Changelog for package hebi_cpp_api

3.2.0 (2020-4-3)

added experimental high-level "Arm API" to enable easier control of robotic arm systems

3.1.1 (2019-12-16)

Fix incorrect behavior when getting and setting IO pin values

3.1.0 (2019-12-02)

Reduce conversion needs by adding (deprecated) overloads for:
- getJ
- getJacobians
- getFK
- getForwardKinematics
- getFrameCount
Fix multiple definition error

(from 3.0.0)

Robot Model:
- Added "input frame" type for forward kinematics operations
- Added end effector support (custom and parallel gripper types)
- Added R-series support (actuator, link, bracket, and end effector)
- Added options for link input + output type
- Support import of HRDF format 1.2.0
Robot Model:
- removed "combine" functionality for addJoint and addRigidBody
- now only allows addition of elements which match the physical interface of the previous element
- changed the behavior of "end effector" frames; by default, none are returned any unless an "end effector" is specifically added
- Changed usages of HebiJointType, HebiFrameType, and HebiRobotModelElementType C-style enums to C++ scoped enums
Fixed bug when setting IO pins in commands; commands would sometimes affect other pins.

(from 2.2.0)

Added ability to set and clear text in the experimental mobile IO API
Added ability to get raw feedback from experimental mobile IO API

2.1.0 (2019-08-21)

Updated various messages:
- Info:
  - Added "serial" getter for Info packets
- Info and Command:
  - Added mstop strategy
  - Added position limit strategies
  - Added velocity limits
  - Added effort limits
  - Added flag for whether or not accelerometer feedback includes gravity (on supporting devices, namely Mobile IO devices
- Command:
  - Added ability to set strings for and clear the "log" text field in the Mobile IO apps
- Feedback:
  - Added "pwm command" feedback
Add "robot element metadata" that allows for introspection of RobotModel objects.
Import/Export safety parameters from/to a file into/from GroupCommand objects
Export safety parameters to a file from GroupInfo objects
Added "experimental" namespace intended for feature-preview items
Added "mobile io wrapper" to experimental namespace that allows for easier interface with Mobile IO devices
Update core C API from 1.4.2 to 1.8.0
- Significantly faster Jacobian computation
- Full wildcard lookup supported when creating groups
- Significantly faster trajectory solver implementation
- Added "subaddress" support in lookup, commands, feedback, and logging; allows for simulator support
Cleaned up code style:
- default destructors and accessibility for deleted copy/move assignment operators
- const on move operators (src/util.hpp)
- made several getters inline
Added "FunctionCallResult" used when importing safety parameter files to allow error message to be accessed
Update core C API from 1.4.2 to 1.8.0
- Fixed getters for motor position, ar position, ar orientation, ar quality, and battery level in feedback
- Locale invariant conversion when reading in .xml files, such as gains and HRDF (always expect "1.23" instead of "1,23", regardless of system's locale setting)
- Use Ethernet header instead of message packet content to discover modules on the network (fixes issue when using multiple interfaces - wired and wireless - on iPad or Android running HEBI Mobile I/O)

2.0.2 (2019-01-29)

Make package installable
Moved the header files into an include directory
Removed the Eigen folder; use ROS package instead
Fixed CMake for installable package
- Addressed Eigen dependency
- Installed include files and libraries correctly
NOTE: this does not correspond with an official 2.0.2 release of the upstream HEBI C++ API, because these changes were all local ROS build system changes. This mismatch will be resolved in v2.1.0.
Contributors: Matthew Tesch, iamtesch

2.0.1 (2018-12-19)

Initial import of the HEBI C++ API v2.0.1
- Note: package.xml and CMakeLists.txt have been changed to be catkin compliant.
Addressed i386/armhf/aarch64 ros buildfarm issues.
Contributors: Matthew Tesch