Skip to content

API Changes: 0.33 → 0.34

C++ Dependency Versions

Package 0.33 0.34
tesseract 0.33.0 0.34.1
tesseract_planning 0.33.0 0.34.0
trajopt 0.33.0 0.34.4
ifopt 2.1.3 2.1.4
ruckig 0.9.2 0.15.3

Breaking Changes

ifopt module removed

The standalone tesseract_robotics.ifopt module no longer exists. All types moved into tesseract_robotics.trajopt_ifopt.

Python
# 0.33
from tesseract_robotics import ifopt
bounds = ifopt.Bounds(-1.0, 1.0)
problem = ifopt.Problem()

# 0.34
from tesseract_robotics import trajopt_ifopt as ti
bounds = ti.Bounds(-1.0, 1.0)
# Problem is now IfoptProblem (see below)

Variable system redesign: JointPosition → Var / Node / NodesVariables

The JointPosition class is removed. The new API uses a three-level hierarchy:

  • Var — a single variable (e.g. joint values at one waypoint)
  • Node — groups multiple Vars (e.g. joints + velocities)
  • NodesVariables — container of Nodes passed to the problem constructor

Use the createNodesVariables factory to build the full hierarchy in one call:

Python
# 0.33
from tesseract_robotics import ifopt
vars_list = []
for i, state in enumerate(initial_states):
    var = ti.JointPosition(state, joint_names, f"Joint_{i}")
    var.SetBounds(bounds)
    problem.AddVariableSet(var)
    vars_list.append(var)

# 0.34
nodes_variables = ti.createNodesVariables(
    "trajectory", joint_names, initial_states, bounds
)
nlp = tsqp.IfoptProblem(nodes_variables)

vars_list = []
for node in nodes_variables.getNodes():
    vars_list.append(node.getVar("joints"))

Problem creation

IfoptQPProblem no longer has a default constructor. Create it from an IfoptProblem:

Python
# 0.33
problem = tsqp.IfoptQPProblem()
problem.addVariableSet(var)
problem.addConstraintSet(constraint)

# 0.34
nlp = tsqp.IfoptProblem(nodes_variables)     # NLP with variables
nlp.addConstraintSet(joint_constraint)        # joint/cartesian constraints on NLP
nlp.addCostSet(vel_cost)                      # costs on NLP
problem = tsqp.IfoptQPProblem(nlp)            # QP wrapper
problem.addConstraintSet(collision_constraint) # collision constraints on QP
problem.setup()                                # must call after adding all sets

CartPosInfo removed

CartPosConstraint now takes parameters directly instead of a CartPosInfo struct:

Python
# 0.33
info = ti.CartPosInfo()
info.manipulator = manip
info.source_frame = "tool0"
info.target_frame = "world"
info.target = target_tf
constraint = ti.CartPosConstraint(info, var, "Target")

# 0.34
constraint = ti.CartPosConstraint(
    var,                      # Var (not JointPosition)
    manip,                    # KinematicGroup
    "tool0",                  # source_frame
    "world",                  # target_frame
    Isometry3d.Identity(),    # source_frame_offset
    target_tf,                # target_frame_offset
    "Target",                 # name
)

CollisionCache removed

Collision evaluators no longer take a CollisionCache parameter — caching is now internal:

Python
# 0.33
cache = ti.CollisionCache(100)
evaluator = ti.SingleTimestepCollisionEvaluator(manip, env, config, cache, True)

# 0.34
evaluator = ti.SingleTimestepCollisionEvaluator(manip, env, config, True)

Same for LVSDiscreteCollisionEvaluator and LVSContinuousCollisionEvaluator.

Constraint constructors take Var instead of JointPosition

All constraint constructors now accept Var references:

Python
# 0.33 — JointPosition (list)
ti.JointPosConstraint(target, [var], coeffs, "name")
ti.JointVelConstraint(target, [var0, var1, ...], coeffs, "name")
ti.DiscreteCollisionConstraint(evaluator, joint_pos, ...)

# 0.34 — Var (single or list)
ti.JointPosConstraint(target, var, coeffs, "name")        # single Var
ti.JointVelConstraint(target, [var0, var1, ...], coeffs, "name")  # list of Var
ti.DiscreteCollisionConstraint(evaluator, var, ...)        # single Var

getStaticKey() removed from profiles

All profile classes (TrajOptMoveProfile, OMPLMoveProfile, DescartesMoveProfileD, etc.) no longer have a static getStaticKey() method. Use the instance method getKey() instead:

Python
# 0.33
key = TrajOptDefaultPlanProfile.getStaticKey()

# 0.34
profile = TrajOptDefaultPlanProfile()
key = profile.getKey()

Cost/constraint evaluation methods renamed

Python
# 0.33
cost = problem.evaluateTotalExactCost(var_vals)
costs = problem.evaluateExactCosts(var_vals)

# 0.34
cost = problem.getTotalExactCost()     # no arguments
costs = problem.getExactCosts()        # no arguments

Serialization: Boost → Cereal

The serialization backend changed from Boost.Serialization to Cereal. The Python API is identical — toArchiveStringXML, fromArchiveStringXML, etc. all work the same way. Only relevant if you have existing serialized files from 0.33 (they are not compatible with 0.34).

Non-Breaking Changes

Enum renames (Python names preserved)

trajopt_sqp enums were renamed in C++ to kCamelCase style, but the Python-facing names are unchanged:

Python
# These all still work
SQPStatus.RUNNING
SQPStatus.NLP_CONVERGED
QPSolverStatus.UNITIALIZED
CostPenaltyType.SQUARED

ConstraintType enum removed

The ConstraintType enum from trajopt_sqp no longer exists. If you referenced it, remove the usage.

Warm-starting SQP

Use NodesVariables.setVariables() to set warm-start values:

Python
# Set warm-start from previous trajectory
nodes_variables.setVariables(trajectory.flatten())
solver.init(problem)
solver.stepSQPSolver()

Migration Checklist

  • Replace from tesseract_robotics import ifopt → from tesseract_robotics import trajopt_ifopt
  • Replace JointPosition with createNodesVariables factory + Var refs
  • Replace IfoptQPProblem() → IfoptProblem(nodes_variables) + IfoptQPProblem(nlp)
  • Replace CartPosInfo struct with direct CartPosConstraint parameters
  • Remove CollisionCache from evaluator constructors
  • Replace evaluateTotalExactCost(x) → getTotalExactCost()
  • Replace getStaticKey() → getKey() (instance method)
  • Call problem.setup() after adding all constraint/cost sets