Changelog for package sns_ik_lib

0.2.3 (2017-10-29)

• CMakeLists Eigen cleanup In ROS Kinetic, cmake_modules is deprecated, so we will use some alternative CMakeLists strategies to find_package the Eigen 3.x library.
• Fixes Eigen scalar sum warning Eigen doesn't like the fact that we're creating an Array of Bools, and then attempting to sum those booleans up. Instead, we need to cast the Array into an int, and then sum over it to store into the sum integer. Resolves https://github.com/RethinkRobotics-opensource/sns_ik/issues/56
• Two small bug fixes 1) Pass vector by reference in getJointNames 2) Properly fill in matrix in pinv_forBarP
• Contributors: Forrest Rogers-Marcovitz, Ian McMahon

0.2.1 (2016-10-25)

• The nullspace jacobian size was transposed when using a subset of joints
• Contributors: Forrest Rogers-Marcovitz

0.2.0 (2016-09-06)

• Increase scale margin for FOSNS. Caused less unnecessary scaling with smoother motions.
• Small code cleanup
• Added NS velocity bias as task option
• Setter for dynamic loop period
• Turn on positions limits for velocity IK, but not for position IK which uses the barrier function instead.
• Setters for joint Velocity and Acceleration limits
• Correct nullspace projection for FSNS and FOSNS
• Contributors: Forrest Rogers-Marcovitz

0.1.1 (2016-04-28)

• Fixed install location for sns_ik headers
• Minor code cleanup / old code removal

0.1.0 (2016-04-22)

• Added setters for barrier function and added some comments

• Barrier function implemented

• Very simple limit expansion test.

• Don't divid nullspace bias by timestep in position ik solver

• Added nullspace gain to position and velocity solvers.

• Adds correct install directory and const parameters

• Turned on compile optimization -O2. Huge speed increase ~20X

• Added the standard Eigen3 package find

• Added a different way for CMake to detect eigen3 deps

• Syntax changes for stricter build warnings

• For the velocity solver in sns_ik, changed the name to CartToJntVel to minimize name confusion.

• Merge with origin/master

• First pass at nullspace bias tasks for position IK. Not optimized yet.

• First pass at nullspace bias tasks for velocity IK. Fixed P matrix for secondary tasks in fsns and fosns. Also turned off singularity logging.

• Better time comparison.

• Minor performance improvements including initializing variables outside of position for-loop and not using position limits in velocity solver when solving for position.

• Cleaner test output.

• Fixed Interface breakage & invalid function call

• Updates Position IK interface based on review comments

• Adds SharedPtr Get interface for Pos & Vel solvers

• Additional debug logging for fosns if LOG_ACTIVE is defined. Plus some additional code cleanup.

• Additional tracking of if Cartesian velocities are scaled correctly.

• Fast optimal SNS. There is still probably a bug in the code.

• Errors due to using abs instead of fabs

• Fast SNS algorithm

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