0.21.2

What's Changed

• Improve dynamic tasking support by @Levi-Armstrong in #418

Full Changelog: 0.21.1...0.21.2

0.21.1

What's Changed

• Use taskflow subflow for graph execution to allow timing of execution by @Levi-Armstrong in #417
• Fix loss of first waypoint in upsample trajectory by @thettasch in #416

New Contributors

• @thettasch made their first contribution in #416

Full Changelog: 0.21.0...0.21.1

0.21.0

What's Changed

• Update based on changes in trajopt by @Levi-Armstrong in #392
• Unused includes cleanup by @rjoomen in #394
• Fix contact check program to support joint and state waypoints by @Levi-Armstrong in #398
• remove results from TaskComposerNodeInfo by @Levi-Armstrong in #404
• Move TaskComposerProblem input to base class and change type to tesseract_common::AnyPoly by @Levi-Armstrong in #407
• Updated to version of ICI with VCS shallow cloning by @marip8 in #405
• Replace input/output_remapping with remapping and input/output_indexing with indexing by @Levi-Armstrong in #408
• Changed CI base directory to /opt by @marip8 in #410
• Revert "Changed CI base directory to /opt" by @marip8 in #413
• Update dependencies.repos by @Levi-Armstrong in #411

Full Changelog: 0.20.1...0.21.0

0.20.2

Unused includes cleanup

0.20.1

What's Changed

• Update composite instruction user data to align with gazebo user data by @Levi-Armstrong in #391

Full Changelog: 0.20.0...0.20.1

0.20.0

What's Changed

• Rename TaskComposerInput to TaskComposerContext and simplify interfaces by @Levi-Armstrong in #379
• Install command language test suite by @Levi-Armstrong in #380
• Add new task composer plugin factory constructor by @marip8 in #370
• Added jammy build to CI by @marip8 in #381
• Add user data support to CompositeInstruction by @Levi-Armstrong in #383
• Add input instruction to planning problem by @Levi-Armstrong in #387
• Update CI to use Tesseract version 0.19.0 by @Levi-Armstrong in #388

Full Changelog: 0.19.1...0.20.0

0.19.0

What's Changed

• Reduce CI-built docker image size by @marip8 in #350
• Fixed documentation build job by @marip8 in #300
• Add Remap Task by @Levi-Armstrong in #351
• Add input and output keys to dot graph by @Levi-Armstrong in #352
• Add conditional to subgraph in dot graph output by @Levi-Armstrong in #353
• Fixed issue where tesseract_common_trajectory.cpp wasn't getting built by @marrts in #356
• Fix TrajOpt Ifopt collision cost and constraint naming by @Levi-Armstrong in #357
• Fix Raster and RasterOnly Tasks by @Levi-Armstrong in #360
• Moved simple planner into own sub-directory by @marip8 in #363
• Initial support for a TrajOptIfoptSolverProfile by @rjoomen in #354
• Update to leverage cmake components by @Levi-Armstrong in #373

Full Changelog: 0.18.4...0.19.0

0.18.4

What's Changed

• Move task composer elapse timing to base classes by @Levi-Armstrong in #349

Full Changelog: 0.18.3...0.18.4

0.18.3

What's Changed

• Fix MotionPlannerTaskInfo serialization by @Levi-Armstrong in #348

Full Changelog: 0.18.2...0.18.3

0.18.2

What's Changed

• Add clone method to TaskComposerProblem by @Levi-Armstrong in #346
• Add InstructionPoly setUUID method with tests by @Levi-Armstrong in #347

Full Changelog: 0.18.1...0.18.2