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Dispositioning PRs since v 0.5.0 #440

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258 changes: 213 additions & 45 deletions CHANGELOG.md
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## FCL 0

### FCL 0.6.0 (2016-XX-XX)
### FCL 0.6.0 (2020-02-10)

* Core/Common

* Reorganized source tree: [#161](https://github.com/flexible-collision-library/fcl/issues/161), [#163](https://github.com/flexible-collision-library/fcl/pull/163)
* Templatized FCL for scalar type: [#154](https://github.com/flexible-collision-library/fcl/pull/154), [#165](https://github.com/flexible-collision-library/fcl/pull/165)
* Removed dependency on boost: [#140](https://github.com/flexible-collision-library/fcl/pull/140), [#146](https://github.com/flexible-collision-library/fcl/pull/146), [#147](https://github.com/flexible-collision-library/fcl/pull/147), [#148](https://github.com/flexible-collision-library/fcl/pull/148)
* Removed dependency on boost:
[#140](https://github.com/flexible-collision-library/fcl/pull/140),
[#146](https://github.com/flexible-collision-library/fcl/pull/146),
[#147](https://github.com/flexible-collision-library/fcl/pull/147),
[#148](https://github.com/flexible-collision-library/fcl/pull/148)
* Fix incorrect use of `FCL_BUILD_TYPE_DEBUG`:
[#153](https://github.com/flexible-collision-library/fcl/pull/153)
* Replaced `NULL` with `nullptr`:
[#158](https://github.com/flexible-collision-library/fcl/pull/158)
* Templatized FCL for scalar type:
[#154](https://github.com/flexible-collision-library/fcl/pull/154),
[#165](https://github.com/flexible-collision-library/fcl/pull/165),
[#188](https://github.com/flexible-collision-library/fcl/pull/188)
* Reorganized source tree:
[#163](https://github.com/flexible-collision-library/fcl/pull/163),
[#175](https://github.com/flexible-collision-library/fcl/pull/175)

* Math

* Switched to Eigen for math operations: [#96](https://github.com/flexible-collision-library/fcl/issues/96), [#150](https://github.com/flexible-collision-library/fcl/pull/150)
* fcl::Transform defined to be an Isometry to facilitate inverses [#318](https://github.com/flexible-collision-library/fcl/pull/318)
* Switched to Eigen for math operations:
[#150](https://github.com/flexible-collision-library/fcl/pull/150)
* Rework `fcl::constants`; replace M_PI instances and include scalar-dependent
numerical tolerances:
[#264](https://github.com/flexible-collision-library/fcl/pull/264),
[#279](https://github.com/flexible-collision-library/fcl/pull/279)
* `fcl::Transform` defined to be an `Isometry` to optimize inverses:
[#318](https://github.com/flexible-collision-library/fcl/pull/318)

* Geometry

* Simplified Convex class, deprecating old constructor in favor of
simpler, documented constructor:
* BVH Model throws intelligent errors when it runs out of memory:
[#237](https://github.com/flexible-collision-library/fcl/pull/237)
* Generate a BVH Model from multiple primitives:
[#308](https://github.com/flexible-collision-library/fcl/pull/308)
* Clean up `Convex` class:
[#325](https://github.com/flexible-collision-library/fcl/pull/325),
[#338](https://github.com/flexible-collision-library/fcl/pull/338)
* Fixed interpretation of capsule in primitive Capsule-Capsule distance computation.
[#338](https://github.com/flexible-collision-library/fcl/pull/338),
[#369](https://github.com/flexible-collision-library/fcl/pull/369)
* Computation of `Capsule` moment of inertia corrected:
[#420](https://github.com/flexible-collision-library/fcl/pull/420)
* Added tests on local AABB computation for `Capsule`:
[#423](https://github.com/flexible-collision-library/fcl/pull/423)
* Fixed interpretation of capsule parameters in primitive capsule-capsule
distance computation.
[#436](https://github.com/flexible-collision-library/fcl/pull/436)

* Broadphase

* Fixed redundant pair checking of SpatialHashingCollisionManager: [#156](https://github.com/flexible-collision-library/fcl/pull/156)

* Narrowphase

* Add custom sphere-box collision and distance algorithms for both solvers: [#316](https://github.com/flexible-collision-library/fcl/pull/316)
* Add custom sphere-cylinder collision and distance algorithms for both solvers: [#321](https://github.com/flexible-collision-library/fcl/pull/321)

* Distance

* Added distance request option for computing exact negative distance: [#172](https://github.com/flexible-collision-library/fcl/pull/172)

* Build/Test/Misc
* Fixed redundant pair checking of `SpatialHashingCollisionManager`:
[#156](https://github.com/flexible-collision-library/fcl/pull/156)
* Clean up of hierarchy tree code:
[#439](https://github.com/flexible-collision-library/fcl/pull/439)
* Default callback functions for broadphase collision managers have been moved
out of `fcl::test` and into `fcl` namespace (with a corresponding name
change, e.g., `defaultDistanceFunction` --> `DefaultDistanceFunction`).
[#438](https://github.com/flexible-collision-library/fcl/pull/438)
* This includes the removal of the stub function
`defaultContinuousDistanceFunction()`.
* Added version check for Visual Studio in CMake (VS2015 or greater required): [#189](https://github.com/flexible-collision-library/fcl/pull/189)
* Added CMake targets for generating API documentation: [#174](https://github.com/flexible-collision-library/fcl/pull/174)
* Enabled build with SSE option by default: [#159](https://github.com/flexible-collision-library/fcl/pull/159)
* Added missing copyright headers: [#149](https://github.com/flexible-collision-library/fcl/pull/149)
* Added test utility for performing equality between Eigen matrix-types (`CompareMatrices` in `test/eign_matrix_compare.h`): [#316](https://github.com/flexible-collision-library/fcl/pull/316)
* Unused and uncompilable private methods removed from `HierarchyTree`.
[#439](https://github.com/flexible-collision-library/fcl/pull/439)

* Narrowphase

* Added distance request option for computing exact negative distance:
[#172](https://github.com/flexible-collision-library/fcl/pull/172)
* Adjust tolerance on cylinder-cone unit test to pass on MacOS:
[#198](https://github.com/flexible-collision-library/fcl/pull/198)
* Unify computation of nearest point in convexity-based distance algorithms:
[#215](https://github.com/flexible-collision-library/fcl/pull/215)
* Fixed bug in cylinder-half space collision query:
[#255](https://github.com/flexible-collision-library/fcl/pull/255),
[#267](https://github.com/flexible-collision-library/fcl/pull/267)
* Errors in box-box collision function addressed -- this changes the semantics
of the old results: penetration depth is a *positive* value and the position
of the penetration will *not* lie on the surface of one box, but lies at the
midpoint between the two penetrating surfaces:
[#259](https://github.com/flexible-collision-library/fcl/pull/259)
* Fixed bug in `meshConservativeAdvancementOrientedNodeCanStop`:
[#271](https://github.com/flexible-collision-library/fcl/pull/271)
* `CollisionRequest` gets a "GJK tolerance":
[#283](https://github.com/flexible-collision-library/fcl/pull/283)
* Correct distance queries to report nearest point in _world_ frame:
[#288](https://github.com/flexible-collision-library/fcl/pull/288)
* Various corrections and clarifications of the GJK algorithm used for general
convex distance:
[#290](https://github.com/flexible-collision-library/fcl/pull/290),
[#296](https://github.com/flexible-collision-library/fcl/pull/296),
[#324](https://github.com/flexible-collision-library/fcl/pull/324),
[#365](https://github.com/flexible-collision-library/fcl/pull/365),
[#367](https://github.com/flexible-collision-library/fcl/pull/367),
[#373](https://github.com/flexible-collision-library/fcl/pull/373)
* Remove duplicated code between GJKDistance and GJKSignedDistance:
[#292](https://github.com/flexible-collision-library/fcl/pull/292)
* Significant bug fixes in the EPA algorithm for computing signed distance on
penetrating convex shapes:
[#305](https://github.com/flexible-collision-library/fcl/pull/305),
[#314](https://github.com/flexible-collision-library/fcl/pull/314),
[#336](https://github.com/flexible-collision-library/fcl/pull/336),
[#352](https://github.com/flexible-collision-library/fcl/pull/352),
[#388](https://github.com/flexible-collision-library/fcl/pull/388),
[#397](https://github.com/flexible-collision-library/fcl/pull/397),
[#417](https://github.com/flexible-collision-library/fcl/pull/417),
[#434](https://github.com/flexible-collision-library/fcl/pull/434),
[#435](https://github.com/flexible-collision-library/fcl/pull/435),
[#437](https://github.com/flexible-collision-library/fcl/pull/437)
* Add custom sphere-box collision and distance algorithms for both solvers:
[#316](https://github.com/flexible-collision-library/fcl/pull/316)
* Add custom sphere-cylinder collision and distance algorithms for both
solvers:
[#321](https://github.com/flexible-collision-library/fcl/pull/321)
* Octree-mesh distance query returns witness points:
[#427](https://github.com/flexible-collision-library/fcl/pull/427)

* Build/Test/Misc

* Ensure the locally generated config.h is used:
[#142](https://github.com/flexible-collision-library/fcl/pull/142)
* Use major.minor version for ABI soversion:
[#143](https://github.com/flexible-collision-library/fcl/pull/143)
* Added missing copyright headers:
[#149](https://github.com/flexible-collision-library/fcl/pull/149)
* Enable Win32 builds on AppVeyor CI:
[#157](https://github.com/flexible-collision-library/fcl/pull/157)
* Enabled build with SSE option by default:
[#159](https://github.com/flexible-collision-library/fcl/pull/159)
* Show build status of master branch in README.md:
[#166](https://github.com/flexible-collision-library/fcl/pull/166)
* Added CMake targets for generating API documentation:
[#174](https://github.com/flexible-collision-library/fcl/pull/174)
* Clean up finding external dependencies and use imported targets where
available:
[#181](https://github.com/flexible-collision-library/fcl/pull/181),
[#182](https://github.com/flexible-collision-library/fcl/pull/182),
[#196](https://github.com/flexible-collision-library/fcl/pull/196)
* Added version check for Visual Studio in CMake (VS2015 or greater required):
[#189](https://github.com/flexible-collision-library/fcl/pull/189)
* Add dedicated SSE CMake option:
[#191](https://github.com/flexible-collision-library/fcl/pull/191)
* Remove unused references to TinyXML from build:
[#193](https://github.com/flexible-collision-library/fcl/pull/193)
* Minor corrections to signed distance tests:
[#199](https://github.com/flexible-collision-library/fcl/pull/199)
* Fix various compiler warnings and enable warnings as errors in CI:
[#197](https://github.com/flexible-collision-library/fcl/pull/197),
[#200](https://github.com/flexible-collision-library/fcl/pull/200),
[#204](https://github.com/flexible-collision-library/fcl/pull/204),
[#205](https://github.com/flexible-collision-library/fcl/pull/205)
* Allow the CMake RPATH to be configured:
[#203](https://github.com/flexible-collision-library/fcl/pull/203)
* Set SSE flags for the Apple compiler:
[#206](https://github.com/flexible-collision-library/fcl/pull/206)
* Windows CI always uses double-valued libccd:
[#216](https://github.com/flexible-collision-library/fcl/pull/216)
* Clean up of CMake install configuration:
[#230](https://github.com/flexible-collision-library/fcl/pull/230)
* Formalize visibility of binary symbols:
[#233](https://github.com/flexible-collision-library/fcl/pull/233)
* Remove tapping deprecated homebrew-science:
[#262](https://github.com/flexible-collision-library/fcl/pull/262)
* Move travis CI to use xcode 9 instead of 7.3:
[#266](https://github.com/flexible-collision-library/fcl/pull/266)
* Fix VS2017 incompatibility:
[#277](https://github.com/flexible-collision-library/fcl/pull/277)
* Mention Visual Studio version requirement in INSTALL file:
[#284](https://github.com/flexible-collision-library/fcl/pull/284)
* Correct CMake error message for the wrong version of libccd:
[#286](https://github.com/flexible-collision-library/fcl/pull/286)
* Added test utility for performing equality between Eigen matrix-types
(`CompareMatrices` in `test/eign_matrix_compare.h`):
[#316](https://github.com/flexible-collision-library/fcl/pull/316)
* Toward enabling dashboards on CI:
[#328](https://github.com/flexible-collision-library/fcl/pull/328)
* Add configuration files for various static analyzers:
[#332](https://github.com/flexible-collision-library/fcl/pull/332)
* Update AppVeyor badge URL in README:
[#342](https://github.com/flexible-collision-library/fcl/pull/342)
* CMake fixes and cleanup:
[#360](https://github.com/flexible-collision-library/fcl/pull/360)
* Enable --output-on-failure for CI builds:
[#362](https://github.com/flexible-collision-library/fcl/pull/362)
* Corrected test of the distance function to be compatible with libccd 2:
[#371](https://github.com/flexible-collision-library/fcl/pull/371)
* Provides the `UnexpectedConfigurationException` so that when narrowphase
operations encounter an error, they can throw this new exception which
will trigger a logging of the types and poses of the geometries that led to
the error:
[#381](https://github.com/flexible-collision-library/fcl/pull/381)
* Provide catkin packaage.xml per ROS REP 136:
[#409](https://github.com/flexible-collision-library/fcl/pull/409)
* Updated README.md to reflect FCL 0.6.0 syntax changes:
[#410](https://github.com/flexible-collision-library/fcl/pull/410)

### FCL 0.5.0 (2016-07-19)

* Added safe-guards to allow octree headers only if octomap enabled: [#136](https://github.com/flexible-collision-library/fcl/pull/136)
* Added CMake option to disable octomap in build: [#135](https://github.com/flexible-collision-library/fcl/pull/135)
* Added automatic coverage test reporting: [#125](https://github.com/flexible-collision-library/fcl/pull/125), [#98](https://github.com/flexible-collision-library/fcl/pull/98)
* Added CMake exported targets: [#116](https://github.com/flexible-collision-library/fcl/pull/116)
* Fixed API to support Octomap 1.8: [#129](https://github.com/flexible-collision-library/fcl/pull/129), [#126](https://github.com/flexible-collision-library/fcl/issues/126)
* Fixed continuousCollisionNaive() wasn't resetting the returned result when no collision: [#123](https://github.com/flexible-collision-library/fcl/pull/123)
* Fixed uninitialized tf in TranslationMotion: [#121](https://github.com/flexible-collision-library/fcl/pull/121)
* Fixed fcl.pc populated incorrect installation paths: [#118](https://github.com/flexible-collision-library/fcl/pull/118)
* Fixed octree vs mesh CollisionResult now returns triangle id: [#114](https://github.com/flexible-collision-library/fcl/pull/114)
* Fixed minor typo: [#113](https://github.com/flexible-collision-library/fcl/pull/113)
* Fixed fallback finding of libccd: [#112](https://github.com/flexible-collision-library/fcl/pull/112)
* Fixed a nasty bug in propagate propagateBVHFrontListCollisionRecurse(): [#110](https://github.com/flexible-collision-library/fcl/pull/110)
* Fixed test_fcl_math failures on Windows 64 bit due to non-portable use of long: [#108](https://github.com/flexible-collision-library/fcl/pull/108), [#107](https://github.com/flexible-collision-library/fcl/issues/107)
* Fixed compilation in Visual Studio 2015, and suppressed some warnings: [#99](https://github.com/flexible-collision-library/fcl/pull/99)
* Fixed build when libccd package config not found: [#94](https://github.com/flexible-collision-library/fcl/pull/94)
* Removing dependency on boost: [#108](https://github.com/flexible-collision-library/fcl/pull/108), [#105](https://github.com/flexible-collision-library/fcl/pull/105), [#104](https://github.com/flexible-collision-library/fcl/pull/104), [#103](https://github.com/flexible-collision-library/fcl/pull/103)
* Added safe-guards to allow octree headers only if octomap enabled:
[#136](https://github.com/flexible-collision-library/fcl/pull/136)
* Added CMake option to disable octomap in build:
[#135](https://github.com/flexible-collision-library/fcl/pull/135)
* Added automatic coverage test reporting:
[#125](https://github.com/flexible-collision-library/fcl/pull/125),
[#98](https://github.com/flexible-collision-library/fcl/pull/98)
* Added CMake exported targets:
[#116](https://github.com/flexible-collision-library/fcl/pull/116)
* Fixed API to support Octomap 1.8:
[#129](https://github.com/flexible-collision-library/fcl/pull/129),
[#126](https://github.com/flexible-collision-library/fcl/issues/126)
* Fixed continuousCollisionNaive() wasn't resetting the returned result when no
collision:
[#123](https://github.com/flexible-collision-library/fcl/pull/123)
* Fixed uninitialized tf in TranslationMotion:
[#121](https://github.com/flexible-collision-library/fcl/pull/121)
* Fixed fcl.pc populated incorrect installation paths:
[#118](https://github.com/flexible-collision-library/fcl/pull/118)
* Fixed octree vs mesh CollisionResult now returns triangle id:
[#114](https://github.com/flexible-collision-library/fcl/pull/114)
* Fixed minor typo:
[#113](https://github.com/flexible-collision-library/fcl/pull/113)
* Fixed fallback finding of libccd:
[#112](https://github.com/flexible-collision-library/fcl/pull/112)
* Fixed a nasty bug in propagate propagateBVHFrontListCollisionRecurse():
[#110](https://github.com/flexible-collision-library/fcl/pull/110)
* Fixed test_fcl_math failures on Windows 64 bit due to non-portable use of
long:
[#108](https://github.com/flexible-collision-library/fcl/pull/108),
[#107](https://github.com/flexible-collision-library/fcl/issues/107)
* Fixed compilation in Visual Studio 2015, and suppressed some warnings:
[#99](https://github.com/flexible-collision-library/fcl/pull/99)
* Fixed build when libccd package config not found:
[#94](https://github.com/flexible-collision-library/fcl/pull/94)
* Removing dependency on boost:
[#108](https://github.com/flexible-collision-library/fcl/pull/108),
[#105](https://github.com/flexible-collision-library/fcl/pull/105),
[#104](https://github.com/flexible-collision-library/fcl/pull/104),
[#103](https://github.com/flexible-collision-library/fcl/pull/103)