)
• Re-include time in the observation (a5c30e4)
• Ensure observation is (1,X) in shape (a7ee23c)
• Disable JIT for codecov, but also run the same setup with jit without codecov (4f2e626)

Documentation

• Quick readme for the drl example (e1cdc81)

Features

• Install pytest-testmon from git and run in CI (#61) (b54d03b)
• Switch to Hatch from setuptools (8ce1d14)
• Energy consumption (5dc0a29)
• Energy consumption (23ca884)
• Energy consumption (75c28be)
• DRL controlled drone going from A to hovering at B (675947e)
• A working DRL example with plotting (2e42527)
• Use optuna for hyperparameter sweep in DRL example (f244822)
• A working DRL example with plotting (34014e2)
• Add wandb to example (a5204d3)
• LQR+DRL meta-controller framework (2be6be6)
• Additional eval logging (da18e46)
• Change LQR tuner to be velocity centric (c0f4849)
• Add 2D plot to graphing callback (38b4a5e)
• Swap to velocity-based action space (3afe0a2)
• Add colors and circles to 2D position plot to show the targets, their radius and order (e8d6e71)
• Multi-env DRL (d21b26d)
• Extend to any n env (04d3e72)
• Number of sub-envs from CLI (91209c0)
• Tensorboard and optuna for the 3d drl example (73bed0d)
• Optimal quintic poly trajectory generation (aa8b488)

Miscellaneous Tasks

• Remove the status updater. Was causing more issues than was worth. (bd80432)
• Bump pandas from 2.0.0 to 2.1.0 (51ff0a1)
• Bump pydantic from 1.10.6 to 2.3.0 (2f309aa)
• Bump gymnasium from 0.28.1 to 0.29.1 (234a5bb)
• Bump actions/download-artifact from 3 to 4 (0f3299c)
• Bump actions/setup-python from 4 to 5 (d56ff9e)
• Bump actions/upload-artifact from 3 to 4 (d406f45)
• Flake8 config in .flake8 ini file (871c0ca)
• Explicitly add gitignored file version.py (c2d4183)
• Use requirements.txt file for all so that dependabot can auto-update (6b68265)
• version -> _version to avoid name conflicts (f93a6df)
• Bump seaborn from 0.12.2 to 0.13.2 (3af4c7b)
• Bump matplotlib from 3.7.1 to 3.8.3 (0f7149f)
• Bump codecov/codecov-action from 3.1.1 to 4.0.2 (dd37dc5)
• Bump orhun/git-cliff-action from 2 to 3 (e4c9070)
• Bump JamesIves/github-pages-deploy-action (71b93c7)
• Bump actions/checkout from 3 to 4 (465029a)
• Bump scipy from 1.10.1 to 1.12.0 (386e883)
• Bump numpy from 1.24.2 to 1.26.4 (8a02a35)
• Bump pydantic from 2.3.0 to 2.6.2 (ff1f8a6)
• Bump codecov/codecov-action from 4.0.2 to 4.1.0 (bb6c90e)
• Bump pandas from 2.1.0 to 2.2.1 (cd083b1)
• Bump pydantic from 2.6.2 to 2.7.1 (a10848d)
• Add a fifth action that controls the scaling of the propeller actions (17a6e79)
• Switch to using "unwrapped" (a5467e2)
• Import order (d6f9879)
• Further edits to energy example (5371a38)
• Try out sbx [(556968c)](https:...

Release v0.7.2

[0.7.2] - 2023-04-26

Bug Fixes

• Proper type casting to np.float64 (0b2b805)
• Ignore init for doctests due to circular import errors (3cfb121)
• Inherit the action space from the base clase (423ce55)
• Skip CI jobs/steps that interact with outside resources if triggered by bot (6e5c357)
• Set stack=True to ensure state observations are stacked (edf45d5)

Documentation

• Docstring for new DType and FloatLike types (dd9551a)
• Describe the reason behind the util functions for step (25ffe00)

Miscellaneous Tasks

• Replace np.matrix with np.array (5ab2a94)
• Bump loguru from 0.6.0 to 0.7.0 (edfb2ca)
• Bump gymnasium from 0.27.1 to 0.28.1 (7068122)
• More sensible dependabot settings to prevent the PR spam (29e781e)
• Update changelog for v0.7.2 [skip pre-commit.ci] (b50132b)

Performance

• Optimize numpy state update code for non-linear drone model (7de713f)
• Use caching to pre-calculate time invariant params (154f3af)
• Use caching to pre-calculate mixing matrix for drone plus (a0a207f)

Refactor

• Stop using @Property for action and observation spaces (3b89837)

Testing

• More testing for trajectories (b66d7ca)
• Test URDFModel hashing capabilities (ebfbcba)
• Test the cached model data accessing method (c4b92c5)

Release v0.7.1

[0.7.1] - 2023-04-05

Bug Fixes

• Reset was calling States(States(...)) causing invalid shaped arrays) (901cb08)
• Use local version of jdrones. Installing it previously means that a cached version could be used during unit testing (3343d30)

Documentation

• Add new gymnasium env names to README (dffdde7)
• Fifth order polynomial with look-ahead drone env (bc79fa6)

Miscellaneous Tasks

• Clean up imports (16b2b94)
• Update changelog for v0.7.1 [skip pre-commit.ci] (8926597)

Testing

• Fifth order polynomial with look-ahead drone env (ccdf8eb)

Release v0.7.0

[0.7.0] - 2023-04-05

Bug Fixes

• Position drones would crash if target position was the same as current position (1e97511)
• White space in doctest for PID (ce9ef68)
• White space in doctest for PID (09585ab)
• Option to not show, to enable saving of figure (8c004df)
• Reset was calling States(States(...)) causing invalid shaped arrays) (f8c3233)
• Use local version of jdrones. Installing it previously means that a cached version could be used during unit testing (6a1edb3)
• Improve consistency between docstrings and code (#45) (2e1a819)

Documentation

• Add gymnasium env names to README (42361c1)
• Add gymnasium env names to README (3a1da91)
• Fifth order polynomial with look-ahead drone env (fe55815)
• Add new gymnasium env names to README (a94a720)

Features

• Move state labels to an enum to ensure consistency across the codebase (c4e5229)
• Plotting utility functions (1da6998)
• Allow velocity as an input to the polynomial position envs (13cc6de)
• Fifth order polynomial with look-ahead drone env (5f9d8bd)

Miscellaneous Tasks

• Add new plotting module in notebook quick setup (5cc8fc9)
• Use new plotting utility functions (ec60216)
• Add matplotlib and seaborn as a requirement (72f99ae)
• Bump pandas from 1.5.3 to 2.0.0 (2f2f1dd)
• Proper axis labels for 3D path plot (f6c03aa)
• Proper axis labels for standard plots (585d2d3)
• Clean up imports (b8ef4a5)
• Update changelog for v0.7.0 [skip pre-commit.ci] (f9b1512)

Refactor

• Change gymnasium env names + doctests (74d37a6)
• Change gymnasium env names + doctests (3e0d4e6)

Testing

• Add proper doctests into files (9e134dc)
• Add proper doctests into files (063c55e)
• Fifth order polynomial with look-ahead drone env (3aa4e30)

Release v0.6.0

[0.6.0] - 2023-03-16

Bug Fixes

• Use \mathbf instead of \textbf to ensure symbols are being rendered correctly (96e9376)
• Python versions (was >3.8, now is >3.10) (8f5e9f7)
• Use short ref in docstr-cov CI (ae6bf2a)
• Use python 3.10 to build the package in the CD (320a88c)
• --no-deps for wheels to only build jdrones and none of the deps (7b8599d)

Documentation

• Docstr for parent poly traj class (3874400)
• Docstring for Controller base class (0c7c2c6)
• Docstring for AngleController (8daafa2)
• Docstring for PID (3a5fbd5)
• Docstring for LQR top-level (fdaed6a)

Features

• Extract integration test markers to seperate package (pytest-extra-markers) (f0453b2)
• Stabilize the simple position drone by using a straight line trajectory (35d3b70)
• Update check status for docstr-cov (a3f275c)

Miscellaneous Tasks

• Bump nptyping from 2.4.1 to 2.5.0 (2d615da)
• Update graphics (d30bb66)
• Update changelog for v0.5.3 [skip pre-commit.ci] (482652c)
• Bump pandas from 1.3.4 to 1.5.3 (9051ed2)
• Bump pydantic from 1.10.4 to 1.10.6 (5b69bd5)
• Update changelog for v0.6.0 [skip pre-commit.ci] (a183231)
• Delete changelog for redo of v0.6.0 [skip pre-commit.ci] (b8c872d)
• Update changelog for v0.6.0 [skip pre-commit.ci] (1b98622)
• Delete changelog for redo of v0.6.0 [skip pre-commit.ci] (85b3de8)
• Update changelog for v0.6.0 [skip pre-commit.ci] (b714e69)

Testing

• Search for jdrones envs rather than manually specify them (4198604)
• Use syphar/restore-virtualenv@v1 to cache the python venv (f57d4fc)
• Build the wheel for jdrones as part of the CI (a457ba5)

Release v0.5.2

[0.5.2] - 2023-03-02

Bug Fixes

• Set up git cliff to output proper markdown for prettier releases (4a54e72)

Miscellaneous Tasks

• Update changelog for v0.5.2 [skip pre-commit.ci] (1e446c9)

Release v0.5.1

[0.5.1] - 2023-03-02

Bug Fixes

• Rename job to match what's going on (caching all deps, not just PB) (09c1b99)
• Set up git cliff to output proper markdown for prettier releases (5c5fa10)

Miscellaneous Tasks

• Clean up old jpdmgen references (2647eca)
• Update changelog for v0.5.1 [skip pre-commit.ci] (02852e2)

Release v0.5.0

All notable changes to this project will be documented in this file.

[0.5.0] - 2023-03-02

Bug Fixes

• Make velocity depend on the yaw error (55e3e09)
• Update states after step (e768caf)
• Small changes to simplify drone model (6c540a5)
• General controller as return, rather than PID (c7a0f3c)
• Top-level collect errors (9d8bd3f)
• Remove and add the appropriate envs (19e835e)
• Incorrect classmethod implementation (df08a83)
• Bug in PID code after updating to Controller parent class (93a6a5a)
• Add all in the dir. Controlling what gets published is done via VSC (92db0a8)
• Droneenv -> pbdroneenv as per conftest (9b7d206)
• Sign changes due to linear model direction changes in d394ad6 (72ab2cb)
• Top level warning at every import to warn about the different coordinate systems in use (67d330a)
• Other dependencies were causing huge increases in CI build time, so just cache them all for now (efd7e00)
• Stupid dumb typo... (1702be4)
• Correctly define drone motors (1860e97)
• Simulation_name -> tag (80e3fa8)
• Add condition within PositionDroneEnv to truncate sim if any value is nan (024387b)
• Update docs to reflect changes in f56225d (previously forgot to do this) (4ff1508)
• Typo (8af69f8)
• Correction on the maths. This step is done elsewhere (3d8a93c)
• Oversight from aa0e1e3 after refactor (a011166)

Documentation

• Incude PositionDroneEnv (f488f7b)
• Docstring for LQR solve (1730bdf)
• Catagorise example notebooks (9fd5531)
• Include trajectory code in docs (3057bd0)
• Full docs (incl. maths) for QuinticPolynomialTrajectory (53b56c1)
• Explain cost function within get_reward() (b175e1c)
• Docs for BasePositionDroneEnv (aa0e1e3)
• Docs for PolyPositionDroneEnv (95d28d0)
• Docs for LQRPositionDroneEnv (52ab54f)
• Fix intersphinx links (5e0a308)
• Update README.md to show how to run all types of tests (dcb07b2)

Feat

• GA-tuned LQR (d35f8b2)

Features

• Allow wrappers to be added to the sub-env (647cc1f)
• Implement nonlinear, linear, and nonlinear PB3 models (d394ad6)
• Create helper functions for both rpm->rpyT and vise versa (6aea072)
• LQR controlled drone env (eb30f2d)
• Helper functions and classes to make going from and to state logs easier using pandas (8fd2b89)
• Lqrdroneenv fixture (4e725fc)
• Use scipy (f8c96a1)
• PositionDroneEnv (11e812d)
• Visually validate models to step inputs (6123dd2)
• Position example (8a3c694)
• Import script to make the imports less clunky across scripts (4000218)
• Positiondroneenv fixture (345c5e8)
• MPC Drone Example (80f4458)
• Add pandas (450c653)
• Quaternion multiplication (083e53f)
• Rotate state by quat (8aeba67)
• Ensure all models use RHR coordinate system, consistent with URDF and other sim packages (2e90952)
• Polynomial trajectory drone env (7ef1768)
• Stress test the position environments to ensure they don't crash over time (513dcf2)

Miscellaneous Tasks

• Clean up application of forces and torques to use body (d6b2ed4)
• Commit before deleting, to save the current state of the AttitudeAltitudeDroneEnv (54c99a9)
• Commit before deleting, to save the current state of the VelHeadAltDroneEnv (f312e9d)
• Commit before deleting, to save the current state of the trajectory envs (fa55246)
• Update Q and R matrix gains from tuning via GA (5a0c71c)
• Fix API (be1e6c2)
• Add more test cases to transform tests (2e850c3)
• Commit before deletion for archival purposes (1b2c99c)
• Specify action space (497e74f)
• Implement reset in LQR controller and be more verbose about shape of error (eb828e1)
• Cleanup imports (e416f5b)
• Version getting (664d4aa)
• Remove (c1ac6cf)
• Update Q and R matrix gains from tuning via GA [(e59f514)](https://github.com/iwishiwasaneagle/j...

Release v0.4.0

[0.4.0] - 2023-02-09

Bug Fixes

• Getting versions via setuptools_scm.get_version in docs (9355812)
• Import errors when getting version for docs (0366a1f)

Documentation

• PID trajectory env documentation to explain the control logic (f9568f0)
• Improve envs page readability through headings which now show up in toctree (cedc2cc)

Features

• Add GPL3 headers to all project files (737214c)

Miscellaneous Tasks

• Bump numpy from 1.24.1 to 1.24.2 (55af72e)
• MathJax configurations (53fef7e)
• Add warning about this being in alpha (dbcb855)
• Update changelog for v0.4.0 [skip pre-commit.ci] (4e2afb6)

Release v0.3.1

[0.3.1] - 2023-02-03

Bug Fixes

• Install pandoc in CD pipeline (8ede886)

Miscellaneous Tasks

• Update changelog for v0.3.1 [skip pre-commit.ci] (98c3597)