Mamoun Gharbi authored 9 years ago and Matthieu Herrb committed 9 years ago

Work on BB and Romeo functions:

- Fixes concerning cost functions
- Fixes for BB
- Add/fix Romeo constraints
- Add function to list current collisions

Improvement of quadrotor planif, adding romeo

- Adding attachements structures into p3d_rob
- New metric in the state space of a quad
- Dynamic constraints checking on localpath validation fct for quad
- Setting collision on/off for p3d_rob
- Planif for quad/Arm only for bonebreacker
- Random grasp generation for bonebreacker
- In quad joint roll and pitch are no longer user defined
- In every joint new field for snap_max
- Adding fixes to use romeo

Adding feature "save p3d wayPoints in a file"
Adding feature "fullbody in manipulation planning"
Adding support for 2 robots setups
Adding TERRT planner

Fixing trajectories concatenation
Improving Matlab export
Adding new constraint for object handling
Adding env variables

- Addition of localpath methods : hermite, quadspline
- Addition of a new joint type P3D_QUADROTOR
- Fixing some optimization issues
- Addition of new functionalities in p3d file (maximal cost and waypoints)

- updating and upgrading variables
- fixing compilation issues (for some linux distributions)
- modifying some viewer settings

Since 3.18
----------

- Fix compiler override in CMakelists

Since 3.17
----------

- improved trajectory display
- fixed bugs with 0 length softmotion trajectories
- fix motion generation for gripper
- introduce active joint groups

Main changes since 3.14:
- Adding and ameliorating functions in order to make the robot navigate
  using softmotion
- Adding and ameliorating functions in order to make the manipulation
	functions work
- Adding time to manipulation planner

While here:
- Fix in libmove3d PLIST

[wip/libmove3d-hri] add .pc file to system search

This version integrates
 - the CHRIS demo manipulation planner
 - handling of collada files
 - xml r/w functions for config, localpaths and trajectories

Split Biomove3d to 3 parts : libmove3d, libhri and move3d-studio the graphic interface

changes since 3.9.10

 - change in version of dependencies
 - work on mightablity maps, and hri_planner (object handling), new agent HERAKLES
 - work on manipulation planner (Cartesian mode, place object)
 - HRI motion planner is handled as a plugin
 - new geometry operators for grasp planning (modification of the matrix operation)

While here:
 - the package now produce only a library, libmove3d, meant to be linked
   to SPARK and MHP for instance.
 - updated to latest version (3.9.1).
   Changelog:
	Trajectory Planning
	- P3D_PLAN is now supported by softMotion (maybe)
	- Fix some discontinuity when exporting the softmotion trajectory
	- Adapt the task armToFreePoint for cartesian

	Path Planning
	- Fix free Approch config bug
	- Error messages are better handled
	- The user is able to constraint the position and rotation of the object sampling
	- Function pointers in manip. planner for planning/smoothing
	- A robot agent can hold an object (SPARK)

	HRI
	- Finish manage isMoving , hasDisappear migration to BioMove3D
	- Start manage link between hand and object in spark
	- add/update isPointedAt, isLookedAt management

	DISPLAY
	- Deformable body is included but commented for the moment
	- GLUT display works

	Other
	- CMakeFiles reorganized and simplified (less options)

 - uses GLUT by default, instead of Qt. Qt dependency is removed, along with Eigen and Boost.
 - Dependencies have been cleaned up.