1.5.0 (2018-08-22)
- Switch to C++-11 threads and pointers instead of Boost
1.4.11 (2018-02-06)
- Change to python install location for swig wrapper
1.4.10 (2018-01-21)
- Fix URDF types to work in Indigo through Lunar on trusty through zesty
1.4.8 (2017-12-26)
- Updated type to use generic typedef so boost (xenial) and C++ (zesty) pointers can be used as needed
1.4.7 (2017-12-21)
- Fixed bug introduced in 1.4.6 where threaded function call should be returning a bool but was not returning anything
1.4.6 (2017-11-8)
- Incorporated PR to fix plugin header and templatize the KDL/NLOpt solver threads used by TRAC-IK
1.4.5 (2016-12-21)
- Updated CMake file to work with Eigen on 14.04 through 16.04
1.4.4 (2016-08-01)
- Minor formatting and speed improvements based on user Issues and Pull Requests.
1.4.3 (2016-06-16)
- trac_ik_kinematics_plugin and trac_ik_examples needed build depends on libnlopt-dev
1.4.2 (2016-06-16)
- New revision for ROS Package release. Thanks to Gijs van der Hoorn
1.4.1 (2016-01-16)
- Fixed weird parsing issue with certain URDFs.
1.4.0 (2016-01-16)
- Added example program for using TRAC-IK.
- Added ability to get KDL chain structures from TRAC-IK class.
1.3.9 (2016-01-16)
- Added new TRAC-IK constructor that takes URDF location, base link, and tip
link, instead of KDL structures.
- Some README fixes based on user comments
1.3.8 (2016-01-04)
- Fixed how continuous joints are handled in random restarts
1.3.7 (2016-01-04)
- Fixed bug introduced in 1.3.6 where tip frame was being used for Inverse
Jacobian, which was never converging.
1.3.6 (2016-01-04)
- Fixed tolerances to be in tip frame, not base frame.
- Fixed Hydro compile issue
- Changed to std::numeric_limits for +/-FLT_MAX and epsilons
- Fixed potential error with URDF soft limits
1.3.5 (2015-12-08)
- Overhaul of how multiple solutions are managed in TRAC-IK threads.
- Improved speed and accurate returning of unique results found.
1.3.4 (2015-12-10)
- Fixed a bug where we were looping over solutions inside of looping over
solutions.
1.3.3 (2015-12-10)
- Change final normalization for manipulability metrics with continuous
joints. Make continuous joints explicitly handled (if lower_limit >=
upper_limit, joint is continuous).
1.3.2 (2015-12-10)
- Fixed bug where TRAC-IK multisolution modes weren't using the computed
random seeds, but were using the same seed over and over.
- Fixed potential issues with large bound joints seraching too large of a
space
1.3.1 (2015-12-08)
- Slight tweak to Manipulation metrics function to ensure it always works,
even with weird Jacobians.
1.3.0 (2015-12-07)
- Added a mode to TRAC-IK constructor that determines how the IK solver
runs: 1) Speed return immediately whenever any solution is found (all other
modes run for the requested timeout to try to find multiple solutions); 2)
Distance runs for the timeout and returns the solution found that minimizes
the Sum-of-Squares error from the seed; 3) Manip1 returns the solution that
maximizes the manipulation metric sqrt(det(J*J^T)); 4) Manip2 returns the
metric that minimizes the condition number J* J^-1.
- Added support for these modes in the MoveIt! plugin via the kinematic.yaml
parameter solve_type, which can be one of the strings "Speed", "Distance",
"Manipulation1", "Manipulation2".
1.2.1 (2015-12-07)
- Fixed a bug in the MoveIt! plugin FK call that assumed all joint poses were
desired.
1.2.0 (2015-12-04)
- Extended TRAC-IK to both run in two ways: 1) the old mode of first IK
solution found causes TRAC-IK to return immediately, versus 2) the new mode
where TRAC-IK runs for the full requested timeout duration, then sorts all
solutions according to distance from the seed and returns the minimum.
- Made MoveIt! support this new IK run mode if the user desires.
- Improved timing info to use a higher solution clock.
- Fixed TRAC-IK's abort/reset of KDL-RR and NLOpt-IK to catch race
conditions.
1.1.2 (2015-12-3)
- Fixed issue where clamping a seed to be within the joint limits might still
have values outside the limits.
- Fixed issue where MoveIt! plugin was not thread safe.
- Fixed an issue in MoveIt! plugin where error_code passed in uninitialized
to SUCCESS could cause IK to say it failed when it did not.
1.1.1 (2015-11-19)
- Prepared code to have auto test suite run to generate data in main
README.md.
1.1.0 (2015-11-12)
- Improvements to KDL-RR that better handle joint limits on rotational joints
that can turn +- PI.
- Fixed bug where continuous joints could cause problems.
- Made NLOpt modes enums instead of integer parameters.
1.0.0 (2015-11-10)
- Initial checkin of TRAC-IK as of Humanoids 2015 submission. Pulled from
private repo.
- Made trac_ik packages conform to rosdep standards.