Pydy

===========

=====================

- Reduced sdist size by moving the MANIFEST.in prune command last.

=====================

- Support Python 3.10 and 3.11. [PR `488`_]
- Fixed the Carvallo-Whipple bicycle model to match Basu-Mandal benchmark
numbers. [PR `486`_]
- Added Box geometry to the javascript GUI [PR `484`_]
- Updated the three link conical pendulum example to use new kanes_equations()
syntax. [PR `481`_]
- Added example of a 3D multilink pendulum with colliding bobs. [PR `467`_]
- ``LambdifyODEFunctionGenerator`` now accepts a ``cse=True/False`` kwarg and
if SymPy >=1.9 is installed, then the underlying generated code by
``lambdify`` will be simplified. It is ``True`` by default. [PR `464`_]
- Visualization supports durations that don't start at 0.

.. _464: https://github.com/pydy/pydy/pull/464
.. _467: https://github.com/pydy/pydy/pull/467
.. _481: https://github.com/pydy/pydy/pull/481
.. _484: https://github.com/pydy/pydy/pull/484
.. _486: https://github.com/pydy/pydy/pull/486
.. _488: https://github.com/pydy/pydy/pull/488

========================

- Dropped support for Python 2.7 and 3.6. [PR `459`_]
- Moved chaos pendulum example to Sphinx docs.
- Added Astrobee example [PR `453`_]
- Added the ability to pass optional arguments to the ODE solver in System. [PR
`447`_]
- Cylinders, Spheres, and Circles loaded via PyThreeJS will appear more round.
[PR `440`_]
- Added a Carvallo-Whipple bicycle example to the documentation [PR `442`_]
- Oldest supported dependencies for Python 3 are aligned with Ubuntu 20.04 LTS.
For Python 2, the oldest necessary dependencies are used if the ones for
Ubuntu 20.04 LTS are too new. [PR `432`_]
- Dropped support for Python 3.5 [PR `429`_]
- Improved the README and documentation integration. [PR `424`_]
- Moved some examples to Sphinx [PRs `421`_, `423`_]
- jupyter-sphinx enabled for examples in the documentation [PR `419`_]
- Added an example with no constraints that uses ``display_jupyter()`` for
animation. [PR `418`_]
- Added an example that has both configuration and motion constraints.
[PR `417`_]
- ``display_jupyter()`` method added to ``Scene`` that utilizes pythreejs for
animating a system. [PR `416`_]
- Remove support for required dependencies prior to those in Ubuntu 18.04 LTS.
[PR `415`_]
- Recommend installing from Conda Forge [PR `411`_]

.. _459: https://github.com/pydy/pydy/pull/459
.. _453: https://github.com/pydy/pydy/pull/453
.. _447: https://github.com/pydy/pydy/pull/447
.. _442: https://github.com/pydy/pydy/pull/442
.. _440: https://github.com/pydy/pydy/pull/440
.. _432: https://github.com/pydy/pydy/pull/432
.. _429: https://github.com/pydy/pydy/pull/429
.. _424: https://github.com/pydy/pydy/pull/424
.. _423: https://github.com/pydy/pydy/pull/423
.. _421: https://github.com/pydy/pydy/pull/421
.. _419: https://github.com/pydy/pydy/pull/419
.. _418: https://github.com/pydy/pydy/pull/418
.. _417: https://github.com/pydy/pydy/pull/417
.. _416: https://github.com/pydy/pydy/pull/416
.. _415: https://github.com/pydy/pydy/pull/415
.. _411: https://github.com/pydy/pydy/pull/411

=======================

- SymPy introduced a backward incompatibility to differentiation Matrices in
SymPy 1.2, which remained in SymPy 1.3, see:
https://github.com/sympy/sympy/issues/14958. This breaks PyDy's System class,
see: https://github.com/pydy/pydy/issues/395. A fix is introduced to handle
all support versions of SymPy. [PR `408`_]
- Added a new example for anthropomorphic arm. [PR `406`_]
- Fixed errors in the differential drive example. [PR `405`_]
- Added a new example for a scara arm. [PR `402`_]
- Fixed errors due to backwards incompatible changes with various dependencies. [PR `397`_]
- ODEFunctionGenerator now works with no constants symbols. [PR `391`_]

.. _408: https://github.com/pydy/pydy/pull/408
.. _406: https://github.com/pydy/pydy/pull/406
.. _405: https://github.com/pydy/pydy/pull/405
.. _402: https://github.com/pydy/pydy/pull/402
.. _397: https://github.com/pydy/pydy/pull/397
.. _391: https://github.com/pydy/pydy/pull/391

====================

- Bumped minimum Jupyter notebook to 4.0 and restricted to < 5.0. [PR `381`_]
- Removed several deprecated functions. [PR `375`_]
- Bumped minimum required hard dependencies to Ubuntu 16.04 LTS package
versions. [PR `372`_]
- Implemented ThreeJS Tube Geometry. [PR `368`_]
- Improved circle rendering. [PR `357`_]
- kwargs can be passed from System.generate_ode_function to the matrix
generator. [PR `356`_]
- Lagrangian simple pendulum example added. [PR `351`_]
- Derivatives can now be used as specifies in System. [PR `340`_]
- The initial conditions can now be adjusted in the notebook GUI. [PR `333`_]
- The width of the viz canvas is now properly bounded in the notebook. [PR `332`_]
- Planes now render both sides in the visualization GUI. [PR `330`_]
- Adds in more type checks for System.times. [PR `322`_]
- Added an OctaveMatrixGenerator for basic Octave/Matlab printing. [PR `323`_]
- Simplified the right hand side evaluation code in the ODEFunctionGenerator.
Note that this change comes with some performance hits. [PR `301`_]

.. _381: https://github.com/pydy/pydy/pull/381
.. _375: https://github.com/pydy/pydy/pull/375
.. _372: https://github.com/pydy/pydy/pull/372
.. _368: https://github.com/pydy/pydy/pull/368
.. _357: https://github.com/pydy/pydy/pull/357
.. _356: https://github.com/pydy/pydy/pull/356
.. _351: https://github.com/pydy/pydy/pull/351
.. _340: https://github.com/pydy/pydy/pull/340
.. _333: https://github.com/pydy/pydy/pull/333
.. _332: https://github.com/pydy/pydy/pull/332
.. _330: https://github.com/pydy/pydy/pull/330
.. _322: https://github.com/pydy/pydy/pull/322
.. _323: https://github.com/pydy/pydy/pull/323
.. _301: https://github.com/pydy/pydy/pull/301