6.2.0 (2021-07-23)

• Switch to FCL on Noetic, use fcl_catkin on older distros (#735)
• Contributors: Wolfgang Merkt

6.1.1 (2021-04-05)

6.1.0 (2021-03-15)

6.0.2 (2020-11-23)

6.0.1 (2020-11-17)

6.0.0 (2020-11-08)

• Remove usage of exotica_collision_scene_fcl; add backwards compatibility using exotica_collision_scene_fcl_latest (#726)
• Fix transform bug fix, remove usage of tf_conversions (#723)
• Merge remote-tracking branch 'origin/master'
• Return after first ACM entry is found
• CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
• Move to Initializer initialisation of collision scenes
• Check whether transform contains NaNs (translation)
• CollisionScene: Store whether update of objects is required
• CollisionScene: Add setter/getter for replace_cylinder_with_capsule, do not store duplicate company of world links to be excluded from collision scene
• Contributors: Vladimir Ivan, Wolfgang Merkt

5.1.3 (2020-02-13)

• Refactor CollisionScene, add faster distance checks, speedup SmoothCollisionDistance (#688)
• Contributors: Wolfgang Merkt

5.1.2 (2020-02-10)

5.1.1 (2020-02-10)

5.1.0 (2020-01-31)

• Address -Wall warnings (#679)
• Update from research branch (#660)
• Address catkin lint (#549)
• Add world-links-to-exclude (#525)
• Check finiteness of contact_pos in DEBUG mode (#514)
• Contributors: Christian Rauch, Vladimir Ivan, Wolfgang Merkt