1.6.6 (2021-05-05)

1.6.4 (2021-04-29)

1.6.2 (2021-03-17)

• changed package.xmls to format 3
• Contributors: Stephen Hart

1.6.1 (2021-03-17)

• Pushing changes for noetic compatibility

1.5.1 (2019-07-15)

• Fixed theta normalize bug

1.5.0 (2018-08-22)

• Switch to C++-11 threads and pointers instead of Boost

1.4.11 (2018-02-06)

• Change to python install location for swig wrapper

1.4.10 (2018-01-21)

• Fix URDF types to work in Indigo through Lunar on trusty through zesty

1.4.9 (2018-01-11)

• Fixed MoveIt! plugin params to look in the correct place
• Added a swig wrapper around TRAC-IK courtesy of Sammy.Pfeiffer@student.uts.edu.au

1.4.8 (2017-12-26)

• Updated type to use generic typedef so boost (xenial) and C++ (zesty) pointers can be used as needed

1.4.7 (2017-12-21)

• Fixed bug introduced in 1.4.6 where threaded function call should be returning a bool but was not returning anything

1.4.6 (2017-11-8)

• Incorporated PR to fix plugin header and templatize the KDL/NLOpt solver threads used by TRAC-IK

1.4.5 (2016-12-21)

• Updated CMake file to work with Eigen on 14.04 through 16.04

1.4.4 (2016-08-01)

• Minor formatting and speed improvements based on user Issues and Pull Requests.

1.4.3 (2016-06-16)

• trac_ik_kinematics_plugin and trac_ik_examples needed build depends on libnlopt-dev

1.4.2 (2016-06-16)

• New revision for ROS Package release. Thanks to Gijs van der Hoorn

1.4.1 (2016-01-16)

• Fixed weird parsing issue with certain URDFs.

1.4.0 (2016-01-16)

• Added example program for using TRAC-IK.
• Added ability to get KDL chain structures from TRAC-IK class.

1.3.9 (2016-01-16)

• Added new TRAC-IK constructor that takes URDF location, base link, and tip link, instead of KDL structures.
• Some README fixes based on user comments

1.3.8 (2016-01-04)

• Fixed how continuous joints are handled in random restarts

1.3.7 (2016-01-04)

• Fixed bug introduced in 1.3.6 where tip frame was being used for Inverse Jacobian, which was never converging.

1.3.6 (2016-01-04)

• Fixed tolerances to be in tip frame, not base frame.
• Fixed Hydro compile issue
• Changed to std::numeric_limits for +/-FLT_MAX and epsilons
• Fixed potential error with URDF soft limits

1.3.5 (2015-12-08)

• Overhaul of how multiple solutions are managed in TRAC-IK threads.
• Improved speed and accurate returning of unique results found.

1.3.4 (2015-12-10)

• Fixed a bug where we were looping over solutions inside of looping over solutions.

1.3.3 (2015-12-10)

• Change final normalization for manipulability metrics with continuous joints. Make continuous joints explicitly handled (if lower_limit >= upper_limit, joint is continuous).

1.3.2 (2015-12-10)

• Fixed bug where TRAC-IK multisolution modes weren't using the computed random seeds, but were using the same seed over and over.
• Fixed potential issues with large bound joints seraching too large of a space

1.3.1 (2015-12-08)

• Slight tweak to Manipulation metrics function to ensure it always works, even with weird Jacobians.

1.3.0 (2015-12-07)

• Added a mode to TRAC-IK constructor that determines how the IK solver runs: 1) Speed return immediately whenever any solution is found (all other modes run for the requested timeout to try to find multiple solutions); 2) Distance runs for the timeout and returns the solution found that minimizes the Sum-of-Squares error from the seed; 3) Manip1 returns the solution that maximizes the manipulation metric sqrt(det(J*J^T)); 4) Manip2 returns the metric that minimizes the condition number J* J^-1.
• Added support for these modes in the MoveIt! plugin via the kinematic.yaml parameter solve_type, which can be one of the strings "Speed", "Distance", "Manipulation1", "Manipulation2".

1.2.1 (2015-12-07)

• Fixed a bug in the MoveIt! plugin FK call that assumed all joint poses were desired.

1.2.0 (2015-12-04)

• Extended TRAC-IK to both run in two ways: 1) the old mode of first IK solution found causes TRAC-IK to return immediately, versus 2) the new mode where TRAC-IK runs for the full requested timeout duration, then sorts all solutions according to distance from the seed and returns the minimum.
• Made MoveIt! support this new IK run mode if the user desires.
• Improved timing info to use a higher solution clock.
• Fixed TRAC-IK's abort/reset of KDL-RR and NLOpt-IK to catch race conditions.

1.1.2 (2015-12-3)

• Fixed issue where clamping a seed to be within the joint limits might still have values outside the limits.
• Fixed issue where MoveIt! plugin was not thread safe.
• Fixed an issue in MoveIt! plugin where error_code passed in uninitialized to SUCCESS could cause IK to say it failed when it did not.

1.1.1 (2015-11-19)

• Prepared code to have auto test suite run to generate data in main README.md.

1.1.0 (2015-11-12)

• Improvements to KDL-RR that better handle joint limits on rotational joints that can turn +- PI.
• Fixed bug where continuous joints could cause problems.
• Made NLOpt modes enums instead of integer parameters.

1.0.0 (2015-11-10)

• Initial checkin of TRAC-IK as of Humanoids 2015 submission. Pulled from private repo.
• Made trac_ik packages conform to rosdep standards.