6.2.0 (2021-07-23)

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)

• CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
• Re-wrote the IK solver as regularised, weighted pseudo-inverse Re-wrote the IK solver from scratch: - It now implements a regularised and weighted Jacobian pseudo-inverse instead of solving a linear system. - The support for NominalState regularisation by appending a nominal state to the error vector was removed. - Adaptive regularisation and backtracking line-search result in better convergence and numerical behaviour. - Use of pre-allocation and Cholesky decomposition makes the solver fast :-). - MaxStep for interactive IK is still supported, however, only when MaxIterations == 1. - example_ik now converges in 5 iterations, previously 41.
• Contributors: Vladimir Ivan, Wolfgang Merkt

5.1.3 (2020-02-13)

5.1.2 (2020-02-10)

5.1.1 (2020-02-10)

5.1.0 (2020-01-31)

• A variety of small code improvements
• Contributors: Christian Rauch, Wolfgang Merkt