Aligator v0.11 / v0.12 : Expanded Compatibility, Cleaner Integration, and MPC Enhancements

The latest consecutive releases of Aligator bring incremental but meaningful improvements across its build, testing, and compatibility layers, reinforcing its role as a flexible optimization and trajectory‑planning framework in robotics.

Version 0.11.0 introduces a wide series of refinements: updated CMake configuration and synchronization with Gersemi definitions, improved handling of Pinocchio dependencies, and corrected internal macros for better domain error management. The release also expands functionality with a new collision residual, a motion‑planning control (MPC) test example, and options for customizing initial solutions. Workflow stability and developer experience benefit from pre‑commit and Pixi lockfile updates, Nix build support, and several safety fixes in trajectory‑optimization copying and logging.

Version 0.12.0 focuses on maintaining smooth compatibility with Crocoddyl 3.0.1, transitioning from Boost to standard smart pointers for modern C++ compliance. This ensures tighter integration with updated dependencies and a cleaner, more maintainable code base.

Together, these updates strengthen Aligator’s performance, portability, and usability for dynamic optimization and control applications in robotic systems.

Links

Aligator v0.12 Release Note