Changelog for package moveit_core

0.4.7 (2013-07-12)

doc updates
white space fixes (tabs are now spaces)
update root joint if needed, after doing backward fk
adding options struct to kinematics base
expose a planning context in the planning_interface base library

0.4.6 (2013-07-03)

Added ability to change planner configurations in the interface
add docs for controller manager
fix computeTransformBackward()

0.4.5 (2013-06-26)

add computeBackwardTransform()
bugfixes for voxel_grid, distance_field
slight improvements to profiler
Fixes compile failures on OS X with clang
minor speedup in construction of RobotState
fix time parametrization crash due to joints that have #variables!=1
remove re-parenting of URDF models feature (we can do it cleaner in a different way)

0.4.4 (2013-06-03)

fixes for hydro
be careful about when to add a / in front of the frame name

0.4.3 (2013-05-31)

remove distinction of loaded and active controllers

0.4.2 (2013-05-29)

generate header with version information

0.4.1 (2013-05-27)

fix #66
rename getTransforms() to copyTransforms()
refactor how we deal with frames; add a separate library
remove direction from CollisionResult

0.4.0 (2013-05-23)

attempt to fix #241 from moveit_ros
update paths so that files are found in the globally installed moveit_resources package
remove magical 0.2 and use of velocity_map
Work on issue #35.

0.3.19 (2013-05-02)

rename getAttachPosture to getDetachPosture
add support for attachment postures and implement MOVE operation for CollisionObject
add ability to fill in planning scene messages by component
when projection from start state fails for IK samplers, try random states
bugfixes

0.3.18 (2013-04-17)

allow non-const access to kinematic solver
bugfix: always update variable transform

0.3.17 (2013-04-16)

bugfixes
add console colors
add class fwd macro
cleanup API of trajectory lookup
Added method to get joint type as string
fixing the way mimic joints are updated
fixed tests

0.3.16 (2013-03-15)

bugfixes
robot_state::getFrameTransform now returns a ref instead of a pointer; fixed a bug in transforming Vector3 with robot_state::Transforms, add planning_scene::getFrameTransform
add profiler tool (from ompl)

0.3.15 (2013-03-08)

Remove configure from PlanningScene
return shared_ptr from getObject() (was ref to shared_ptr)
use NonConst suffix on PlanningScene non-const get functions.
make setActiveCollisionDetector(string) return bool status
use CollisionDetectorAllocator in PlanningScene
add World class
bodies attached to the same link should not collide
include velocities in conversions
Added more general computeCartesianPath, takes vector of waypoints
efficiency improvements

0.3.14 (2013-02-05)

initialize controller state by default
fix #157 in moveit_ros
fix moveit_ros/#152

0.3.13 (2013-02-04 23:25)

add a means to get the names of the known states (as saved in SRDF)
removed kinematics planner

0.3.12 (2013-02-04 13:16)

Adding comments to voxel grid
Adding in octree constructor and some additional fields and tests
Getting rid of obstacle_voxel set as it just slows things down
Removing pf_distance stuff, adding some more performance, getting rid of addCollisionMapToField function
Fixing some bugs for signed distance field and improving tests
Merging signed functionality into PropagateDistanceField, adding remove capabilities, and adding a few comments and extra tests

0.3.11 (2013-02-02)

rename KinematicState to RobotState, KinematicTrajectory to RobotTrajectory
remove warnings about deprecated functions, use a deque instead of vector to represent kinematic trajectories

0.3.10 (2013-01-28)

fix #28
improves implementation of metaball normal refinement for octomap
add heuristic to detect jumps in joint-space distance
make it such that when an end effector is looked up by group name OR end effector name, things work as expected
removed urdf and srdf from configure function since kinematic model is also passed in
make sure decoupling of scenes from parents that are themselves diffs to other scenes actually works
Fix KinematicState::printStateInfo to actually print to the ostream given.
add option to specify whether the reference frame should be global or not when computing Cartesian paths
update API for trajectory smoother
add interpolation function that takes joint velocities into account, generalize setDiffFromIK
add option to reverse trajectories
add computeCartesianPath()
add ability to load & save scene geometry as text
compute jacobian with kdl
fix #15

0.3.9 (2013-01-05)

adding logError when kinematics solver not instantiated, also changing @class
move some functions to a anonymous namespace
add doc for kinematic_state ns

0.3.8 (2013-01-03)

add one more CATKIN dep

0.3.7 (2012-12-31)

add capabilities related to reasoning about end-effectors

0.3.6 (2012-12-20)

add ability to specify external sampling constraints for constraint samplers

0.3.5 (2012-12-19 01:40)

fix build system

0.3.4 (2012-12-19 01:32)

add notion of default number of IK attempts
added ability to use IK constraints in sampling with IK samplers
fixing service request to take proper group name, check for collisions
make setFromIK() more robust

0.3.3 (2012-12-09)

adding capability for constraint aware kinematics + consistency limits to joint state group
changing the way consistency limits are specified
speed up implementation of infinityNormDistance()
adding distance functions and more functions to sample near by
remove the notion of PlannerCapabilities

0.3.2 (2012-12-04)

robustness checks + re-enabe support for octomaps
adding a bunch of functions to sample near by

0.3.1 (2012-12-03)

update debug messages for dealing with attached bodies, rely on the conversion functions more
changing manipulability calculations
adding docs
log error if joint model group not found
cleaning up code, adding direct access api for better efficiency

0.3.0 (2012-11-30)

added a helper function

0.2.12 (2012-11-29)

fixing payload computations
Changing pr2_arm_kinematics test plugin for new kinematics_base changes
Finished updating docs, adding tests, and making some small changes to the function of UnionConstraintSampler and ConstraintSamplerManager
Some extra logic for making sure that a set of joint constraints has coverage for all joints, and some extra tests and docs for constraint sampler manager
adding ik constraint sampler tests back in, and modifying dependencies such that everything builds
Changing the behavior of default_constraint_sampler JointConstraintSampler to support detecting conflicting constraints or one constraint that narrows another value, and adding a new struct for holding data. Also making kinematic_constraint ok with values that are within 2*epsilon of the limits

0.2.11 (2012-11-28)

update kinematics::KinematicBase API and add the option to pass constraints to setFromIK() in KinematicState

0.2.10 (2012-11-25)

minor reorganization of code
fix #10

0.2.9 (2012-11-23)

minor bugfix

0.2.8 (2012-11-21)

removing deprecated functions

0.2.7 (2012-11-19)

moving sensor_manager and controller_manager from moveit_ros

0.2.6 (2012-11-16 14:19)

reorder includes
add group name option to collision checking via planning scene functions

0.2.5 (2012-11-14)

update DEPENDS
robustness checks

0.2.4 (2012-11-12)

add setVariableBounds()
read information about passive joints from srdf

0.2.3 (2012-11-08)

using srdf info for #6
fix #6

0.2.2 (2012-11-07)

add processPlanningSceneWorldMsg()
Adding and fixing tests
Adding docs
moves refineNormals to new file in collision_detection
Fixed bugs in PositionConstraint, documented Position and Orientation constraint, extended tests for Position and OrientationConstraint and started working on tests for VisibilityConstraint
more robust checking of joint names in joint constraints
adds smoothing to octomap normals; needs better testing

0.2.1 (2012-11-06)

revert some of the install location changes

0.2.0 (2012-11-05)

update install target locations

0.1.19 (2012-11-02)

add dep on kdl_parser

0.1.18 (2012-11-01)

add kinematics_metrics & dynamics_solver to build process

0.1.17 (2012-10-27 18:48)

fix DEPENDS libs

0.1.16 (2012-10-27 16:14)

more robust checking of joint names in joint constraints
KinematicModel and KinematicState are independent; need to deal with transforms and conversions next

0.1.15 (2012-10-22)

moving all headers under include/moveit/ and using console_bridge instead of rosconsole

0.1.14 (2012-10-20 11:20)

fix typo

0.1.13 (2012-10-20 10:51)

removing no longer needed deps
add moveit_ prefix for all generated libs

0.1.12 (2012-10-18)

porting to new build system
moved some libraries to moveit_planners
add access to URDF and SRDF in planning_models
Adding in path constraints for validating states, needs more testing

0.1.11 (2012-09-20 12:55)

update conversion functions for kinematic states to support attached bodies

0.1.10 (2012-09-20 10:34)

making JointConstraints + their samplers work with local variables for multi_dof joints
Remove fast time parameterization and zero out waypoint times
setting correct error codes
bugfixes
changing the way subgroups are interpreted

0.1.9 (2012-09-14)

bugfixes

0.1.8 (2012-09-12 20:56)

bugfixes

0.1.7 (2012-09-12 18:56)

bugfixes

0.1.6 (2012-09-12 18:39)

add install targets, fix some warnings and errors

0.1.5 (2012-09-12 17:25)

first release

Docutils System Messages

System Message: ERROR/3 (<string>, line 291); backlink

Unknown target name: "moveit".