CHANGELOG

Changelog for package pick_ik

Initialize with the best seed instead of initial seed at population wipeout (#77)
Fix timeout calculation if solution callback fails (#73)
Remove incorrect override of tip_frames (#68)
Contributors: Amal Nanavati, Sebastian Castro, Timon Engelke

New options to control solution quality and performance
- Option to rerun optimization until valid solution or timeout (#53)
- Option to keep optimizing after a valid solution was found (#46)
- Approximate solution cost threshold (#51) and joint jump threshold parameters (#42)
- Position scale parameter (#47)
Fix ordering of joint limits when loading robot model (#54)
Fix use of solution callback (#48)
Remove unnecessary preprocessor macro (#40)
Contributors: Marc Bestmann, Sebastian Castro, Erik Holum

Set Werror through CMake presets (#39)
Replace lower_bounds with gt_eq (#37)
Upgrade with new pkgs to fix issue with ROS
Target include subdirectory
Update Catch2 version to 3.3.0
Fix overriding of package
Fix orientation calculation in cost function and frame tests (#31)
- Fix orientation calculation
- Update plugin return values
- Remove redundant (and incorrect) joints bounds check
- Use Eigen angular distance calculation
Small grammar fixes (#28)
Contributors: Sebastian Castro, Stephanie Eng, Tyler Weaver

pick_ik inverse kinematics plugin compatible with MoveIt 2
Numeric gradient descent (local) solver
Memetic algorithm (global solver), configurable for single or multi-threading
Basic goal functions: joint centering, avoid joint limits, minimal joint displacement
Support for position-only IK and approximate solutions
Dynamic parameter switching at runtime using generate_parameter_library
Docker devcontainer workflow for VSCode
Contributors: Chris Thrasher, Sebastian Castro, Tyler Weaver