Release v6.0.0

Changes in v6.0.0

• hpp-fcl dependency has been replaced by coal
• updates for coal v3
• add SearchInRoadmap path planner
• [doc] add path planner algorightms in path planner module

Release v5.2.0

Changes in v5.2.0:

• fix wrong assert
• plugins: look for HPP_PLUGIN_DIRS
• nix: move package to nixpkgs
• ci: use https
• setup mergify

Release v5.1.0

Changes in v5.1.0:

• remove usage of deprecated symbols
• update for pinocchio 3
• Nix: initial support
• update tooling

Release v5.0.0

Changes in v5.0.0:

• ⚠️ BREAKING: proxsuite is now a required dependency
• Remove deprecated symbols
• Remove use of ConfigurationPtr_t
• Use proxqp instead of eiquadprog for solving QP programs
• update for hpp-fcl v3
• make Path::timeParameterization getter public
• Fix spline steering method when path length != 1
• Improve PiecewisePolynomial
• Clarification of the tests in PathPlanner::solve()
• Improve performances of continuous path validation
• [PathPlanner] Add getters for maxIterations and timeOut
• Add seedable uniform configuration shooter
• Pass computation flag to Device::computeForwardKinematics
• Fix computation of valid interval in BodyPairCollision
• Make SplineGradientBased more configurable
• Remove log output and relax accuracy in test
• update packaging
• update tooling
• bug fixes

Release v4.15.1

Release of version 4.15.1.

Release v4.14.0

Release of version 4.14.0.

Release v4.13.0

to fix build with hpp-fcl v2

Release v4.12.0

Changes in v4.12.0:

• make ConstantCurvature::Wheels_t public for C++17
• Fix handling of obstacles in Problem
• Fix compilation warnings in tests.
• [PathPlanner] throw specific type of exception when failing.
• [Roadmap] Add method to insert a PathVector in a roadmap.
• [SimpleTimeParameterization] Fix method optimize.
• implementation of velocity bounds for path vector.

Release v4.11.0

Changes in v4.11.0:

• Serialize several classes for save and loading roadmaps
• use shared pointers to class Problem only. Classes previously storing
  const references to Problem now store const weak pointers. Classes
  that use to take a const reference to problem in the constructor now
  take a const shared pointer.
• Make Path::operator() deprecated: use method Path::eval instead.
• Improve Vmax computation for solid-solid collision
• [ConfigProjector] Add method isSatisfied with input error threshold.

Release v4.10.1

Changes since v4.9.0:

• Add a parameter to set the center of the Gaussiant configuration shooter.
• Fix bug in Reeds and Shepp paths when curvature is not equal to 1.
• Handle LockedJoint and Implicit instances in the same container in ProblemSolver class. make method ProblemSolver::addLockedJointToConfigProjector deprecated.
• Replace class ContinuousCollisionChecking by class ContinuousValidation for broader generalisation.
• Remove deprecated methods and files
  • ProblemSolver::addLockedJoint,
  • hpp::core::JointBoundException,
  • include/hpp/core/continuous-collision-checking.hh,
  • include/hpp/core/continuous-collision-checking/dichotomy.hh,
  • include/hpp/core/continuous-collision-checking/progressive.hh,
  • include/hpp/core/discretized-collision-checking.hh,
  • include/hpp/core/discretized-path-validation.hh,
  • include/hpp/core/locked-joint.hh,
  • include/hpp/core/random-shortcut.hh,
  • include/hpp/core/steering-method-straight.hh.
• in SteeringMethod, assert that if q1 == q2, operator() returns a path.
• class SplineGradientBased has been improved
  • some bugs have been fixed,
  • length of input path should not be 0.
• PathVector::extract(t,t) does not returns an empty path.
• InterpolatedPath supports non-zero start of interval of definition
• Add abstract class ObstacleUserInterface. This class is aimed at being parent of an class handling obstacles. Provide some implementations like
  • ObstacleUser,
  • ObstacleUserVector.
• Add method setSecurityMargin to class ObstacleUserInterface.