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Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The Extensible Optimization Toolset (EXOTica) is a library for defining problems for robot motion planning.
Additional Links
Maintainers
- Vladimir Ivan
- Wolfgang Merkt
Authors
- Yiming Yang
- Michael Camilleri
README
No README found.
See repository README.
CHANGELOG
Changelog for package exotica_core
6.2.0 (2021-07-23)
- Add EndPoseTask::GetTaskJacobian
- Fix build issues with Eigen 3.3.9; enable compilation of exotica_core on Conda (#740)
- Performance improvements (#741)
- DynamicTimeIndexedShootingProblem: Allocation-free control cost computation
- DynamicsSolver: dStateDelta and ddStateDelta return previously allocated transition derivative
- DynamicsSolver: Add in-place StateDelta
- Fix installation directives for cmake directory
- Deactivate Boost bind warnings arising from ROS messages
- Update minimum CMake version for add_initializer.cmake
- XMLLoader: Fix for #737
- Scene: Fix uninitialised quaternion
- Contributors: Wolfgang Merkt
6.1.1 (2021-04-05)
- Fix broken examples and expose new features
(#736)
- Add EndPoseTask::GetS
- SamplingProblem: Rename IsValid(q) to IsStateValid(q)
- SamplingProblem: More debug output for IsValid
- KinematicTree: Use same timestamp for tfs
- Scene: Fix uninitialised quaternion
- Fix unit tests on Debian Buster (#734)
- Fix test robot URDF with collision links
- Contributors: Wolfgang Merkt
6.1.0 (2021-03-15)
- Fix segmentation fault on exiting Python (#732)
- Clang support and bug fixes (#731)
- Upgrade clang format from v3.9 to v6.0 (#730)
- Contributors: Wolfgang Merkt
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
- Disable treating compiler warnings as errors due to buildfarm failure on Debian Stretch This change will result in "unstable" build notifications from the buildfarm but prevent failures.
- Contributors: Wolfgang Merkt
6.0.0 (2020-11-08)
- Upgrade standard to C++14 for new pybind11 version
- Updates and fixes, including speed optimisation, to many areas including: DynamicsSolver, DynamicTimeIndexedShootingProblem, CollisionScene (now instantiable), support for instantiating geometry shapes, meshes, and octrees from initialisers, etc.
- Added support for kinematic Hessians
- New integration schemes for dynamic problems: symplectic integrators; added state transition function
- Add support for dynamic task maps, i.e., those that depend on both x (configuration+velocity) and u (control)
- Add sparse costs
- Add a second BoxQP
- Meshcat visualisation
- Joint velocity and acceleration limits
- Contributors: Matt Timmons-Brown, Traiko Dinev, Vladimir Ivan, Wolfgang Merkt
5.1.3 (2020-02-13)
- Refactor CollisionScene, add faster distance checks, speedup SmoothCollisionDistance (#688)
- Expose full KinematicTree to Python; expose mesh collision shape information (#686)
- Contributors: Wolfgang Merkt
5.1.2 (2020-02-10)
- Fix bug in updating root tree (#684)
- Contributors: Wolfgang Merkt
5.1.1 (2020-02-10)
- Fix to avoid duplicate ID=0 in KinematicTree (#683)
- Added explicit general dependency on libzmq3-dev to fix buildfarm build issues
- Contributors: Vladimir Ivan, Wolfgang Merkt
5.1.0 (2020-01-31)
- Add support for Scene creation without SRDF, from robot param server (#681)
- Address -Wall warnings (#679)
- Fix floating-base Jacobian column switch bug, fix floating-base collision links (#668)
- Nice XML error handling on 18.04+; fix validity checkers; add ContinuousCollisionCast (#660)
- Add Meshcat visualisation (#633)
- New GetNumberOfIterations method in planning problem (#603)
- KinematicTree: getter for joints (#598)
- Change cost Jacobian to be a row vector (#596)
- Support full start state (position + velocity) for dynamic problems (#572)
- Deprecate non-const initializer, activate related warning as error, fix random issues (#562)
- Python3 compatibility (#553)
- Distinguish between controlled and model joints and links (#528)
- Sparse Jacobian triplets for TimeIndexedProblems
- Global random seed
- ... and many more
- Contributors: Chris Mower, Christian Rauch, Traiko Dinev, Vladimir Ivan, Wolfgang Merkt
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| cmake_modules | |
| catkin | |
| rosunit | |
| roscpp | |
| geometry_msgs | |
| std_msgs | |
| moveit_core | |
| moveit_ros_planning | |
| moveit_msgs | |
| tf | |
| kdl_parser | |
| pluginlib | |
| eigen_conversions | |
| tf_conversions |
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged exotica_core at Robotics Stack Exchange
No version for distro galactic. Known supported distros are highlighted in the buttons above.
|
|
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The Extensible Optimization Toolset (EXOTica) is a library for defining problems for robot motion planning.
Additional Links
Maintainers
- Vladimir Ivan
- Wolfgang Merkt
Authors
- Yiming Yang
- Michael Camilleri
README
No README found.
See repository README.
CHANGELOG
Changelog for package exotica_core
6.2.0 (2021-07-23)
- Add EndPoseTask::GetTaskJacobian
- Fix build issues with Eigen 3.3.9; enable compilation of exotica_core on Conda (#740)
- Performance improvements (#741)
- DynamicTimeIndexedShootingProblem: Allocation-free control cost computation
- DynamicsSolver: dStateDelta and ddStateDelta return previously allocated transition derivative
- DynamicsSolver: Add in-place StateDelta
- Fix installation directives for cmake directory
- Deactivate Boost bind warnings arising from ROS messages
- Update minimum CMake version for add_initializer.cmake
- XMLLoader: Fix for #737
- Scene: Fix uninitialised quaternion
- Contributors: Wolfgang Merkt
6.1.1 (2021-04-05)
- Fix broken examples and expose new features
(#736)
- Add EndPoseTask::GetS
- SamplingProblem: Rename IsValid(q) to IsStateValid(q)
- SamplingProblem: More debug output for IsValid
- KinematicTree: Use same timestamp for tfs
- Scene: Fix uninitialised quaternion
- Fix unit tests on Debian Buster (#734)
- Fix test robot URDF with collision links
- Contributors: Wolfgang Merkt
6.1.0 (2021-03-15)
- Fix segmentation fault on exiting Python (#732)
- Clang support and bug fixes (#731)
- Upgrade clang format from v3.9 to v6.0 (#730)
- Contributors: Wolfgang Merkt
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
- Disable treating compiler warnings as errors due to buildfarm failure on Debian Stretch This change will result in "unstable" build notifications from the buildfarm but prevent failures.
- Contributors: Wolfgang Merkt
6.0.0 (2020-11-08)
- Upgrade standard to C++14 for new pybind11 version
- Updates and fixes, including speed optimisation, to many areas including: DynamicsSolver, DynamicTimeIndexedShootingProblem, CollisionScene (now instantiable), support for instantiating geometry shapes, meshes, and octrees from initialisers, etc.
- Added support for kinematic Hessians
- New integration schemes for dynamic problems: symplectic integrators; added state transition function
- Add support for dynamic task maps, i.e., those that depend on both x (configuration+velocity) and u (control)
- Add sparse costs
- Add a second BoxQP
- Meshcat visualisation
- Joint velocity and acceleration limits
- Contributors: Matt Timmons-Brown, Traiko Dinev, Vladimir Ivan, Wolfgang Merkt
5.1.3 (2020-02-13)
- Refactor CollisionScene, add faster distance checks, speedup SmoothCollisionDistance (#688)
- Expose full KinematicTree to Python; expose mesh collision shape information (#686)
- Contributors: Wolfgang Merkt
5.1.2 (2020-02-10)
- Fix bug in updating root tree (#684)
- Contributors: Wolfgang Merkt
5.1.1 (2020-02-10)
- Fix to avoid duplicate ID=0 in KinematicTree (#683)
- Added explicit general dependency on libzmq3-dev to fix buildfarm build issues
- Contributors: Vladimir Ivan, Wolfgang Merkt
5.1.0 (2020-01-31)
- Add support for Scene creation without SRDF, from robot param server (#681)
- Address -Wall warnings (#679)
- Fix floating-base Jacobian column switch bug, fix floating-base collision links (#668)
- Nice XML error handling on 18.04+; fix validity checkers; add ContinuousCollisionCast (#660)
- Add Meshcat visualisation (#633)
- New GetNumberOfIterations method in planning problem (#603)
- KinematicTree: getter for joints (#598)
- Change cost Jacobian to be a row vector (#596)
- Support full start state (position + velocity) for dynamic problems (#572)
- Deprecate non-const initializer, activate related warning as error, fix random issues (#562)
- Python3 compatibility (#553)
- Distinguish between controlled and model joints and links (#528)
- Sparse Jacobian triplets for TimeIndexedProblems
- Global random seed
- ... and many more
- Contributors: Chris Mower, Christian Rauch, Traiko Dinev, Vladimir Ivan, Wolfgang Merkt
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| cmake_modules | |
| catkin | |
| rosunit | |
| roscpp | |
| geometry_msgs | |
| std_msgs | |
| moveit_core | |
| moveit_ros_planning | |
| moveit_msgs | |
| tf | |
| kdl_parser | |
| pluginlib | |
| eigen_conversions | |
| tf_conversions |
System Dependencies
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.