Major changes
- Support planar movable base for motion planning / IK (e.g. example/pr2_with_mobile_base.py)
- Support attachment of obstacle (approximated by point cloud or sphere cloud) to end effector (e.g. example/attach_box_ik_and_plan.py)
- Split "simplify" option into "shortcut" and "bspline" (usually shortcut is enough)
Detail
- refactor: place cpp code under cpp/plainmp by @HiroIshida in #28
- refactor: split my custom implementation from third urdf_parser by @HiroIshida in #29
- test(kinematics): fk validity test by comparison with scikit-robot by @HiroIshida in #31
- feat(ompl): get internal measurement in ns by @HiroIshida in #32
- Add attach box example by @HiroIshida in #33
- feat: specifiy shortcut and/or bspline instead of just simplify by @HiroIshida in #34
- Use Eigen::VectorXd for q by @HiroIshida in #35
- Develop by @HiroIshida in #38
- feat!: enable to select base type from fixed/planar/floating by @HiroIshida in #39
Full Changelog: 0.1.0...0.2.0
Contributors
HiroIshida