Changelog for package mpc_local_planner

0.0.3 (2020-06-09)

• Added feasibility check with costmap robot model
• Changed obstacle parameters [cutoff_factor]{.title-ref} and [force_inclusion_factor]{.title-ref} to [cutoff_dist]{.title-ref} and [force_inclusion_dist]{.title-ref}
• Added check for obstacle pointer validity in StageInequalitySE2
• Dynamic obstacles: the inequality constraints now use the actual time parameter rather than the time from the previous optimization
• Added hybrid cost (time and control effort)
• Added kinematic bicycle model with velocity input
• Grid: The time difference is now initialized to dt_ref for reference trajectory caching
• Fixed wrong start orientation in point-to-point grid initialization
• Fixed wrong angular computation in midpoint differences
• Added missing install files (thanks to marbosjo)
• Changed minimum CMake version to 3.1
• Contributors: Christoph Rösmann, marbosjo

0.0.2 (2020-03-12)

• Added option to inherit the robot footprint model from the costmap_2d footprint by setting footprint type to [costmap_2d]{.title-ref} (thanks to Alexander Xydes). Note that using a polygon as a robot footprint model is computationally more expensive than using two circle or line models.
• Fixed issues in fd discretization grid and graph consistency
• Fixed initialization of linear velocity output commands in simple car and unicycle models (thanks to Thomas Denewiler).
• Fixed wrong parameter namespaces for some grid parameters
• Replaced non-ASCII characters in python script
• Added find_package script for osqp in case control_box_rst is linked against it
• Contributors: Christoph Rösmann, Alexander Xydes, Thomas Denewiler

0.0.1 (2020-02-20)

• First release
• Contributors: Christoph Rösmann