Merge pull request #327 from garaemon/set-heuristic
[jsk_footstep_planner] Add service interface to set heursitic function
[jsk_footstep_planner] Add service interface to set heursitic function
[jsk_footstep_controller] Fix parameters for jaxon red
[jsk_footstep_planner] Fix for terrain task
[jsk_footstep_planner] Add topic interface to project footprint
[jsk_footstep_planner] Support JAXON_RED
[jsk_footstep_planner, jsk_footstep_controller] Update for las vegas terrain with jaxon
[jsk_footstep_planner] Enable roll paranoid mode again
[jsk_footstep_planner, jsk_footstep_controller] Update for jaxon terrain
[jsk_footstep_planner] Add simple script to transform frame_id of
jsk_footstep_msgs/FootstepArray
[jsk_footstep_controller] Change gait generator parameters according to
plane condition including pitch angle and taking into account
if transition is upward or downward
[jsk_footstep_planner, jsk_footstep_controller] Compute x and y from
previous coordinates to detect rolled plane
[jsk_footstep_planner, jsk_footstep_controller] Support rolling terrain,
I hope
[jsk_footstep_planner, jsk_footstep_controller] Fix typo and update
parameter for terrain
[jsk_footstep_planner, jsk_footstep_controller] Support jaxon parameter files
[jsk_footstep_planner, jsk_footstep_controller] Support jaxon footstep planning, Do not merge yet
[jsk_footstep_planner] locally search reasonable goal when snapping
[jsk_footstep_planner] Update offset parameter
[jsk_footstep_planner] Support offset parameter from end coords to
center of foot polygon
[jsk_footstep_planner] Optimize function to remove shadow cells by using
local coordinates
[jsk_footstep_planner] Update projection parameter for slope terrain
[jsk_footstep_planner] Add ~remove_shadow_cells to add padding to shadow cells
[jsk_footstep_planner] Improve planning for different levels:
1. Move successors a little bit when projecting footprint to different
level
2. Use footstep coordinate rather than mid-coords of the footstep as
goal coordinates
[jsk_footstep_planner] Check transition limit when planning across
diffrent levels
[jsk_footstep_planner] Add gui-debug symbol and ~toggle_gui_debug
service to toggle debug using gui
[jsk_footstep_planner] Add service API to project pose onto the nearest grid
[jsk_footstep_planner] More greedy heuristic and compile euslisp code correctly
[jsk_footstep_planner] Separate successors for same level and transition
across different level
[jsk_footstep_planner] add geo package to quaternion-from-two-vectors
[jsk_footstep_planner] Read footstep parameter from file rather than ros parameter
[jsk_footstep_planner] Use quaternion-from-two-vectors to compute rotate
in project-coords-on-to-plane
[jsk_footstep_planner] Add method to generate occupancy-grid from face
[jsk_footstep_planner] Use mtimer instead of ros::time-now
[jsk_footstep_planner] Fix minor bugs
[jsk_footstep_planner] Memoize projecting grid and re-use it when the
planner checks the plane is placable and refactor function names
[jsk_footstep_planner] Optimize hash size according to cell num
[jsk_footstep_planner] A lot of improvements on planner
* Fix about orientation of projected footstep
* Lazy evaluation to check if footprint is able to be on grid
* Use mid-coords of footprints to evaluate heuristic
[jsk_footstep_planner] Do not check if the footstep can be placable on
plane across planes
[jsk_footstep_planner] Support SimpleOccupancyGrid in footstep planner