From 656df369b5a3da1bab7db106c040154e026f0e55 Mon Sep 17 00:00:00 2001 From: Juan Garcia Bonilla Date: Fri, 13 Dec 2024 11:42:21 -0700 Subject: [PATCH] Update release notes --- docs/source/Support/bskReleaseNotes.rst | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/docs/source/Support/bskReleaseNotes.rst b/docs/source/Support/bskReleaseNotes.rst index 1dd9dc6a21..3b91898013 100644 --- a/docs/source/Support/bskReleaseNotes.rst +++ b/docs/source/Support/bskReleaseNotes.rst @@ -86,6 +86,17 @@ Version |release| You have to upgrade your python ``conan`` package to be able to build Basilisk. Use ``python install --upgrade conan``. +- Added support for subclassing ``StateData`` and overloading certain methods. This enables support for custom state + behavior, such as quaternions, which have size 4 but their derivative is size 3. This is done in preparation of + a future MuJoCo integration. Note the warning below regarding SWIG files for ``dynamicEffector`` and ``stateEffector``. + + .. warning:: + + SWIG files for subclasses of ``dynamicEffector`` and ``stateEffector`` must now + ``%include "simulation/dynamics/_GeneralModuleFiles/dynParamManager.i"`` instead of + ``%include "simulation/dynamics/_GeneralModuleFiles/dynParamManager.h"``. See + ``src/simulation/dynamics/dragEffector/dragDynamicEffector.i`` for an example. + Version 2.5.0 (Sept. 30, 2024) ------------------------------