CHANGELOG.rst

Changelog for package moveit_core

0.4.7 (2013-07-12)

• doc updates
• white space fixes (tabs are now spaces)
• update root joint if needed, after doing backward fk
• adding options struct to kinematics base
• expose a planning context in the planning_interface base library

0.4.6 (2013-07-03)

• Added ability to change planner configurations in the interface
• add docs for controller manager
• fix computeTransformBackward()

0.4.5 (2013-06-26)

• add computeBackwardTransform()
• bugfixes for voxel_grid, distance_field
• slight improvements to profiler
• Fixes compile failures on OS X with clang
• minor speedup in construction of RobotState
• fix time parametrization crash due to joints that have #variables!=1
• remove re-parenting of URDF models feature (we can do it cleaner in a different way)

0.4.4 (2013-06-03)

• fixes for hydro
• be careful about when to add a / in front of the frame name

0.4.3 (2013-05-31)

• remove distinction of loaded and active controllers

0.4.2 (2013-05-29)

• generate header with version information

0.4.1 (2013-05-27)

• fix #66
• rename getTransforms() to copyTransforms()
• refactor how we deal with frames; add a separate library
• remove direction from CollisionResult

0.4.0 (2013-05-23)

• attempt to fix #241 from moveit_ros
• update paths so that files are found in the globally installed moveit_resources package
• remove magical 0.2 and use of velocity_map
• Work on issue #35.

0.3.19 (2013-05-02)

• rename getAttachPosture to getDetachPosture
• add support for attachment postures and implement MOVE operation for CollisionObject
• add ability to fill in planning scene messages by component
• when projection from start state fails for IK samplers, try random states
• bugfixes

0.3.18 (2013-04-17)

• allow non-const access to kinematic solver
• bugfix: always update variable transform

0.3.17 (2013-04-16)

• bugfixes
• add console colors
• add class fwd macro
• cleanup API of trajectory lookup
• Added method to get joint type as string
• fixing the way mimic joints are updated
• fixed tests

0.3.16 (2013-03-15)

• bugfixes
• robot_state::getFrameTransform now returns a ref instead of a pointer; fixed a bug in transforming Vector3 with robot_state::Transforms, add planning_scene::getFrameTransform
• add profiler tool (from ompl)

0.3.15 (2013-03-08)

• Remove configure from PlanningScene
• return shared_ptr from getObject() (was ref to shared_ptr)
• use NonConst suffix on PlanningScene non-const get functions.
• make setActiveCollisionDetector(string) return bool status
• use CollisionDetectorAllocator in PlanningScene
• add World class
• bodies attached to the same link should not collide
• include velocities in conversions
• Added more general computeCartesianPath, takes vector of waypoints
• efficiency improvements

0.3.14 (2013-02-05)

• initialize controller state by default
• fix #157 in moveit_ros
• fix moveit_ros/#152

0.3.13 (2013-02-04 23:25)

• add a means to get the names of the known states (as saved in SRDF)
• removed kinematics planner

0.3.12 (2013-02-04 13:16)

• Adding comments to voxel grid
• Adding in octree constructor and some additional fields and tests
• Getting rid of obstacle_voxel set as it just slows things down
• Removing pf_distance stuff, adding some more performance, getting rid of addCollisionMapToField function
• Fixing some bugs for signed distance field and improving tests
• Merging signed functionality into PropagateDistanceField, adding remove capabilities, and adding a few comments and extra tests

0.3.11 (2013-02-02)

• rename KinematicState to RobotState, KinematicTrajectory to RobotTrajectory
• remove warnings about deprecated functions, use a deque instead of vector to represent kinematic trajectories

0.3.10 (2013-01-28)

• fix #28
• improves implementation of metaball normal refinement for octomap
• add heuristic to detect jumps in joint-space distance
• make it such that when an end effector is looked up by group name OR end effector name, things work as expected
• removed urdf and srdf from configure function since kinematic model is also passed in
• make sure decoupling of scenes from parents that are themselves diffs to other scenes actually works
• Fix KinematicState::printStateInfo to actually print to the ostream given.
• add option to specify whether the reference frame should be global or not when computing Cartesian paths
• update API for trajectory smoother
• add interpolation function that takes joint velocities into account, generalize setDiffFromIK
• add option to reverse trajectories
• add computeCartesianPath()
• add ability to load & save scene geometry as text
• compute jacobian with kdl
• fix #15

0.3.9 (2013-01-05)

• adding logError when kinematics solver not instantiated, also changing @class
• move some functions to a anonymous namespace
• add doc for kinematic_state ns

0.3.8 (2013-01-03)

• add one more CATKIN dep

0.3.7 (2012-12-31)

• add capabilities related to reasoning about end-effectors

0.3.6 (2012-12-20)

• add ability to specify external sampling constraints for constraint samplers

0.3.5 (2012-12-19 01:40)

• fix build system

0.3.4 (2012-12-19 01:32)

• add notion of default number of IK attempts
• added ability to use IK constraints in sampling with IK samplers
• fixing service request to take proper group name, check for collisions
• make setFromIK() more robust

0.3.3 (2012-12-09)

• adding capability for constraint aware kinematics + consistency limits to joint state group
• changing the way consistency limits are specified
• speed up implementation of infinityNormDistance()
• adding distance functions and more functions to sample near by
• remove the notion of PlannerCapabilities

0.3.2 (2012-12-04)

• robustness checks + re-enabe support for octomaps
• adding a bunch of functions to sample near by

0.3.1 (2012-12-03)

• update debug messages for dealing with attached bodies, rely on the conversion functions more
• changing manipulability calculations
• adding docs
• log error if joint model group not found
• cleaning up code, adding direct access api for better efficiency

0.3.0 (2012-11-30)

• added a helper function

0.2.12 (2012-11-29)

• fixing payload computations
• Changing pr2_arm_kinematics test plugin for new kinematics_base changes
• Finished updating docs, adding tests, and making some small changes to the function of UnionConstraintSampler and ConstraintSamplerManager
• Some extra logic for making sure that a set of joint constraints has coverage for all joints, and some extra tests and docs for constraint sampler manager
• adding ik constraint sampler tests back in, and modifying dependencies such that everything builds
• Changing the behavior of default_constraint_sampler JointConstraintSampler to support detecting conflicting constraints or one constraint that narrows another value, and adding a new struct for holding data. Also making kinematic_constraint ok with values that are within 2*epsilon of the limits

0.2.11 (2012-11-28)

• update kinematics::KinematicBase API and add the option to pass constraints to setFromIK() in KinematicState

0.2.10 (2012-11-25)

• minor reorganization of code
• fix #10

0.2.9 (2012-11-23)

• minor bugfix

0.2.8 (2012-11-21)

• removing deprecated functions

0.2.7 (2012-11-19)

• moving sensor_manager and controller_manager from moveit_ros

0.2.6 (2012-11-16 14:19)

• reorder includes
• add group name option to collision checking via planning scene functions

0.2.5 (2012-11-14)

• update DEPENDS
• robustness checks

0.2.4 (2012-11-12)

• add setVariableBounds()
• read information about passive joints from srdf

0.2.3 (2012-11-08)

• using srdf info for #6
• fix #6

0.2.2 (2012-11-07)

• add processPlanningSceneWorldMsg()
• Adding and fixing tests
• Adding docs
• moves refineNormals to new file in collision_detection
• Fixed bugs in PositionConstraint, documented Position and Orientation constraint, extended tests for Position and OrientationConstraint and started working on tests for VisibilityConstraint
• more robust checking of joint names in joint constraints
• adds smoothing to octomap normals; needs better testing

0.2.1 (2012-11-06)

• revert some of the install location changes

0.2.0 (2012-11-05)

• update install target locations

0.1.19 (2012-11-02)

• add dep on kdl_parser

0.1.18 (2012-11-01)

• add kinematics_metrics & dynamics_solver to build process

0.1.17 (2012-10-27 18:48)

• fix DEPENDS libs

0.1.16 (2012-10-27 16:14)

• more robust checking of joint names in joint constraints
• KinematicModel and KinematicState are independent; need to deal with transforms and conversions next

0.1.15 (2012-10-22)

• moving all headers under include/moveit/ and using console_bridge instead of rosconsole

0.1.14 (2012-10-20 11:20)

• fix typo

0.1.13 (2012-10-20 10:51)

• removing no longer needed deps
• add moveit_ prefix for all generated libs

0.1.12 (2012-10-18)

• porting to new build system
• moved some libraries to moveit_planners
• add access to URDF and SRDF in planning_models
• Adding in path constraints for validating states, needs more testing

0.1.11 (2012-09-20 12:55)

• update conversion functions for kinematic states to support attached bodies

0.1.10 (2012-09-20 10:34)

• making JointConstraints + their samplers work with local variables for multi_dof joints
• Remove fast time parameterization and zero out waypoint times
• setting correct error codes
• bugfixes
• changing the way subgroups are interpreted

0.1.9 (2012-09-14)

• bugfixes

0.1.8 (2012-09-12 20:56)

• bugfixes

0.1.7 (2012-09-12 18:56)

• bugfixes

0.1.6 (2012-09-12 18:39)

• add install targets, fix some warnings and errors

0.1.5 (2012-09-12 17:25)

• first release