0.27.1 (2024-12-03)

0.27.0 (2024-12-01)

0.26.0 (2024-10-27)

• Remove TesseractSupportResourceLocator
• Contributors: Levi Armstrong

0.25.0 (2024-09-28)

0.24.1 (2024-08-19)

0.24.0 (2024-08-14)

0.23.1 (2024-07-28)

0.23.0 (2024-07-24)

• Do not export plugin libraries (#1028)
• Fixes for building on Ubuntu Noble (#1016)
• Contributors: Levi Armstrong, Roelof Oomen

0.22.2 (2024-06-10)

• Add backtrace to type erasure casting to quickly identify where the issue location
• Contributors: Levi Armstrong

0.22.1 (2024-06-03)

• • Also add KDL parameters to KDLInvKinChainNR_JL (see #843)
  • Some clang_tidy and typo fixes
• Contributors: Roelof Oomen

0.22.0 (2024-06-02)

• Add the ability to change KDL parameters from kinematics configuration (#843) Co-authored-by: Levi Armstrong <levi.armstrong@gmail.com>
• Add support for jerk limits
• Leverage forward declarations to improve compile times (#990)
• Remove ineffective frame.Identity() call See #984
• Contributors: Levi Armstrong, Roelof, Sean Cardello

0.21.5 (2023-12-14)

0.21.4 (2023-11-20)

0.21.3 (2023-11-16)

0.21.2 (2023-11-10)

0.21.1 (2023-11-09)

0.21.0 (2023-11-07)

0.20.2 (2023-10-26)

0.20.1 (2023-10-13)

• Replaced the implementation of tesseract_kinematics::parseSceneGraph (#947)
• Unused includes cleanup (#946)
• Add Eigen::Vector3d yaml support (#945)
• Merge pull request #943 from marrts/fix/ik_fast/free_joint_state_parsing Make free_joint_state parsing more generalized
• Make free_joint_state parsing more generalized
• Contributors: Levi Armstrong, Roelof, Tyler Marr

0.20.0 (2023-09-27)

• Add support for KDL::ChainIkSolverPos_NR_JL, which takes joint limits (#928)
• Contributors: Roelof

0.19.2 (2023-09-06)

0.19.1 (2023-09-05)

0.19.0 (2023-09-05)

• Update kinematics and collision packages to leverage cmake components (#927)
• Update emails
• Improved reporting of errors in IK plugin loader (#924)
• Added IKFast factory boilerplate (#916) * Added IKFast factory boilerplate * Updated IKFast unit tests to use new IKFast boilerplate factory * Reverted change to kinematic_group.h * Add include guards * Fix filename in header comment Co-authored-by: Tyler Marr <41449746+marrts@users.noreply.github.com> * IKFast plugins as cpp instead of h * Fix ikfast clang-tidy issues --------- Co-authored-by: Tyler Marr <41449746+marrts@users.noreply.github.com> Co-authored-by: Levi Armstrong <levi.armstrong@gmail.com>
• Fix of ManipulatorInfo and typos (#914) - ManipulatorInfo constructor now accepts tcp_offset as variant to match data member. - Fixed typos in rep and rop factories.
• Contributors: Levi Armstrong, Michael Ripperger, Roelof

0.18.1 (2023-06-30)

0.18.0 (2023-06-29)

• Update kinematics group inverse kinematics to harmonize within joint limits (#899)
• Add package cmake flags for testing, examples and benchmarks
• Contributors: John Wason, Levi Armstrong

0.17.0 (2023-06-06)

0.16.3 (2023-05-04)

0.16.2 (2023-04-28)

0.16.1 (2023-04-11)

• Improve tesseract_kinematics code coverage
• Contributors: Levi Armstrong

0.16.0 (2023-04-09)

• Add AddTrajectoryLinkCommand
• Contributors: Levi Armstrong

0.15.3 (2023-03-22)

0.15.2 (2023-03-15)

0.15.1 (2023-03-14)

0.15.0 (2023-03-03)

• Performance improvements found using callgrind (#852)
• Closes #848
• Contributors: Levi Armstrong, Roelof Oomen

0.14.0 (2022-10-23)

• Remove deprecated items
• Fix codecov build using ros_industrial_cmake_boilerplate 0.3.1
• Contributors: Levi Armstrong

0.13.1 (2022-08-25)

• Move most SWIG commands to tesseract_python package (#809)
• Contributors: John Wason

0.13.0 (2022-07-11)

• Update code based on clang-tidy-14
• Make limits utility functions templates
• Contributors: Levi Armstrong

0.10.0 (2022-07-06)

• Update ros_industrial_cmake_boilerplate to 0.3.0 (#795)
• Static plugin loading using symbol module resolution (#782)

0.9.11 (2022-06-30)

• Improve manipulability calculcation (#787) * Use SelfAdjointEigenSolver * Simplify calculation of measure = sqrt(condition) * Simplify calculation of volume Co-authored-by: christian.petersmeier <christian.petersmeier@uni-bielefeld.de>
• Updated CPack (#786)
• Add lapack test_depends tesseract_kinematics
• Update to use find_gtest macro
• Contributors: Levi Armstrong, Michael Ripperger, Robert Haschke

0.9.10 (2022-06-14)

0.9.9 (2022-05-30)

0.9.8 (2022-05-30)

0.9.7 (2022-05-30)

• Fix numerical issue in manipulability calculation
• Contributors: Levi Armstrong

0.9.6 (2022-05-02)

0.9.5 (2022-04-24)

0.9.4 (2022-04-22)

0.9.3 (2022-04-18)

• Updated plugin capability to support sections (#741)
• Contributors: Levi Armstrong

0.9.2 (2022-04-03)

0.9.1 (2022-04-01)

0.9.0 (2022-03-31)

• Make ResourceLocator serializable
• Contributors: Levi Armstrong

0.8.7 (2022-03-24)

0.8.6 (2022-03-24)

0.8.5 (2022-03-24)

0.8.4 (2022-03-03)

• Add overload method for calcInvKin to take single KinGroupIKInput
• Contributors: Levi Armstrong

0.8.3 (2022-02-22)

• Python patches for Feb 2022 update (#716)
• Update UR Kinematics Parameters for e-series UR10eParameters, UR5eParameters and UR3eParameters values were slightly off compared to official documentation. We updated them to match.
• Contributors: John Wason, Leo Ghafari

0.8.2 (2022-01-27)

0.8.1 (2022-01-24)

0.8.0 (2022-01-19)

0.7.5 (2022-01-10)

0.7.4 (2021-12-15)

0.7.3 (2021-12-15)

0.7.2 (2021-12-15)

0.7.1 (2021-12-15)

• Move checkKinematics to getKinematicGroup and add support for clang-tidy-12 (#682) * Move checkKinematics to getKinematicGroup and add support for clang-tidy-12 * Reduce the number of checks perform in checkKinematics * Leverage checkKinematics in unit tests
• Add redundancy capable joints to the harmonizeTowardZero function
• Contributors: Levi Armstrong

0.7.0 (2021-12-04)

0.6.9 (2021-11-29)

0.6.8 (2021-11-29)

• Fix spelling errors
• Contributors: Levi Armstrong

0.6.7 (2021-11-16)

0.6.6 (2021-11-10)

• Update ikfast plugin
• Add determinant check and make kdl solvers thread safe (#664)
• Fix Kinematic Group working frames
• Contributors: Levi Armstrong, Levi-Armstrong

0.5.0 (2021-07-02)

• Add convex decomposition support (#609)
• IK Solver Redundant Solutions Update (#601)
• Contributors: Levi Armstrong, Michael Ripperger

0.4.1 (2021-04-24)

0.4.0 (2021-04-23)

• Move srdf code to its own package tesseract_srdf
• Contributors: Levi Armstrong

0.3.1 (2021-04-14)

• Move tesseract_variables() before any use of custom macros
• Contributors: Levi Armstrong

0.3.0 (2021-04-09)

• Only enable code coverage if compiler definition is set
• Fix satisfiesPositionLimits to use relative equal and calculation of redundant solutions to include all permutations
• Fix inv kinematics to only return solution within limits and add redundant solutions for kdl ik solvers
• Add cmake format
• Add kinematics utility function for calculating manipulability (#571)
• Use boost targets, add cpack and license file (#572)
• Add kinematics utility function isNearSingularity (#569)
• Fix the way in which Eigen is included (#570)
• Fix checkJoints in UR Kinematics
• Add universal robot inverse kinematics
• Fix kinematics checkJoints not returning false when outside limits (#564)
• Add ability to construct ROP and REP kinematic solver with different solver names
• Fix IKFast inverse kinematics wrapper
• Update forward kinematics interface to return solutions versus out parameters
• Update inverse kinematics interface to return solutions versus out parameters
• Contributors: Hervé Audren, Levi Armstrong

0.2.0 (2021-02-17)

• Improve tesseract_kinematics test coverage (#543)
• Add another test case for kinematics core harmonize function
• Fix harmonizeTowardZero
• Update cmake_common_scripts to ros_industrial_cmake_boilerplate
• Improve code coverage for tesseract_kinematics core
• Move all directories in tesseract directory up one level
• Contributors: Levi Armstrong

0.1.0 (2020-12-31)

• Update tesseract_kinematics to leverage tesseract_scene_graph
• Fix depends in tesseract_kinematics
• Semi-Isolate Tesseract Kinematics
• Contributors: Levi Armstrong