ros-melodic-exotica-ik-solver (6.2.0-1bionic) bionic; urgency=high



 -- Wolfgang Merkt <wolfgang@robots.ox.ac.uk>  Thu, 22 Jul 2021 23:00:00 -0000

ros-melodic-exotica-ik-solver (6.1.1-1bionic) bionic; urgency=high



 -- Wolfgang Merkt <wolfgang@robots.ox.ac.uk>  Sun, 04 Apr 2021 23:00:00 -0000

ros-melodic-exotica-ik-solver (6.1.0-1bionic) bionic; urgency=high



 -- Wolfgang Merkt <wolfgang@robots.ox.ac.uk>  Mon, 15 Mar 2021 00:00:00 -0000

ros-melodic-exotica-ik-solver (6.0.2-1bionic) bionic; urgency=high



 -- Wolfgang Merkt <wolfgang@robots.ox.ac.uk>  Mon, 23 Nov 2020 00:00:00 -0000

ros-melodic-exotica-ik-solver (6.0.1-1bionic) bionic; urgency=high



 -- Wolfgang Merkt <wolfgang@robots.ox.ac.uk>  Tue, 17 Nov 2020 00:00:00 -0000

ros-melodic-exotica-ik-solver (6.0.0-1bionic) bionic; urgency=high

  * CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
  * Re-wrote the IK solver as regularised, weighted pseudo-inverse
    Re-wrote the IK solver from scratch:
    - It now implements a regularised and weighted Jacobian pseudo-inverse
    instead of solving a linear system.
    - The support for NominalState regularisation by appending a nominal
    state to the error vector was removed.
    - Adaptive regularisation and backtracking line-search result in better
    convergence and numerical behaviour.
    - Use of pre-allocation and Cholesky decomposition makes the solver fast
    :-).
    - MaxStep for interactive IK is still supported, however, only when
    MaxIterations == 1.
    - example_ik now converges in 5 iterations, previously 41.
  * Contributors: Vladimir Ivan, Wolfgang Merkt

 -- Wolfgang Merkt <wolfgang@robots.ox.ac.uk>  Sun, 08 Nov 2020 00:00:00 -0000

ros-melodic-exotica-ik-solver (5.1.3-1bionic) bionic; urgency=high



 -- Vladimir Ivan <v.ivan@ed.ac.uk>  Thu, 13 Feb 2020 00:00:00 -0000

ros-melodic-exotica-ik-solver (5.1.2-1bionic) bionic; urgency=high



 -- Vladimir Ivan <v.ivan@ed.ac.uk>  Mon, 10 Feb 2020 00:00:00 -0000

ros-melodic-exotica-ik-solver (5.1.1-1bionic) bionic; urgency=high



 -- Vladimir Ivan <v.ivan@ed.ac.uk>  Mon, 10 Feb 2020 00:00:00 -0000

ros-melodic-exotica-ik-solver (5.1.0-1bionic) bionic; urgency=high

  * A variety of small code improvements
  * Contributors: Christian Rauch, Wolfgang Merkt

 -- Vladimir Ivan <v.ivan@ed.ac.uk>  Fri, 31 Jan 2020 00:00:00 -0000


