CHANGELOG.md

Aikido 0 (prerelease)

0.5.0 (2020-XX-XX)

• Planner

  • Fixed key bugs in CRRTs: #574
  • Added ConfigurationToConfigurations planner adapter: #587
  • Cleaned up planning methods in robot/util: #588

0.4.0 (2020-08-27)

• Planner

  • Defined post-processor parameter structs in AIKIDO: #579
  • Deleted old post-processor interface: #581

0.3.0 (2020-05-22)

• Common

  • Fixed bug in StepSequence::getMaxSteps(): #305
  • Fixed bug in StepSequence iterator: #320
  • Cleaned up doxygen errors: #357
  • Fixed bug in compiling with Boost 1.58 on Kinetic + Xenial: #490
  • Fixed bug in Interpolated::addWaypoint(): #483
  • Fixed bug in VanDerCorput sequence generator to handle non-unit span: #552
  • Updated to C++14 Standard: #570

• Distance

  • Added methods to rank configurations based on specified metric: #423
  • Added weights as optional parameter to rankers: #484
  • Updated constness of return type of SE2::getStateSpace(): #536

• State Space

  • Refactored JointStateSpace and MetaSkeletonStateSpace: #278
  • Added methods for checking compatibility between DART objects and state spaces: #315
  • Added flags to MetaSkeletonStateSaver to specify what to save: #339
  • Fixed bug in the representation of SO(2) statespace: #408
  • Fixed const correctness of StateHandle::getState(): #419
  • Fixed hidden compose function (in-place version): #421
  • Added clone functionality to StateSpace: #422
  • Used const StateSpaces everywhere: #429
  • Changed the SE(2) space representation to [x,y,theta]: #458

• Constraint

  • Added SequentialSampleable: #393
  • Changed deprecated DART call in InverseKinematics: #524

• Control

  • Fixed CollisionGroup bugs in Hand executors: #299
  • Rewrote executors for faster-than-realtime simulation: #316, #450
  • Introduced uniform and dart namespaces: #342
  • Removed Barrett-specific hand executors: #380
  • Supported canceling in-progress trajectories: #400

• Perception

  • Added integrated PoseEstimatorModule: #336
  • Added voxel grid perception module: #448
  • Added YAML communication between PoseEstimatorModule and third-party perception algorithms: #497
  • Made AssetDatabase key required for Marker text: #508

• Trajectory

  • Added B-spline trajectory: #453
  • Added trajectory utility functions: #462
  • Fixed toR1JointTrajectory to copy Waypoints with their time information: #510
  • Removed incorrect Spline to Interpolated conversions: #511
  • Updated findTimeOfClosestStateTrajectory to use StateSpace Distance Metric: #543
  • Add SO2 handling in spline conversions: #546

• Planner

  • Check that all planning problems only hold ScopedStates: #569
  • Make all DART planners take MetaSkeleton, and add adapter for turning planners into DART planners: #437
  • Added parabolic timing for linear spline #302, #324
  • Fixed step sequence iteration in VFP: #303
  • Refactored planning API: #314, #414, #426, #432
  • Added flags to WorldStateSaver to specify what to save: #339
  • Changed interface for TrajectoryPostProcessor: #341
  • Planning calls with InverseKinematicsSampleable constraints explicitly set MetaSkeleton to solve IK with: #379
  • Added a kinodynamic timer that generates a time-optimal smooth trajectory without completely stopping at each waypoint: #443
  • Fixed segmentation fault on 32-bit machines in vector-field planner: #459
  • Updated interface to OMPL planners to follow the style of the new refactored planning API: #466
  • Added convenience function for converting SO(2) trajectories to R1 trajectories, support for postprocessing SO(2) trajectories: #496
  • Used ConfigurationRanker in TSR planners: #503
  • Returned Interpolated trajectories from VFP: #513
  • Added support for taking state snapshots with list of skeleton names: #523

• Robot

  • Added Robot, Manipulator, Hand interfaces, and ConcreteRobot, ConcreteManipulator classes: #325, #392
  • Added Kunz timer to Robot class: #505
  • Made ConcreteRobot limit functions public: #556

• RViz

  • Fixed bug of not joining Viewer threads when stopping auto-update: #463
  • Fixed bug of not passing full file path to RViz when MeshShape is used: #518
  • Merged WorldInteractiveMarkerViewer into InteractiveMarkerViewer, removing the former: #520
  • Fixed bug of not removing SkeletonMarkers of skeletons removed from the associated World: #560

• IO

  • Added loadSkeletonFromURDF convenience function: #388, #401
  • Added methods for caching and retrieving trajectories: #541

• Build & Testing & ETC

  • Fixed Eigen memory alignment issues on 32bit Ubuntu: #368
  • Defined optional dependencies: #376
  • Fixed compilation bug with Eigen 3.3.5: #452
  • Updated gtest version to 1.8.1: #478
  • Added DART 6.7 support: #480
  • Fixed use of dart::common::make_unique for C++14 enabled compilers: #481
  • Changed to use own build script for GoogleTest: #485
  • Added aikido::common::make_unique wrapper: #532
  • Manually generated (minimal) Python bindings: #499

0.2.0 (2018-01-09)

• State Space

  • Moved MetaSkeletonStateSpaceSaver implementation to src: #273

• Constraint

  • Added methods for removing groups from NonColliding constraints: #247
  • Renamed NonColliding to CollisionFree: #256
  • Added TestableOutcome class: #266

• Control

  • Added Instantaneous and Queued TrajectoryExecutors: #259

• Perception

  • Added RcnnPoseModule: #264

• Planner

  • Added World class: #243, #252, #265
  • Added vector field planner: #246, #262, #268

• RViz

  • Added WorldInteractiveMarkerViewer: #242
  • Added TrajectoryMarker: #288

• IO

  • Added support for new ErrorStr API in tinyxml2 6.0.0: #290, #295

• Build & Testing & ETC

  • Changed to use size_t over std::size_t: #230
  • Included test code to formatting code list: #239
  • Fixed RViz component dependencies: #253

0.1.0 (2017-10-02)

• Common

  • Added VanDerCorput::getLength(): #223
  • Added ExecutorThread and ExecutorMultiplexer: #151
  • Changed splitEngine() to set default numOutputs to 1: #214

• State Space

  • Added MetaSkeletonStateSpaceSaver: #184, #219
  • Added WeldJoint: #146
  • Improved real vector space classes to take advantage of Eigen's fixed-size objects: #159

• Constraint

  • Added SE2BoxConstraint: #135
  • Added satisfiable tolerance parameter to TSR constructor: #180
  • Added ConstantSampler: #146
  • Renamed SO2Sampleable to SO2UniformSampler: #224

• Perception

  • Added simulation world env to ApriltagsModule: #156

• Planner

  • Added parabolic smoother: #206
  • Added wrapper for OMPL path simplifier: #164
  • Added support OMPL 1.2.0 and above: #139
  • Changed to SnapePlanner to return nullptr when planning fails: #201
  • Refactored parabolic timer: #206

• IO

  • Added KinBody parser: #102
  • Improved yaml extension: #175, #200

• RViz

  • Added TSR visualizer: #136
  • Made FrameId a variable: #183
  • Fixed inconsistent function signature: #222

• Control

  • Added toSplineJointTrajectory() that can controls only specifying joints: #217
  • Added RosPositionCommandExecutor: #173
  • Added BarretthandPositionCommandExecutor: #166
  • Added RosJointStateClient: #150
  • Added trajectory conversions between Aikido's and ROS's: #147, #149
  • Improved RosTrajectoryExecutor to use helper function for waiting for action server: #192
  • Improved (~)Executor::step() not to lock: #182
  • Fixed renaming sping to step: #189
  • Fixed to work on real hardware: #216
  • Removed StateSpace from RosTrajectoryExecutor: #190

• Build & Testing & ETC

  • Added Findinteractive_markers.cmake: #198
  • Improved to build without warnings: #114, #143
  • Improved to enforce to follow code formatting: #153, #167, #172, #168, #170, #171, #191, #207, #211
  • Switched to codecov for online code coverage reporting: #208
  • Increased the required minimum version of DART to 6.2: #210
  • Changed to test Aikido for both of release and debug modes, and on macOS: #195
  • Splitted util namespace into common and io: #225
  • Fixed build issues on macOS: #138

0.0.1 (2017-03-10)

• Initial release