CHANGELOG

2.0.1 (2024-04-12)

2.0.0 (2024-03-29)

  • Update CMakeLists for trac_ik

  • Contributors: Ana C. Huaman Quispe, Kenji Brameld, Mike Lanighan

1.6.6 (2021-05-05)

1.6.4 (2021-04-29)

1.6.2 (2021-03-17)

  • changed package.xmls to format 3

  • Contributors: Stephen Hart

1.6.1 (2021-03-17)

  • Pushing changes for noetic compatibility

1.5.1 (2019-07-15)

  • Fixed theta normalize bug

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

1.4.9 (2018-01-11)

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.