0.1.0

What's Changed

• Fix submodule and trajopt_sco unit tests by @Levi-Armstrong in #1
• Add gh_pages for sphinx documentation by @Levi-Armstrong in #2
• Use CMAKE_CURRENT_SOURCE_DIR instead of CMAKE_SOURCE_DIR for catkin by @johnwason in #3
• Changed scaling from coefficients in CostFromErrFunc to be linear for all penalty types. by @reidchristopher in #5
• Update to use new tesseract contact managers by @Levi-Armstrong in #10
• Use isometry by @Levi-Armstrong in #11
• Jacobian Matrix Dimension Fix by @Jmeyer1292 in #14
• Statically Link BPMPD_CALLER Executable by @Jmeyer1292 in #19
• refractor out contact request by @Levi-Armstrong in #21
• Fixed copy-paste error in JointJerkCost::value by @arocchi in #25
• Add cmake install command by @Levi-Armstrong in #26
• Fix trajopt_utils install pattern by @Levi-Armstrong in #28
• Add libpcl-dev test depends to trajopt pacakge by @Levi-Armstrong in #30
• Fix missing depend by @Levi-Armstrong in #31
• File writing callback by @mpowelson in #20
• Add pr2_description test depend by @Levi-Armstrong in #32
• Updated Gurobi interface by @arocchi in #35
• Add Travis CI and make Gurobi not required by @Levi-Armstrong in #37
• Refactor naming of costs/constraints by @mpowelson in #29
• Add exprMult(AffExpr, AffExpr) by @mpowelson in #38
• Add EIGEN_MAKE_ALIGNED_OPERATOR_NEW macro by @Levi-Armstrong in #42
• Remove the use of 'using namespace' by @Levi-Armstrong in #43
• Eigen alignment by @mpowelson in #44
• Joint cost updates by @mpowelson in #41
• Adds osqp and qpOASES solver interfaces by @arocchi in #40
• Update JointPos terms by @mpowelson in #47
• Remove the default target = 0 from joint cost/constraints and add default coeff = 1 by @mpowelson in #49
• Add additional compiler warning options by @Levi-Armstrong in #52
• Integrate time param - term type switch by @mpowelson in #50
• Add industrial_ci Clang Support by @Levi-Armstrong in #53
• Bug fixes for examples by @mpowelson in #73
• Allow failures in Travis Melodic by @mpowelson in #75
• Fix VHACD build, Test Warnings, and Clang Formatting by @Levi-Armstrong in #54
• Integrate time param by @mpowelson in #51
• Add pick_and_place_plan example by @mpowelson in #59
• pick_and_place example Improvements by @mpowelson in #89
• Add description of examples to readme by @mpowelson in #101
• Set OSQP verbosity to false by @mpowelson in #104
• Add pick and place example to install targets by @mpowelson in #103
• Fixes in gurobi interface by @mpowelson in #102
• Remove unused packages, Make Pure CMake, Upgrade to new version of Tesseract by @Levi-Armstrong in #108
• Clange format version 8 by @Levi-Armstrong in #109
• Update dependency to tesseract master branch by @Levi-Armstrong in #110
• Set CI clang version to 8 by @Levi-Armstrong in #111
• Fix macro in trajop_utils macros.h by @Levi-Armstrong in #112
• Fix clang warnings by @Levi-Armstrong in #113
• Fix calcCollision to filter link specific distance threshold by @Levi-Armstrong in #114
• Cherry pick bmagyar/trajopt_ros@094c493 by @Levi-Armstrong in #115
• Add assert in kinematic_terms for null kinematic link by @Levi-Armstrong in #117
• Add Plot Callback that doesn't require the problem by @mpowelson in #120
• Update DynamicCartPose to allow target link tcp by @Levi-Armstrong in #125
• Cherry pick John Wason's commit improving parsing json parameters. by @Levi-Armstrong in #126
• Add bash script to run clang format by @Levi-Armstrong in #127
• Feature/add log files by @Levi-Armstrong in #128
• Dynamic Cartesian Pose Error Calculator Update by @marip8 in #129
• Add jacobian calculation to the cartesian position costs by @mpowelson in #131
• Add OptStatus to TrajOptResult by @haudren in #132
• Disable AVX Instructions to Fix Eigen Alignment Issues by @mpowelson in #133
• Cartesian Pose Term Info from frame relative transform by @marip8 in #130
• Fix CartPoseTermInfo empty target by @Levi-Armstrong in #135
• Add missing implementation of MatrixOfVector::construct by @Levi-Armstrong in #137
• Orientation error calculation fix by @marip8 in #136
• ScalarOfVector, VectorOfVector, MatrixOfVector function signature by @Levi-Armstrong in #138
• Disable jacobian calculator for cart pose and dynamic cart pose by @Levi-Armstrong in #141
• Add user defined term info by @Levi-Armstrong in #142
• Use ResourceLocator instead of ResourceLocaterFn in tesseract unit tests by @johnwason in #143
• Update based on Clang-Tidy and Clazy by @Levi-Armstrong in #145
• Include header files for clang tidy by @Levi-Armstrong in #147
• Update test due to changes in tesseract checkTrajectory by @Levi-Armstrong in #149
• WIP: Inflate only the constraints that failed by @mpowelson in #148
• Avoid singularity cost by @marip8 in #150
• Enable continuous collision checking for moving to moving objects by @Levi-Armstrong in #152
• Update interface to OSQP 0.6.0 by @haudren in #146
• Remove the additional 0.04 added to contact distance threshold by @Levi-Armstrong in #153
• Change Default Solver by @mpowelson in #155
• Update casted collision evaluator to handle fixed start and end states by @Levi-Armstrong in #154
• Add trajopt_sco depend on osqp by @mpowelson in #156
• Change Eigen arguments that are passed by value to reference by @Levi-Armstrong in #159
• Update trajopt unit tests by @Levi-Armstrong in #162
• Add unique_ptrs A and P to osqp interface by @mpowelson in #157
• Add LP format printing to OSQP solver by @haudren in #161
• Fix issue in osqp interface to update osqp_data object with new A and P by @Levi-Armstrong in #164
• Improve efficiency of sparse matrix initialization by @schornakj in #163
• Add a safety margin buffer to collision evaluators by @schornakj in #160
• Add ability to use weighted sum jacobian calculation for contact link pairs by @Levi-Armstrong in #165
• Clang formatting by @Levi-Armstrong in #167
• Add eigen to package.xml and alphabetize the entries. by @mpowelson in #166
• Use std::move when calling addLink by @mpowelson in #170
• Check init_info.data.size() when using JOINT_INTERPOLATED by @mpowelson in #169
• Collision Interpolation Bug Fix by @marip8 in #172
• Add GetGradient function to CollisionEvaluator by @Levi-Armstrong in #173
• Fixes for Gurobi 9.0.1 by @schornakj in #174
• Fix bug in collision getGradient by @Levi-Armstrong in #176
• Add CalcCollisions that takes only joint values instead of Vars by @mpowelson in #178
• Update to use renamed EnvState member link_transforms by @Levi-Armstrong in #179
• Add Joint Term Benchmarks by @mpowelson in #180
• Add Ptr and ConstPtr to collision evaluator implementations by @mpowelson in #181
• Add trajopt_ifopt and trajopt_sqp by @mpowelson in #116
• Whitelist trajopt_sqp and trajopt_ifopt by @mpowelson in #182
• Disable DynamicCartPoseJacCalculator test by @mpowelson in #185
• Add init method to trust region sqp solver by @mpowelson in #186
• Remove Boost Python dependency by @mpowelson in #188
• Remove Boost Python dependency in trajopt by @mpowelson in #189
• Update CMake to work better with clang by @pbeeson in #190
• Add Colcon environment hooks by @mpowelson in #191
• Add cmake_common_scripts to rosinstall by @mpowelson in #195
• readme: link to where we keep trajopt_examples (since #108) by @gavanderhoorn in #206
• github-ci: melodic and noetic initial commit by @Minipada in #194
• Add building and running of tests in github actions by @Levi-Armstrong in #207
• Improve const-correctness of reference passing. by @a-price in #212
• Rename dofs_fixed parameter by @marip8 in #226
• Merge feature/CommandLanguage branch into master by @Levi-Armstrong in #231
• Update windows CI to install FCL and Bullet by @Levi-Armstrong in #232
• Fix memory leak in osqp_interface by @mpowelson in #234
• Remove use of new operator and swith storage of VarRep in Var to shared pointer by @Levi-Armstrong in #235
• Update related to changes in visualization interface by @Levi-Armstrong in #242
• Fix misnaming of constraints by @mpowelson in #238
• Correctly use lower_tol in JointPosIneqCost AffExpr by @mpowelson in #241
• Update cmake_common_scripts to ros_industrial_cmake_boilerplate by @Levi-Armstrong in #243
• Update to latest tesseract_environment changes by @Levi-Armstrong in #244
• Implement max_time by @mpowelson in #245
• Remove checkJoints check no longer needed by @Levi-Armstrong in #247
• Update for changes with CollisionMarginData by @Levi-Armstrong in #248
• Switch windows build to use nmake by @Levi-Armstrong in #253
• Update readme by @mohamedsayed18 in #255
• Fix trajopt_ifopt inverse kinematics constraint unit test by @Levi-Armstrong in #257
• Fix JointPosIneqConstraint by @mpowelson in #252
• Shrink trust region if convex solver fails by @mpowelson in #256
• Fully integrate support for LVS collision constraints by @Levi-Armstrong in #260
• Add clang-tidy to missing targets and add missing link target by @Levi-Armstrong in #263
• Remove trajopt_ifopt dependency on trajopt by @Levi-Armstrong in #264
• Update to leverage Joint and Kinematic group by @Levi-Armstrong in #266
• Add CMake Format Support by @Levi-Armstrong in #273
• Update to support new kinematic plugin format and contact managers by @Levi-Armstrong in #274
• Add JointAccellConstraint and JointJerkConstraint by @Levi-Armstrong in #275
• Feature/line constraint by @colin-lewis-19 in #246

New Contributors

• @johnwason made their first contribution in #3
• @reidchristopher made their first contribution in #5
• @Jmeyer1292 made their first contribution in #14
• @arocchi made their first contribution in #25
• @marip8 made their first contribution in #129
• @haudren made their first contribution in #132
• @schornakj made their first contribution in #163
• @pbeeson made their first contribution in #190
• @gavanderhoorn made their first contribution in #206
• @Minipada made their first contribution in #194
• @a-price made their first contribution in #212
• @mohamedsayed18 made their first contribution in #255
• @colin-lewis-19 made their first contribution in #246

Full Changelog: https://github.com/tesseract-robotics/trajopt/commits/0.1.0