Made setVerbose virtual in constraint_sampler so that child classes can override
Manipulability Index Error for few DOF
When the group has fewer than 6 DOF, the Jacobian is of the form 6xM and when multiplied by its transpose, forms a 6x6 matrix that is singular and its determinant is always 0 (or NAN if the solver cannot calculate it).
Since calculating the SVD of a Jacobian is a costly operation, I propose to retain the calculation of the Manipulability Index through the determinant for 6 or more DOF (where it produces the correct result), but use the product of the singular values of the Jacobian for fewer DOF.
Fixed missing test depends for tf_conversions
Allow setFromIK() with multiple poses to single IK solver
Improved debug output
Removed duplicate functionality poseToMsg function
New setToRandomPositions function with custom rand num generator
Moved find_package angles to within CATKIN_ENABLE_TESTING
Getter for all tips (links) of every end effector in a joint model group
New robot state to (file) stream conversion functions
Added default values for iostream in print statements
Change PlanningScene constructor to RobotModelConstPtr
Documentation and made printTransform() public
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
Contributors: Acorn, Dave Coleman, Ioan A Sucan, Jonathan Weisz, Konstantinos Chatzilygeroudis, Sachin Chitta, hersh
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().
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
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
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