- added some simple documentation
- Contributors: Chris Dellin
- expanded error message, and using found kinbody pointer to avoid consistency problems
- merged from libcd upstream (cdellin): reworked distance field caching to just cache data (not kinbody name or sdf parameters) (commit:505)
- added check if kinbody does not exist
- Contributors: Chris Dellin, Christopher Dellin, Evan Shapiro
- Added atlas dependency.
- Added libblas-dev dependency.
- Preparing for 1.0.0 release.
- updated copyright statement, added floating base python wrapper, and reworked runchomp kwargs handling
- merged from libcd upstream (cdellin): timing now at velocity/accel limits (change limits on robot to change speed) (commit:489)
- merged from libcd upstream (cdellin): added support for floating base (commits:481,491), chomp now can handle an arbitrary number of tsr constraints on both links and manipulators (commit:487)
- merged from libcd upstream (cdellin): added removefield stuff (commit:484)
- merged from libcd upstream (cdellin): cleaned up some grid code (commit:493)
- merged from libcd upstream (cdellin): added consts to cd_kin and cd_mat (commit:492)
- removed commented abort() call
- completed removal of arun joint limit change due to perported performance degradation
- Switched to openrave_plugin.
- added support for spheres via geometry groups
- Only include geometry group code in 0.9.
- Added code to search for (but not create) spheres
- Catkin-ized or_cdchomp.
- undoing arun change to joint limits, since it performs worse
- exposing derivative choice
- Added libgsl as a rosdep requirement for orcdchomp.
- Added release tag to orcdchomp.
- chomp compiles
- Added the correct joint limit fix for CHOMP
- Add exception handling if an invalid linkname is provided to orcdchomp tag
- throwing exception instead of aborting for joint limits
- added gpl license
- updated with copyright notices from libcd r490 (code isnt yet up-to-date though)
- Added the releasegil flag to the Python module.
- fixing bug with sending execute flag
- Moved orcdchomp to pr-ros-pkg.
- committing chris's changes
- added temporary isnan check on smoothness cost)
- length based collisionc check, untested
- linear timer
- orcdchomp now correctly collisions checks for self-collisions, including with grabbed bodies (mirrors orcdchomp proper r481)
- Added liblapacke as a dependency
- Added ability to get the total cost of a chomp path back out. This change shoudl not be disruptive. Cost is passed in as an optional parameter. It should be a list of lenght 1. If the parameter is passed, that list willb e modified to contain the cost of the chomp path.
- Fixed type, and forgotten local header include in orcwrap
- Updating orcdchomp to match libcd r469; removed libcd as a separate package; moved needed files into orcdchomp package
- Upped libcd to fix multi-constraint matrix issue; added every_n constraint to orcdchomp; added code to time sdf computation to orcdchomp
- fixed trajs_fileformstr bug introduced when runchomp was split (r15752)
- reworked orcdchomp into separate functions to create, iterate, and gettraj a chomp run; runchomp simulated in python for backwards compatability!
- Fixed some ee_force bugs ...
- Working on ee_force addition to orcdchomp_mod
- Fixed h->sphere_poss_all bug in orcdchomp ...
- Working on adding ee_force stuff, but other things are broken all of a sudden ...
- upped to libcd r455; improved orcdchomp by adding start_tsr functionality and removing allowlimadj; added a reconfig test to orcdchomp_tests
- Adding the recent cdchomp changes to the pr tree ...
- Updating orcdchomp for cd_chomp r450 ...
- Removed incorrect argc check from argument parsing ...
- Added allowlimadj to orcdchomp; microwave uses it, and uses cbirrt allowlimadj as well!
- Fixed string reference bug (only present on older (lucid) g++ compilers ...)
- Simplifying orcdchomp some more ...
- Added copyright notices to files; added autotools build files for non-ROS users
- Switched from ros_exportenv to openrave_exports
- Fixing up orcdchomp/libcd stuff
- Added hmc stuff to orcdchomp ...
- Now using optional momentum term from cd_chomp r439 ...
- A few adjustments to the planner implementations ...
- Added max_time parameter to orcdchomp, now able to generate raw stats graphs ...
- Made wrapper package for libcd ...
- Some more improvements to orcdchomp for the paper ...
- Reworked orcdchomp, now faster, and with curvature computation.
- Fixed orcdchomp_tests cmake stuff, added timing information to orcdchomp, and cached sdfs ...
- CHOMP is now 3.5x faster!
- Oops! Forgot to check in the orcdchomp changes (to keep it from running into things!)
- Moved orcdchomp and owd_ortraj from cdellin's branch to trunk.
- Converted all orcdchomp compile-time constants to run-time parameters; now building against libcd-r434 ...
- Now correctly checking whether we're actually inside each distance field.
- Modified orcdchomp to use composite distance fields; also reworked cpp structure.
- Committing half-baked work on orcdchomp multi-distance-field revamp ...
- Now correctly raises exception on failure!
- Reverting to old libcd, original OBS_FACTOR ...
- Added bind to cbirrt_problem, libprrave send_for_traj now works with bound methods, chomp now accepts a starting trajectory, and we have more microwave chomp tests!
- Using this sweet Python technique to bind SendCommand serializers to the module object ...
- Spitting orcdchomp tests off to a separate packgae
- Adding a description, and a test script (which should really go in a new package!)
- Fixing some syntax errors
- added simply python interface to orcdchomp ...
- Removed auto-refresh from pkgbuilder
- Fixed silly world origin bug!
- Now checks for collision before returning the trajectory!
- added xmlreader to orcdchomp module, and added spheres to the herb2_padded robot model!
- Added some preliminary cost self-collision stuffs ...
- Added viewspheres command and test script from anca
- orcdchomp working pretty well, now for some more tests!
- Got orcdchomp working with the new libcd chomp!
- Working on orcdchomp ... at some point, I should sit down and better understand this cost stuff ...
- Playing around with a openrave CHOMP from the libcd implementation
- Contributors: Anca Dragan, Arunkumar Byravan, Chris Dellin, Christopher Dellin, Jennifer King, Michael Koval, Mike Vande Weghe, Prasanna Velagapudi