Changelog for package hebi_cpp_api

3.13.0 (2025-07-18)

• Add non-const Group and EndEffector getters to Arm class, and Group getters to EndEffector class
• Added [Arm.setEndEffector]{.title-ref} function to allow explicitly adding an end effector to an Arm object after construction
• Improved joint limit objective function stability/behavior; C++ API now has additional tuning parameter to control edge behavior
• Added time heuristic functions for choosing waypoint times (also exposed in C++ API along with trajectory time conversion methods)
• Unicast addresses can be passed into the hebiLookup object in addition to broadcast interfaces
• Added [RobotModel.getMaxSpeeds]{.title-ref} and [.getMaxEfforts]{.title-ref} functions to get max speeds and efforts for DoFs
• Added [Group.logUserState]{.title-ref} function to write a timestamped UserState event directly to the log file (can be viewed in Scope plots)
• Added [Trajectory.getMinMaxPosition]{.title-ref}, [getMaxVelocity]{.title-ref}, and [getMaxAcceleration]{.title-ref} functions to get extrema of the trajectory without needing to sample
• Update CMake minimum version to 3.10 to avoid compatibility/deprecation warnings on more recent versions
• Support v1.1 of the [HEBI robot config format](https://github.com/hebirobotics/robot-config), adding command lifetime and feedback frequency parameters to the config file
• add enums for T-5/8 and R/T-25 actuators and accessories. These are used with functional RobotModel construction methods as well as getting RobotModel metadata
• Update C API to v2.20
• Suppressed uninitialized member warnings
• Contributors: Hariharan Ravichandran, Matthew Tesch, G.V. Keerthi

3.12.3 (2025-02-10)

• Fixed CMakeLists.txt to include proper C API files
• Contributors: Hariharan Ravichandran

3.12.2 (2025-02-07)

• Update HEBI C++ API to 3.12.2
• Contributors: Hariharan Ravichandran

3.10.1 (2025-02-03)

• Fix colcon build with symlink error
• Fix symlink for major version
• Contributors: David Conner, Hariharan Ravichandran

3.10.0 (2024-08-30)

• Features/Changes:
  • add dynamics comp + doubled joint plugins
  • add getters/setters for impedance control plugin
  • use doubles instead of floats in arm plugins (minor change in experimental arm class)
  • parse "user data" values as same parameter types as for plugins instead of saving as strings (minor change in experimental arm class)
  • store absolute path for robot config file withing RobotConfig structure
  • try to load/set default gains when creating arm from config
  • update C API to 2.15.0 from 2.13.0
  • provides ubuntu 20.04 compatibility again
  • adds support for debug symbols in win X64 build
  • lookup searches localhost by default to work with private imitation groups from Scope
  • multiple log files per second now supported when using default file name (note -- naming convention changed from hh.mm.ss to hh-mm-ss.ms to match MATLAB API convention)
  • prevent certain large info messages returned from modules from getting dropped
  • added control strategy 5 to ControlStrategy enum
  • update minimum required CMake to 3.5 to reduce cmake warnings from newer versions
  • added helpers to optionally create Arm and MobileIO objects using an existing Lookup object
  • access "Runtime Data" in "Extra" info packets, including number of seconds a module has been on and/or commanded. Note -- requires firmware support, and count will only include time for module since first updating to firmware with this feature.
  • MobileIO class now has "sendLayout" and "sendLayoutBuffer" functions, allowing layout configurations to be sent to MobileIO devices
• Bugfixes:
  • added const attribute for a number of getters
  • small refactoring for readability, minor cleanup and formatting
  • update calls for C IK functions from internally deprecated ones to equivalent new ones
  • address a number of compiler warnings, while making warning checking more strict for GCC and clang
  • ignore warnings given by included Eigen library
• Contributors: Matthew Tesch, Aditya Nair

3.9.0 (2024-07-10)

• Bumped up the HEBI CPP API Version to 3.9.0 (changelogs for previous

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