6.2.0 (2021-07-23)

• Add EndPoseTask::GetTaskJacobian
• Fix build issues with Eigen 3.3.9; enable compilation of exotica_core on Conda (#740)
• Performance improvements (#741)
• DynamicTimeIndexedShootingProblem: Allocation-free control cost computation
• DynamicsSolver: dStateDelta and ddStateDelta return previously allocated transition derivative
• DynamicsSolver: Add in-place StateDelta
• Fix installation directives for cmake directory
• Deactivate Boost bind warnings arising from ROS messages
• Update minimum CMake version for add_initializer.cmake
• XMLLoader: Fix for #737
• Scene: Fix uninitialised quaternion
• Contributors: Wolfgang Merkt

6.1.1 (2021-04-05)

• Fix broken examples and expose new features (#736) * Add EndPoseTask::GetS * SamplingProblem: Rename IsValid(q) to IsStateValid(q) * SamplingProblem: More debug output for IsValid * KinematicTree: Use same timestamp for tfs * Scene: Fix uninitialised quaternion
• Fix unit tests on Debian Buster (#734)
• Fix test robot URDF with collision links
• Contributors: Wolfgang Merkt

6.1.0 (2021-03-15)

• Fix segmentation fault on exiting Python (#732)
• Clang support and bug fixes (#731)
• Upgrade clang format from v3.9 to v6.0 (#730)
• Contributors: Wolfgang Merkt

6.0.2 (2020-11-23)

6.0.1 (2020-11-17)

• Disable treating compiler warnings as errors due to buildfarm failure on Debian Stretch This change will result in "unstable" build notifications from the buildfarm but prevent failures.
• Contributors: Wolfgang Merkt

6.0.0 (2020-11-08)

• Upgrade standard to C++14 for new pybind11 version
• Updates and fixes, including speed optimisation, to many areas including: DynamicsSolver, DynamicTimeIndexedShootingProblem, CollisionScene (now instantiable), support for instantiating geometry shapes, meshes, and octrees from initialisers, etc.
• Added support for kinematic Hessians
• New integration schemes for dynamic problems: symplectic integrators; added state transition function
• Add support for dynamic task maps, i.e., those that depend on both x (configuration+velocity) and u (control)
• Add sparse costs
• Add a second BoxQP
• Meshcat visualisation
• Joint velocity and acceleration limits
• Contributors: Matt Timmons-Brown, Traiko Dinev, Vladimir Ivan, Wolfgang Merkt

5.1.3 (2020-02-13)

• Refactor CollisionScene, add faster distance checks, speedup SmoothCollisionDistance (#688)
• Expose full KinematicTree to Python; expose mesh collision shape information (#686)
• Contributors: Wolfgang Merkt

5.1.2 (2020-02-10)

• Fix bug in updating root tree (#684)
• Contributors: Wolfgang Merkt

5.1.1 (2020-02-10)

• Fix to avoid duplicate ID=0 in KinematicTree (#683)
• Added explicit general dependency on libzmq3-dev to fix buildfarm build issues
• Contributors: Vladimir Ivan, Wolfgang Merkt

5.1.0 (2020-01-31)

• Add support for Scene creation without SRDF, from robot param server (#681)
• Address -Wall warnings (#679)
• Fix floating-base Jacobian column switch bug, fix floating-base collision links (#668)
• Nice XML error handling on 18.04+; fix validity checkers; add ContinuousCollisionCast (#660)
• Add Meshcat visualisation (#633)
• New GetNumberOfIterations method in planning problem (#603)
• KinematicTree: getter for joints (#598)
• Change cost Jacobian to be a row vector (#596)
• Support full start state (position + velocity) for dynamic problems (#572)
• Deprecate non-const initializer, activate related warning as error, fix random issues (#562)
• Python3 compatibility (#553)
• Distinguish between controlled and model joints and links (#528)
• Sparse Jacobian triplets for TimeIndexedProblems
• Global random seed
• ... and many more
• Contributors: Chris Mower, Christian Rauch, Traiko Dinev, Vladimir Ivan, Wolfgang Merkt