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Changelog
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# Siconos is a program dedicated to modeling, simulation and control
# of non smooth dynamical systems.
#
# Copyright 2024 INRIA.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
This is the changelog for the Siconos package, www.siconos.gforge.inria.fr.
Entries are written backwards. That is, items at the bottom
of the file were added first, and each subsequent addition is placed on a line
before it.
--------------------------------------------------------------------------------
Current (in development branch siconos/master) --> 4.5.0.rc
--------------------------------------------------------------------------------
Main changes:
* [numerics] implementation of IPM solver for gfc3d and fc3d with convex
relaxation
* [numerics] optimisation of fc2s_nsgs
* [kernel] implementation of the reduced direct assembly
* [kernel,machanics] simplify 2d and 3d contact classes
* [kernel] simplify interactions (remove useless attributes)
* [mechanics] improve 2d convex hull management
* [kernel,mechanics] update 2D relation classes avoiding relative contact points
* [io] output staticbody_number, cd_info, cd_work,
* [kernel] simplify LinearOSNS::computqBlock
* [kernel] simplify TimeSteppong methods
* [numerics] add MA57 support
--------------------------------------------------------------------------------
v 4.4.0
--------------------------------------------------------------------------------
Main changes:
[...]
* [numerics] add sparse linear solver with a sparse rhs based on csparse
* [numerics] new implementation of NM_LU_solve and NM_Cholesky_solve
* [kernel] new implementation of linear solvers in SimpleMatrix
The class SimpleMatrix owns a internal NumericsMatrix thats is used for
linear system solving, based on Siconos/Numerics
* [numerics] add balancing matrice framework
* [numerics] add freezing contacts in Gauss seidel solvers
* [externals] add LDL support
* [mechanics] modify broadphase for Bullet
* [numerics] render the truncation in NM_entry
* [numerics] add matrix versioning
* [misc] automates the generation of docker end-user images 'siconos-ready'
--------------------------------------------------------------------------------
v4.3.x
--------------------------------------------------------------------------------
Main changes:
[...]
Remove examples from siconos repository : moved to a dedicated repo
(https://gricad-gitlab.univ-grenoble-alpes.fr/nonsmooth/siconos-tutorials)
* [kernel, mechanics] implement 2D rigid bodies with Bullet contact detection.
* [numerics, kernel, mechanics] add rolling friction in 2D and 3D
* [numerics] add gfc3d_ipm
First implementation of Interior Point Method for GlobalFrictionalContact Problem
* [kernel] add SPARSE_COORDINATE type of matrices
* [numerics] add Cholesky and LDLT factorization
* [io] add raw_export from hdf5 fot plotting (gnuplot, for instance )
add edge rendering in vview
* [kernel] add SecondOrderDS as a superclass for mechanical systems
LagrangianDS, NewtonEulerDS)
* [numerics] rework the test framework for the numerics solvers
--------------------------------------------------------------------------------
v4.2.x
--------------------------------------------------------------------------------
Main changes:
[...]
* [kernel] remove Model class
* [kernel,mechanics,control,io] new API for the initilaization of simulation.
It is no longer mandatory to call for simulation initialize before running
a simulation. Warning: this modification is quit deep and changes a lot the
internal implementation of initialization of objects
* [kernel] add _relationMatrices and _relationVectors in Interaction
The objective is to be able to use modeling classes without resorting to
work matrices and vectors. Work matrices are only used for simulation purpose.
These matrices and vectors are stored in interaction rather than in Relation to
continue to be able to use just one relation in multiple interaction. If this
option continue to be chosen, we could also move relation matrices of LagrangianR
and NewtonEuler R.
* [kernel] remove work vectors and matrices, computeLinearizedOutput/Input,
prepareNewtonIteration from Relation classes.
* [kernel] Important change in initMemory of DS
The memory is only initialized if we need more steps in Memory.
This hacks is done to avoid multiple memory resetting if multiple simulations shared the same memory
In the latter case, this has to be done more carefully in the future.
* [kernel] separate initialization of DSlink and work vectors and matrices in Relation.
rename initialize --> initializeDSLink
rename initcomponents --> initializeWorkVectorsAndMatrices
* [numerics] add GFC3D_ADMM solvers
* [numerics] add NM_transpose() function and correct bug in NM_gemm()
* [numerics] add various ways of computing rho in NSN
* [numerics] add ConvexQP PG solver for LCP
* [numerics] new ConvexQP problem with PG algo
replace fc3d PG by convex PG
use ConvexQP as tangent problem in fc3d Panagiotoupoulos
* [numerics] correct the relative norm computation in LCP
* [numerics] new implementation of projected gradient algorithm for quadratic program on Cylinder
correct armijo type line search as proposed in
Calamai, P.H. and More, J.J., Projected gradient methods for linearly constrained problems, Mathematical Programming, 39 (1987), 93-116.
* [numerics] use enum for options in VI solvers EG and FPP
* [numerics] add gfc3d_VI_FixedPointProjection solver
* [mechanics] occ: new interface with OpenCascade, similar to the
interface with Bullet
* [io] mechanics_io, vview: OpenCascade Contactors, cf OCC_Examples
* [io] mechanics_io: management of external C plugins
--------------------------------------------------------------------------------
v4.1.0
--------------------------------------------------------------------------------
Main changes:
* [kernel] refactoring the initialization of classes
lazy initialization driven by the simulation classes.
move of buffer and work vectors and matrices towards the graph
* [kernel] add Simulation::prepareIntegratorForDS to link the OSI
and DS and initialize dynamically-added DSs without requiring to
access Topology.
* [kernel] Addition of std::string casting and std:iostream
compatibility for SiconosAlgebra classes ("std::cout << myvector;")
* [kernel] Addition of InteractionManager class used to manage
Interactions that exist sporadically (e.g. collisions; inherited
from in [mechanics] as SiconosCollisionManager)
* [kernel] new implementation of MoreauJeanGOSI.
* [numerics] optimization of existing frictional contact solvers.
Especially, the semismooth Newton solvers are optimized with respect to the rho
parameter. The iterative solvers are also optimized with respect to the error computation
that is now adaptive for VI_FP and VI_EG solvers
* [numerics] ConvexQP is a new class of problem for solving QP over convex set giving
the projection onto the set. New solvers for frictional contact problems have been
added based on a successive approximations by convexification.
* [numerics] new solvers for frictional contact problems based on the Panagiotopoulos
approach (alternating normal and tangent problems)
* [numerics] update and correct global friction contact solvers.
new gfc3d_VI_* solvers. Update lmgc_driver for gfc3d
* [numerics] add functionalities and test in NumericsMatrix for sparse storage
* [numerics] make more solvers storage-agnostic.
* [numerics] remove LinearSystem (superseded by NM_gesv)
* [numerics] add better error management: see the example in numerics/swig/numerics.i
Instead of exiting, the library can now handle fatal error and return
more gracefully
* [numerics] PATHVI is now supported
* [io] siconos_vview: advance time automatically during video recording
* [io] siconos_vview: optionally disable rendering of contact forces
* [io] mechanics_io: time_of_birth and time_of_death properties
added for dynamically adding/removing objects from the scene
* [io] mechanics_io: added support for joint friction, joint
stops, joint coupling.
* [io] mechanics_io: added support for position-level
DirectProjection constraint resolution method, see
examples/Mechanics/DirectProjection.
* [io] added siconos_filter: tool to manipulate mechanics_io hdf5 files.
* [io] added siconos_run: tool to execute empty hdf5 files.
* [mechanics] new system for collision handling that hides
engine-specific implementation (Bullet), see BodyDS and ContactR
classes along with SiconosShape derivatives and SiconosContactor;
plane, sphere, prism, cylinder, mesh, heightmap supported.
* [mechanics] fixed handling of initial orientation offsets in all joints
* [mechanics] abstract NewtonEulerJointR introduced, supporting
measurement and calculation of forces in the degrees of freedom;
some PID examples given in examples/Mechanics/JointsTests.
* [mechanics] new joint relations supported: CylindricalJointR, FixedJointR
* [mechanics] relations between degrees of freedom added, allowing
for joint friction, joint stops, and coupled DoFs: JointFrictionR,
JointStopR, CouplerJointR.
--------------------------------------------------------------------------------
v4.0.0
--------------------------------------------------------------------------------
Main changes:
* Software license change: GNU General Public License is replaced
everywhere by Apache license, version 2.0 except for the code in
directory named 'external' which is distributed under GNU Lesser
General Public License or equivalent.
* [numerics] overflows & NaN avoided with static analysis in generated
functions and jacobians (AlartCurnier, JeanMoreau, NaturalMap)
* [kernel] cleaning and rewriting of methods in NewtonEulerDS and NewtonEulerR
to be more explicit(avoid the use of DSlink in particular)
* [kernel] move some methods in Simulation to NonSmoothDynamicalSystem
(reset, swapInMemory, updateOutput, updateInput) and change the initialization
process. Remoce the weak_ptr to model.
* [kernel] remove DynamicalSystemsSet from OSI.
* [kernel] move simulation attibutes into the graph (WMap, W boundaryMap, ... )
* [mechanics] siconos_vview (python) : fix for the visualization of static
objects + add -vtk-exports option for the visualization with paraview
* [io] mechanics_io (python) : implementation of restart from positions and
velocities ("cold restart")
* issue: [io] serialization needs boost <= 1.57
--------------------------------------------------------------------------------
v3.8.0
--------------------------------------------------------------------------------
Main Changes:
* [control] Creation of the Control module in Siconos
* [control] add new simulation wrapper to simplify the creation of a
simulation
* [externals] Create new externals module, a collection of codes
usesd in Siconos, but written by other people. This includes CSparse,
HEM5, LSODAR, LUMOD, ...
* [kernel] Add Boundary conditions for the NewtonEulerDS and fix a bug in the
LagrangianDS boundary condition
* [kernel] Development of D1MinusLinear for NEwtonEulerDS and LagrangianDS
with Half explicit scheme at the velocity level. See paper with T. Schindler
in CMAME 2015
* [kernel] NewtonEulerDS Add internal forces and associated jacobians to improve
the convergence of the Newton loop. Remove adhoc update of T and MObjToAbs
* [kernel] MoreauJeanOSI Add a correct treatment of NewtonEuler DS with the Newton
Loop
* [numerics] Add relaxation in NSGS solvers for FC3D
* [numerics] Add SOCLCP solvers
* [numerics] Improve updating rule for FP and EG solvers for VI
* [numerics] Update LMGC drivers for GFC3D
* [numerics] add GAMS interface + new solvers for FC3D based on AVI
reformulation
* [numerics] update PATH (from M. Ferris & co) glue code
* [numerics] partial fix for lexicographic Lemke. Thanks to Tobenna Peter, Igwe
for reporting the issue. Only LCP_LEMKE is fixed for now
* [numerics] new Lemke solver with rank-one updates. Currently
experimental (unstable). This uses LUMOD from M. Saunders, SOL, Stanford
* [numerics] enhance NumericsMatrix API
* [numerics] add an HDF5 logger
################## Old Changelog files before merge
This is the changelog for the Siconos/Numerics package, www.siconos.gforge.inria.fr.
Entries are written backwards. That is, items at the bottom
of the file were added first, and each subsequent addition is placed on a line
before it.
Do not hesitate to use the emacs mode Change Log for editing this file
--------------------------------------------------------------------------------
v3.7.0
--------------------------------------------------------------------------------
Main Changes:
* add generic Newton-based with linesearch solvers for MCP and NCP
* rework LCP Solvers: fix some of them (FB and min merit functions) and add
new algorithm like Bard-type and Murty's rule.
* new AVI solver based on the work by Cao & Ferris. It is also used to
solve Relay problem
* new solver for box VI based on a merit function.
* add a callback mechanism to gather solver informations.
--------------------------------------------------------------------------------
v3.6.0
--------------------------------------------------------------------------------
Changes:
* Cleaning Doxygen warning
* Numerics/src/hairer/ Add E. Hairer ode solvers (RADAU, HEM5)
* Numerics/src/NonSmoothSolvers/MLCP/MLCP_Solvers.h New mlcp pgs SBM solver (not stable)
* Numerics/src/NonSmoothSolvers/FrictionContact/GlobalFrictionContact3D rename
Primal Friction Cintact problem into Global Friction Contact problem
* GLOBALAC -> LOCALAC: former Sparse Global Alart Curnier 3D
friction contact solver, added in 3.4.0, is renamed Local Alart
Curnier : LOCALAC ("Global" word conflicts with Global coordinates)
* GlobalFrictionContact: add Sparse global Alart Curnier solver
(GLOBALAC) : use MUMPS if present (compilation with
-DWITH_MUMPS=ON) otherwise use embedded Timothy Davis lusol
* support for sparse matrices (coordinates and csc) in NumericsMatrix
--------------------------------------------------------------------------------
v3.5.0 25/10/2012
--------------------------------------------------------------------------------
Changes:
* MixedComplementarity.* add structure and first test with FB algorithm
* MixedLinearComplementarity.* change the data structure to take into
account two storage types (M,q) and (A,B,C,D,a,b)
* Relay Fix huge bug in Relay with lb!=-1 and ub!=1
* FrictionContact Add LMGC driver. Add FrictionContact2D
solvers based on LCP reformulation and LEMKE and ENUM solvers
* LA.h: transform macros used to wrap LAPACK/BLAS functions into
static inline functions. This should not induced any loss of
performance
* Enable Numerics to be build with a C++ Compiler (needed by Visual
Studio). In this case it sets BUILD_AS_CPP.
* Misc changes for crosscompiling to Windows using mingw and Visual
Studio. The files SiconosCompat.h and SiconosCompat.c contains some
functions not defined by VS (most of them are C99)
--------------------------------------------------------------------------------
v3.4.0
--------------------------------------------------------------------------------
Changes:
* Sparse Global Alart Curnier : MUMPS verbose if Numerics verbose
mode is on (icntl(4)=0, icntl(10)=1, icntl(11)=1)
* some signatures updates for swig interface
* *.h update Doxygen documentation.
* FrictionContact renumbering FrictionContact Solver.
--------------------------------------------------------------------------------
v3.3.0
--------------------------------------------------------------------------------
Changes:
* FrictionContact3D Add ExtraGradient and HyperPlaneProjection
methods for solving 3D frictional contact problems as VI.
* FrictionContact3D Add tests and clean up old test series.
* lcp_enum deals with degenerated systems using dgels or dgesv.
* GenericMechanicalProblem: Build a reduced equivalent problem,
equalities are either substituted or written in one block.
* Sparse global Alart Curnier (with MUMPS solver) & gp line search.
--------------------------------------------------------------------------------
v3.2.0 - r2330
--------------------------------------------------------------------------------
Changes:
2010-09 Maurice Bremond <Maurice.Bremond@inrialpes.fr>
* Global Alart Curnier (dense version only)
with line search (GP)
2010-09 Vincent Acary <vincent.Acary@Inrialpes.Fr>
* fix bugs in Alart Curnier CKPS and STD
* line search (GP) added
2010 Olivier Bonnefon <olivier.bonnefon@inrialpes.fr>
* MLCP: Blocks of equalities and inequalities can be mixed.
* Solver name is replaced by an interger id.
* GenericMechanicalProblem: a problem where the equalities, inequalities and friction contact 3D are mixed.
* Quartic formulation of a unitary friction contact 3D like a polynome(artan(theta)) or a polynome of nu.
--------------------------------------------------------------------------------
v3.0.0 -
--------------------------------------------------------------------------------
Notes:
Changes:
2010-01-12 Vincent Acary <vincent.acary@inrialpes.fr>
* Start Relay solver with ENUM and Lemke scheme
2008-01-01 Olivier Bonnefon <olivier.bonnefon@inrialpes.fr>
* NonSmoothSolvers Add MLCP solvers.
2008-01 Franck Perignon <Franck.Perignon@inrialpes.fr>
* NSSpack: split into several dir (one for each solver/formulation)
=> create NSSTools, LCP ...
* Add header files
2007-11-12 Franck Perignon <Franck.Perignon@inrialpes.fr>
* NSSPack.h: split into lcp_solvers.h, pfc_3D_solvers.h ...
* Add utilities to handle with blocks-matrices in pfc_3D solvers
--------------------------------------------------------------------------------
v2.1.1 - August, 23rd 2007 (release 839)
--------------------------------------------------------------------------------
Notes:
Changes:
--------------------------------------------------------------------------------
v2.1.0 - June, 28th 2007 (release 809)
-------------------------------------------------------------------------------
Notes:
Changes:
2007-03-02 Vincent Acary <vincent,acary@inrialpes.fr>
* lcp_solver : Modification of the convergence criteria
* lcp_solver : Renaming lcp_nlgs into lcp_pgs
* lcp_solver : Renaming lcp_sor into lcp_psor
--------------------------------------------------------------------------------
v2.0.1 - December, 14th 2006 (release 626)
--------------------------------------------------------------------------------
Notes:
Main Changes:
--------------------------------------------------------------------------------
v2.0.0 - November, 30th 2006
--------------------------------------------------------------------------------
Notes:
Main Changes:
2006-10-09 Franck Perignon <franck.perignon@inrialpes.fr>
* Remove lemke routines and keep only lexicoLemke
--------------------------------------------------------------------------------
v1.3.0 - 07 september 2006 (release 567)
--------------------------------------------------------------------------------
Notes:
Changes:
2006-09-07 Pascal Denoyelle <pascal.denoyelle@inrialpes.fr>
* Add LCP solver for block matrices
* Review convergence criteria for LCP solvers
--------------------------------------------------------------------------------
v1.2.0 - (release 508)
--------------------------------------------------------------------------------
Notes:
Changes:
2006-03-24 Vincent Acary <vincent.acary@inrialpes.fr>
* INSTALL, src/Makefile.am, src/dummy.cpp
First draft of a linking strategy on MacOsX
2006-03-22 Vincent Acary <vincent.acary@inrialpes.fr>
* lcp_solver.c, lcp_sor.c, lcp_newton_FB.c, NSSpack.h
Removing not reliable solvers.
Adding Draft version of the sor algorihm and the newton based on
Fischer-Bursmeister function.
2006-02-27 Franck Perignon <franck.perignon@inrialpes.fr>
* configure.ac -> run autoupdate to remove obsolete macros.
Warning: must add insure related part after.
Keep configure.ac.old to work with older
autotools version.
2006-02-24 Franck Perignon <franck.perignon@inrialpes.fr>
* Makefile.am -> make install also install doc in @prefix@
--------------------------------------------------------------------------------
v1.1.1 - 15 February 2006 (release 421)
--------------------------------------------------------------------------------
Notes:
Changes:
2006-02-15 Vincent Acary <vincent.acary@inrialpes.fr>
* /macros/ac_f77_library_ldflags.m4 : This file is added and
replaced the system defined macro. A small correction is done
to neglect -lcrt2.o option at linking on MacOsX. This bug will
be normally corrected in further version of autoconf.
2006-02-13 Vincent Acary <vincent.acary@inrialpes.fr>
* /src/NSSpack/test/Makefile.am
Use of the variable XFAIL_TESTS for tests expected failures
2006-02-10 Franck Perignon <franck.perignon@inrialpes.fr>
Vincent Acary <vincent.acary@inrialpes.fr>
* Update macros m4 for cppunit => the same as in kernel
(this to correct install bug 494)
Minor changes in configure.ac, (--with-name rather than
--with-local-name)
* Update obsolete keywords in Doxygen config file
* Changes in headers files for odepack: add usefull functions
for Lsodar solver in Kernel.
--------------------------------------------------------------------------------
v1.1.0 - February 2006 (release 385)
--------------------------------------------------------------------------------
Notes:
Changes:
2006-01-31 Franck Perignon <franck.perignon@inrialpes.fr>
Vincent Acary <vincent.acary@inrialpes.fr>
* rename reconf.sh in autogen.sh and m4 directory in macros
Use standard acx_blas and lapack macros.
Warning: new options for configure ( -> configure --help for details )
2006-01-20 Vincent Acary <vincent.acary@inrialpes.fr>
* configure.ac, src/utils/blaslapack.h, f2c.h: Add workaround for
gcc-4.0.2 gfortran-4.0.2 and so on. Use of a local f2c.h for gcc4.
use of the macro AC_F77_LIBRARY_LDFLAGS for linking gcc and gfortran
compiled codes
--------------------------------------------------------------------------------
v1.0 - November 2005 (release 341)
--------------------------------------------------------------------------------
- Solverpack renamed in NSSPack
- Fixed warnings on invalid pointer type due to integer types
- Matlab interface
--------------------------------------------------------------------------------
v1.0 - October 2005 (release 304)
--------------------------------------------------------------------------------
Numerical algorihtms for:
- ODE time integration (odepack directory)
- LCP solvers (solverpack directory)
- Relay solvers ( " " )
- 2D and 3D contact friction solvers ( " )
--------------------------------------------------------------------------------
v3.7.0
--------------------------------------------------------------------------------
Main Changes:
* unify Relation API + rework computeh and computeg such that they
have no hidden side-effect
* First Order Relations are now stateless
* Fix newton-loop for First Order Systems + relations. The fully
non-linear case is now supported
* translation of siconos script in Python to improve portability.
* Removal of XML-related code
--------------------------------------------------------------------------------
v3.6.0 October 2013
--------------------------------------------------------------------------------
Main Changes:
* Update ublas bindings.
* Add interface to eigenproblems solvers from boost ublas (bindings)
* Fix bug in interactions (lambda's reset)
* Remove using namespace std to obtain compatible signature between .hpp and *.cpp.
Start to clean doxygen warning
* Add lambdaMemory in interaction and
rename Interaction swapInMemory --> swapInOldVariables
rename Interaction swapInTimeStepInMemory --> swapInMemory
* Complete implementation of D1MinusLinear for LagrangianDS and NewtonEulerDS.
work on serevral nonlinear examples. SliderCrank, RockingBLock, ...
* /Kernel/src/modelingTools/DynamicalSystem.cpp Rename _workspace in DS
* /Kernel/src/simulationTools/Hem5.hpp First HEM5 integration
* /Kernel/src/simulationTools/MLCP.hpp New mlcp pgs SBM solver (not stable)
* move multibodyTools in a new module : Mechanics
* Add VisitorMaker for the creation of visitors on base classes
(example of usage in Mechanics/MechanicsIO.cpp)
* Support boost up to version 1.53
* EventsManager has been rewritten and the drift in time has been
removed
* Sliding Mode Controller have been updated and improved
* SiconosAlgebra has been reworked: the interface has been clean up
and SimpleMatrix.cpp has been splitted to lower the memory used during
the compilation
--------------------------------------------------------------------------------
v3.5.0 October 2012
--------------------------------------------------------------------------------
Main Changes:
* Remove unneeded Plugin class
* Include C++ header instead of C ones (math.h -> cmath, ...)
* Misc. changes to enable crosscompilation to windows with mingw and
Visual Studio
* Transform some classes into namespace (ioMatrix, iovector, SSL).
Split SSL in 2 : SSL and SSLH (SSL Helper). The latter is the one used
in the code, the former contains the Plateform specific part.
* Remove UnitaryRelation
* SiconosAlgebra. SimpleVector is removed and now is SiconosVector.
* TimeSteppingProjectOnConstraints, TimeSteppingCombinedProjection
Rewrite entirely the code the use lambda[0] mand p[0].
Add MoreauProjectOnConstraintsOSI to use a temporary vector for
storing q before projection.
* FirstOrderType2Radd computation of computeInput
* TimeStepping add _isNewtonConverge
--------------------------------------------------------------------------------
v3.4.0 March 2012
--------------------------------------------------------------------------------
Main Changes:
* serialization hooks & some minor modifications to be boost serializable
* controlTools: add some new Actuator (PID and various SMC) and Sensor
(LinearSensor). API is not fixed yet.
* modelingTools: add a new objets ControlDynamicalSystem and
ControlFirstOrderLinearSystem aiming at providing a class handling
most details that are of no interest for control engineers
* modelingTools, simulationTools: add a bunch of copy contructor
(First Order Systems, Timediscretisation, ...)
* Fix a bug in the way we compute levels
* TimeSteppingProjectOnConstraints add treatment of Lagrangian system
Correct a bug in the construction of the Jacobian Matrix in the projection
operator.
* LagrangianR, NewtonEulerR remove useless attributes (_yProj)
* SchatzmanPaoli Add a draft (for linear systems) of the Schatzman-Paoli
scheme
--------------------------------------------------------------------------------
v3.3.0
--------------------------------------------------------------------------------
Main Changes:
* NewtonEuler: Fix a bug in nablaqT computation.
* NewtonEuler: Include nabla _v (Omega I Omega) in the OSNSP
formulation.
* computeFreeOutput in OSI. Complete move of SiconosVisitor from
LinearOSNS in OSI concerning the computation of free outputs
* FirstOrderLinearDS and Moreau OSI. Correct some evaluations for
FirstOrderLinearDS
* Moreau. Add ThetaGamma schemes (x2) for FirstOrderDS
* NSDS. Review the computation of IsLinear
* Topology. Review and change isTimeInvariant
* Moreau. Start Sparse tests for LagrangianDS
* Newton in Timestepping. Review of th global process
* MultibodyTools : interface with Bullet collision
detection (broad phase and narrow phase)
* fix a bug with multiple edges in UnitaryRelations graph and the
computation of unitary blocks
--------------------------------------------------------------------------------
v3.2.0 - r2330
--------------------------------------------------------------------------------
Notes:
Main Changes:
2010 Maurice Bremond <maurice.bremond@inrialpes.fr>
* Newton Euler Spheres under multibodyTools/3D
* unitary blocks stored on graph vertices and edges
2010 Olivier Bonnefon <olivier.bonnefon@inrialpes.fr>
* Add some examples using the NewtonEuler approach.
* GenericMechanicalProblem, a new OSNSP using the corresponding solver in Numerics.
2010-01-12 Vincent Acary <vincent.acary@inrialpes.fr>
* Add the BoundaryCondition classe to deal with the boundary conditions.
* Start RelayNSL and Relay ONSNS
* Plug Relay Driver for PGS, ENUM and Lemke scheme
--------------------------------------------------------------------------------
v3.1.0 - March 2009
--------------------------------------------------------------------------------
2009 October Maurice Bremond <maurice.bremond@inrialpes.fr>
* from get<Member>Ptr() to member()
* member prefix with _
[...]
2009 Olivier Bonnefon <olivier.bonnefon@inrialpes.fr>
* Add FirsrtOrderType2R, a type of first order relation.
* Add NewtonEulerDS, NewtonEulerR and a bouncing ball example based on the NewtonEuler.
* Add an electrical example using ideal switch.
2009 March Maurice Bremond <maurice.bremond@inrialpes.fr>
* Add SiconosGraph, to replace maps of DynamicalSystems and maps
of UnitaryRelations.
2008 December Maurice Bremond <maurice.bremond@inrialpes.fr>
* Sparse Matrix : from siconos coordinates storage to boost storage
with compress Row
2008 October Franck Perignon <franck.perignon@inrialpes.fr>
* Add DynamicalSystem Factory
* Add M(x) in FirstOrder DS
* Add Relation Factory
* Remove DefaultPlugin lib/file
* Remove Model from TimeDiscretisation
+ review of building/initialization process (to avoid cycling)
2008 September Maurice Bremond <Maurice.Bremond@inrialpes.fr>, Franck Perignon <franck.perignon@inrialpes.fr>
* Use Smart pointers utilities for memory management
=> review all files
--------------------------------------------------------------------------------
v3.0.0 - August 2008
--------------------------------------------------------------------------------
Notes:
Changes:
2007 September Franck Perignon <franck.perignon@inrialpes.fr>
* Review event-driven
* Review "sets" management
* Replace Interaction/UnitaryRelation/DynamicalSystem/Set classes
with a template class SiconosSet
--------------------------------------------------------------------------------
v2.1.1 - August, 23rd 2007 (release 839)
--------------------------------------------------------------------------------
Notes:
Changes:
2007 July Franck Perignon <franck.perignon@inrialpes.fr>
* Review SiconosAlgebra tool to improve computation times
(use ublas or ublas/atlas functions in a better way ...)
--------------------------------------------------------------------------------
v2.1.0 - June, 28th 2007 (release 809)
--------------------------------------------------------------------------------
Notes:
Changes:
2007-02-28 Franck Perignon <franck.perignon@inrialpes.fr>
* Add LagrangianRheonomousR and LagrangianCompliantR Relations.
2007-02-27 Franck Perignon <franck.perignon@inrialpes.fr>
* Review Relations organization: add/rename LinearTIR in FirstOrderLinearTIR,
add derived classes for LagrangianR.
2007-02-08 Franck Perignon <franck.perignon@inrialpes.fr>
* Add a module controlTools
* Add Sensor, SensorFactory and SensorEvents in controlTools
* Add an EventsFactory
* Add EventsManager in Simulation (before: only present in EventDriven case)
* Create a "main" header file for each XXXTools location + one "SiconosKernel.h"
2007-01-30 Franck Perignon <franck.perignon@inrialpes.fr>
* Add an abstract DynamicalSystem class, base of FirstOrder, Lagrangian ...
* Rename DynamicalSystem in FirstOrderDynamicalSystem, LinearDS in FirstOrderLinearDynamicalSystem
* Add a z, vector of parameters, ("discret" state) in DS
* Remove control (u,T) from DS. (future version: actuators/sensors to handle control, from outside, through z parameter)
2007-01-23 Vincent Acary <Vincent.Acary@inrialpes.fr>
* configure.ac, MakefilePluginSample.in, ... :
Change the name of the variable SICONOS_EXT_LDFLAGS into
SICONOS_EXT_LIBS. Change MakefilePluginSample.am to avoid the use of
KernelCOnfig.sh (future remove). Add some bad tricks to allow the use
of the original ATLAS sources. Compilation and execution works on
MacOsX(intel).
2007-01-16 Vincent Acary <Vincent.Acary@inrialpes.fr>
* configure.ac :
Move check for Lapack and Blas into the check macro for Numerics.
Should be replaced in future by only Atlas checking
2007-01-10 Franck Perignon <franck.perignon@inrialpes.fr>
* Add Control class + resulting changes in DynamicalSystem, NSDS ...
--------------------------------------------------------------------------------
v2.0.1 - December, 14th 2006 (release 626)
--------------------------------------------------------------------------------
Notes:
Main Changes:
2006-12-14 Franck Perignon <franck.perignon@inrialpes.fr>
* Updates for gcc4.1.1 compatibility (-ffriend-injection, ...)
--------------------------------------------------------------------------------
v2.0.0 - 30 November 2006 (release 616)
--------------------------------------------------------------------------------
Notes:
Main Changes:
2006-10-11 Franck Perignon <franck.perignon@inrialpes.fr>
* Remove all lapack++ depencies; replace them by Boost-Ublas
Thus Vectors and Matrices are now fully based on Boost
* Review/update Doxygen doc - Based on v1.5.1.
Model/reference file for doc: Interaction.h
* Add boost/bindings in the sources (src/boost)
2006-10-09 Franck Perignon <franck.perignon@inrialpes.fr>
* Add cppunit tests for MySimple and MyBlock matrices (boost)
2006-09-26 Franck Perignon <franck.perignon@inrialpes.fr>
* Add Boost matrices and vectors in Kernel (from Aziz branch)
(MySiconosMatrix, MySimpleMatrix, MyBlockMatrix, MySiconosVector,
ioMatrix, ioVector classes)
-------------------------------------------------------------------------------
v1.3.0 - 07 september 2006 (release 567)
--------------------------------------------------------------------------------
Main Changes:
2006-09-07 Franck Perignon <franck.perignon@inrialpes.fr>
* EventDriven for Lagrangian systems
2006-07-10 Franck Perignon <franck.perignon@inrialpes.fr>
* Temporary blockVector version with copy of contain to provide contiguous save of
values in Memory
* Remove InteractionLink class
* Update TimeStepping/OSNS/OSI (use of indexSets)
* Update all samples
* add "size" arg. in non smooth law
2006-06-28 Franck Perignon <franck.perignon@inrialpes.fr>
* Review constructors for Interaction, Relation and NonSmooth Law
2006-06-22 Franck Perignon <franck.perignon@inrialpes.fr>
* Strategy renamed Simulation
2006-06-07 Franck Perignon <franck.perignon@inrialpes.fr>
* add UnitaryRelation class
* add UnitaryRelationsSet class -> IndexSets management in Topology
--------------------------------------------------------------------------------
v1.2.0 - (release 508)
--------------------------------------------------------------------------------
Main Changes:
2006-05-21 Franck Perignon <franck.perignon@inrialpes.fr>
* add InteractionsSet class to manage set of Interactions for NSDS, Interaction, OSI ...
2006-05-17 Franck Perignon <franck.perignon@inrialpes.fr>
* add DSSet class to manage set of Dynamical Systems for NSDS, Interaction, OSI ...
* Change the way relation and nslaw are handled by Interaction. See Doc/Dev_Notes/Interaction for details
* add Doc/Dev_Notes/Interaction
2006-05-15 Franck Perignon <franck.perignon@inrialpes.fr>
* remove all nana related files and functions
2006-05-02 Franck Perignon <franck.perignon@inrialpes.fr>
* various changes in SiconosDOMTreeTools, StrategyXML and OSIXML.
* review Moreau/Lsodar/OSI
* add SiconosTemplates directory in src/utils
2006-04-10 Franck Perignon <franck.perignon@inrialpes.fr>
* Review DS and derived classes: remove vectorField/xDot
-> rhs (right-hand side) = f(x,t) + Tu
add computeRhs and computeJacobianXRhs in all derived classes,
plug-in for f(x,t) and its Jacobian.
Add/correct initialize(t) function in all DS classes, to compute/reset
state at time t.
2006-03-28 Franck Perignon <franck.perignon@inrialpes.fr>
* Add LinearTIDS class
2006-03-22 Franck Perignon <franck.perignon@inrialpes.fr>
* Set correct links between DynamicalSystem and its derived classes.
* Add tests for DS and derived classes.
2006-03-21 Franck Perignon <franck.perignon@inrialpes.fr>
* Add BlockMatrix class, derived from SiconosMatrix.
* Add test functions for Matrices
2006-03-16 Franck Perignon <franck.perignon@inrialpes.fr>
* Add SimpleMatrix class, derived from SiconosMatrix.
SiconosMatrix is now an abstract class
* Rename Composite in Block
2006-03-13 Franck Perignon <franck.perignon@inrialpes.fr>
* lapackpp2.4.7 is now required
2006-03-02 Franck Perignon <franck.perignon@inrialpes.fr>
* general review of Model/Strategy and TimeDiscretisation
2006-02-28 Franck Perignon <franck.perignon@inrialpes.fr>
* global_Tests -> add this directory and related files
to allow "global" tests, ie automatic running of chosen
samples.
2006-02-27 Franck Perignon <franck.perignon@inrialpes.fr>
* configure.ac -> run autoupdate to remove obsolete macros.
Warning: must add insure related part after.
Keep configure.ac.old to work with older
autotools version.
--------------------------------------------------------------------------------
v1.1.2 - (release 428)
--------------------------------------------------------------------------------
Notes: bugs fixing version
Changes:
2006-02-24 Franck Perignon <franck.perignon@inrialpes.fr>
* add Event, EventsComparison and EventsManager
classes in simulation tools
=> used in EventDriven strategy
* Makefile.am -> make install also install doc in @prefix@
* Remove Adams class
2006-02-22 Vincent Acary <vincent.acary@inrialpes.fr>
Franck Perignon <franck.perignon@inrialpes.fr>
* update configure.ac to generate automatically
siconos/siconos, siconos/MakefilePluginSample,
KernelConfig.sh.
2006-02-19 Vincent Acary <vincent.acary@inrialpes.fr>
* /macros/ac_f77_library_ldflags.m4 : This file is added and
replaced the system defined macro. A small correction is done
to neglect -lcrt2.o option at linking on MacOsX. This bug will
be normally corrected in further version of autoconf.
--------------------------------------------------------------------------------
v1.1.1 - February 2006 (release 421)
--------------------------------------------------------------------------------
Notes:
Changes:
2006-02-13 Franck Perignon <franck.perignon@inrialpes.fr>
* corrections in Moreau in order to handle u plug-in
for linear DS.
2006-02-10 Franck Perignon <franck.perignon@inrialpes.fr>
* update Doxygen config file
* minor changes in m4 files and configure.ac (see install bug 495)
* prepare Event-Driven and Lsodar (Warning: first version, unstable!!)
and review of other related classes (OneStepIntegrator, xml ...)
--------------------------------------------------------------------------------
v1.1.0 - February 2006 (release 388)
--------------------------------------------------------------------------------
Notes:
This new version includes friction modeling and simulation for
Lagrangian systems in 2D (3D version in devel)
Changes: