Changelog for package moveit_core

0.5.11 (2015-01-21)

Added missing parameter to logWarn in planning_scene.
Contributors: Christian Dornhege, Ioan A Sucan

0.5.10 (2014-12-09)

Fix Manipulability Index Error for few DOF
Removed problematic assertion from default_constraint_samplers.cpp
Fixed missing test depends for tf_conversions
Allow setFromIK() with multiple poses to single IK solver
Added necessary const to recently added function
Added const where needed
Improved debug output
Removed duplicate functionality poseToMsg function
New setToRandomPositions function with custom rand num generator
Include angles' variables
Getter for all tips (links) of every end effector in a joint model group
New robot state to (file) stream conversion functions, documentation improvements
Added default values for iostream in print statements
Change PlanningScene constructor to RobotModelConstPtr
Documentation and made printTransform() public
Removed duplicate getSubgroups() function, added prefixes for changed log messages
Addressed consistency_limits issue
Reduced unnecessary joint position copying
Added getSubgroups() helper function to joint model groups
Maintain ordering of poses in order that IK solver expects
Added new setToRandomPositions function that allows custom random number generator to be specified
Split setToIKSolverFrame() into two functions
Add check for correct solver type
Allowed setFromIK to do whole body IK solving with multiple tips
Added angles as test dependency of constraint sampler
Contributors: Dave Coleman, Dave Hershberger, Ioan A Sucan, Sachin Chitta, costashatz, hersh

0.5.9 (2014-06-23)

Fixed bug in RevoluteJointModel::distance() giving large negative numbers.
kinematics_base: added an optional RobotState for context.
fix pick/place approach/retreat on indigo/14.04
Fixed bug in RevoluteJointModel::distance() giving large negative numbers.
IterativeParabolicTimeParameterization now ignores virtual joints.
kinematics_base: added an optional RobotState for context.
Removed check for multi-dof joints in iterative_time_parameterization.cpp.
fix pick/place approach/retreat on indigo/14.04
IterativeParabolicTimeParameterization now ignores virtual joints. When checking if all joints are single-DOF, it accepts multi-DOF joints only if they are also virtual.
Fix compiler warnings
Address [cppcheck: unreadVariable] warning.
Address [cppcheck: postfixOperator] warning.
Address [cppcheck: stlSize] warning.
Address [-Wunused-value] warning.
Address [-Wunused-variable] warning.
Address [-Wreturn-type] warning.
Address [-Wsign-compare] warning.
Address [-Wreorder] warning.
Allow joint model group to have use IK solvers with multiple tip frames
KinematicsBase support for multiple tip frames and IK requests with multiple poses
dynamics_solver: fix crashbug Ignore joint that does not exist (including the virtual joint if it is part of the group).
Changed KinematicsBase::supportsGroup() to use a more standard call signature.
Merged with hydro-devel
Removed unnecessary error output
Removed todo
Added support for legacy IK calls without solution_callback
Merge branch 'hydro-devel' into kinematic_base
Changed KinematicsBase::supportsGroup() to use a more standard call signature.
Added empty check.
computeCartesianPath waypoints double-up fix computeCartesianPath appends full trajectories between waypoints when given a vector of waypoints. As trajectories include their endpoints, this leads to the combined trajectory being generated with duplicate points at waypoints, which can lead to pauses or stuttering. This change skips the first point in trajectories generated between waypoints.
avoid unnecessary calculations
Created supportsGroup() test for IK solvers
from ros-planning/more-travis-tests More Travis test fixes.
Commented out failing test. run_tests_moveit_ros_perception requires glut library, and thus a video card or X server, but I haven't had any luck making such things work on Travis.
avoid unnecessary calculations If we are not going to use the missing vector then we should not create it (avoid an expensive operation).
Code cleanup
Allow joint model group to have use IK solvers with multiple tip frames
Authorship
Fixed missing removeSlash to setValues()
Feedback and cleaned up comment lengths
Cleaned up commit
KinematicsBase support for multiple tip frames and IK requests with multiple poses
More Travis test fixes. Switched test_constraint_samplers.cpp from build-time to run-time reference to moveit_resources. Added passing run_tests_moveit_core_gtest_test_robot_state_complex test to .travis.yml. Added 'make tests' to .travis.yml to make all tests, even failing ones.
Contributors: Acorn Pooley, Adolfo Rodriguez Tsouroukdissian, Dave Coleman, Dave Hershberger, Martin Szarski, Michael Ferguson, Sachin Chitta, hersh, sachinc

0.5.8 (2014-03-03)

Dix bad includes after upstream catkin fix
update how we find eigen: this is needed for indigo
Contributors: Ioan A Sucan, Dirk Thomas, Vincent Rabaud

0.5.7 (2014-02-27)

Constraint samplers bug fix and improvements
fix for reverting PR #148
Fix joint variable location segfault
Better enforce is_valid as a flag that indicated proper configuration has been completed, added comments and warning
Fix fcl dependency in CMakeLists.txt
Fixed asymmetry between planning scene read and write.
Improved error output for state conversion
Added doxygen for RobotState::attachBody() warning of danger.
Improved error output for state converstion
Debug and documentation
Added new virtual getName() function to constraint samplers
Made getName() const with static variable
KinematicsMetrics crashes when called with non-chain groups.
Added prefixes to debug messages
Documentation / comments
Fixed asymmetry between planning scene read and write.
Added new virtual getName function to constraint samplers for easier debugging and plugin management
KinematicsMetrics no longer crashes when called with non-chain groups.
Added doxygen for RobotState::attachBody() warning of danger.
resolve full path of fcl library Because it seems to be common practice to ignore ${catkin_LIBRARY_DIRS} it's more easy to resolve the full library path here instead.
Fix fcl dependency in CMakeLists.txt See http://answers.ros.org/question/80936 for details Interestingly collision_detection_fcl already uses the correct variable ${LIBFCL_LIBRARIES} although it wasn't even set before
Contributors: Dave Coleman, Dave Hershberger, Ioan A Sucan, Sachin Chitta, sachinc, v4hn

0.5.6 (2014-02-06)

fix mix-up comments, use getCollisionRobotUnpadded() since this function is checkCollisionUnpadded.
Updated tests to new run-time usage of moveit_resources.
robot_state: comment meaning of default
Trying again to fix broken tests.
document RobotState methods
transforms: clarify comment
Fixed build of test which depends on moveit_resources.
Removed debug-write in CMakeLists.txt.
Added running of currently passing tests to .travis.yml.
Add kinematic options when planning for CartesianPath
-Fix kinematic options not getting forwarded, which can lead to undesired behavior in some cases
Added clarifying doxygen to collision_detection::World::Object.

0.5.5 (2013-12-03)

Fix for computing jacobian when the root_joint is not an active joint.
RobotState: added doxygen comments clarifying action of attachBody().
Always check for dirty links.
Update email addresses.
Robot_state: fix copy size bug.
Corrected maintainer email.
Fixed duration in robottrajectory.swap.
Fixing distance field bugs.
Compute associated transforms bug fixed.
Fixing broken tests for changes in robot_state.
Fixed doxygen function-grouping.
Fix #95.
More docs for RobotState.

0.5.4 (2013-10-11)

Add functionality for enforcing velocity limits; update API to better naming to cleanly support the new additions
Adding Travis Continuous Integration to MoveIt
remember if a group could be a parent of an eef, even if it is not the default one

0.5.3 (2013-09-25)

remove use of flat_map

0.5.2 (2013-09-23)

Rewrite RobotState and significantly update RobotModel; lots of optimizations
add support for diffs in RobotState
fix #87
add non-const variants for getRobotMarkers
use trajectory_msgs::JointTrajectory for object attach information instead of sensor_msgs::JointState
add effort to robot state
do not include mimic joints or fixed joints in the set of joints in a robot trajectory
voxel_grid: finish adding Eigen accessors
voxel_grid: add Eigen accessors
eliminate determineCollisionPoints() and distance_field_common.h
propagation_distance_field: make getNearestCell() work with max_dist cells
distance_field: fix bug in adding shapes
propagation_distance_field: add getNearestCell()

0.5.1 (2013-08-13)

remove CollisionMap message, allow no link name in for AttachedCollisionObject REMOVE operations
make headers and author definitions aligned the same way; white space fixes
move background_processing lib to core
enable RTTI for CollisionRequest
added ability to find attached objects for a group
add function for getting contact pairs

0.5.0 (2013-07-15)

move msgs to common_msgs

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

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