Changelog for package footstep_planner

0.4.1 (2016-09-05)

• Added include files for footstep_planner and gridmap_2d for install.
• uses double 2.0 and makes style locally consistent
• catkinize the stack
• Add service to (re)plan between feet as start and goal.
• Requires newest humanoid_msgs.
• Merge plan and replan functions
• RViz launch file / config Groovy
• mark heuristic as expired when map is updated
• removed code in the destructor that gets already cleaned up in the super class
• use pre-increment instead of post-increment (faster + post-increment for iterators not always optimizable)
• fixed sbpl exception catch
• introduced new functionality to totally reset the planning environment
• storing environment params in new struct -- get rid of unnecessary member variables
• more detailed information when sbpl planning was successful but only the old path is returned
• wait 0.5 sec before updating the start (robot) pose
• bug fix in path cost heuristic
• make footsteps smaller; + std::max
• handle receiving of foot transformations differently
• implemented the polygon-intersection-check for the navigation as well; not used so far due to some usability issues
• bug resolved: free the execution log when planning failed; use ros::Time(0) instead of ros::Time::now() since when using the latter sometimes the tf cannot be received (now sometimes an outdated step is received but this works better anyhow)
• bug resulting in segfaulting thread now (probably) resolved
• replaced old reachable check by a new more smoother grid based approach
• small fix in the replanning logic
• enforce planning from scratch when necessary (e.g. goal changed when using backward planning)
• added assertion to enforce correct heuristic calculation
• applied ROS code style
• reorganized the way FootstepNavigation invokes the planner and starts the execution; changed FootstepPlanner::updateMap
• Contributors: Armin Hornung, Johannes Garimort, Pramuditha Aravinda, Vincent Rabaud, enriquefernandez

0.4.0 (2013-01-10)

• Updated stack.xml & CMakeLists, new version 0.4.0 to release
• adjusted robot translation in z dir
• footstep execution now aborted when map changes + replanning and new execution is started; again use ALL calculated steps when extracting the path
• Changes in R* launch file params
• using only the new launch file from pkg nao_driver
• Fixed odometry lookup error (wrong frame)
• Indenting / code style according to ROS style
• fixed SBPL in CMakeListe for custom-installed location
• fixed out of map check in R*
• cleanup of R* code
• manifest/CMakeLists now compatible with fuerte and electric compilation, includes should work better now
• integrated the new footstep set
• fix: spelling error (don't forget to update nao_driver and humanoid_nav_msgs)
• navigation parameters in extra config file; using new launch file in nao_driver
• handle situations where both start feet are part of the calculated solution
• method rearrangement in the navigation
• got rid of get_footstep in helper
• added test to check whether all footsteps can be performed by the NAO robot; adjusted invalid footstep
• now able to switch between protective and fast footstep execution via the 'protective_execution' param + various smaller changes
• Finished fluid footstep execution for the NAO; has still to be tested for simulation/real robot
• added footstep_planner_walls to read in separate wall map (larger clearing)
• expanded states is now a hash map on x,y => vis.better in RVIZ, only one expanded state per (x,y)
• heuristic_scale parameter to increase under-estimating heuristics
• GetSuccsTo for improved R* functionality
• nao_path_follower now accepts paths
• Fixed PathCostHeuristic for non-square maps
• reaching right goal foot faster, only left goal state absorbs now.
• also show expanded states when failing; R* optimized (exact ==)
• PathCostHeuristic is now inflated by foot incircle
• Contributors: Armin Hornung, Daniel Maier, Johannes Garimort

0.3.1 (2012-06-15)

• preparing for fuerte release and sbpl package
• replanning based on old planning info in cases of a changed map disabled for now (instead: complete new planning in such a case)
• approx. comparison for R*
• footstep-feedback synchronization now handled in the action client (in FootstepNavigation.cpp)
• cost calculation directly based on the discrete planning states
• during the planning the reachability check is now based on the

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