<commit_before>^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package moveit_core
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

0.6.10 (2014-10-27)
-------------------
* Made setVerbose virtual in constraint_sampler so that child classes can override
* Manipulability Index Error for few DOF
  When the group has fewer than 6 DOF, the Jacobian is of the form 6xM and when multiplied by its transpose, forms a 6x6 matrix that is singular and its determinant is always 0 (or NAN if the solver cannot calculate it).
  Since calculating the SVD of a Jacobian is a costly operation, I propose to retain the calculation of the Manipulability Index through the determinant for 6 or more DOF (where it produces the correct result), but use the product of the singular values of the Jacobian for fewer DOF.
* Fixed missing test depends for tf_conversions
* Allow setFromIK() with multiple poses to single IK solver
* Improved debug output
* Removed duplicate functionality poseToMsg function
* New setToRandomPositions function with custom rand num generator
* Moved find_package angles to within CATKIN_ENABLE_TESTING
* Getter for all tips (links) of every end effector in a joint model group
* New robot state to (file) stream conversion functions
* Added default values for iostream in print statements<commit_msg>update changelog<commit_after>^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package moveit_core
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Forthcoming
-----------
* Merge pull request `#204 <https://github.com/ros-planning/moveit_core/issues/204>`_ from mikeferguson/indigo-devel
  forward port `#198 <https://github.com/ros-planning/moveit_core/issues/198>`_ to indigo
* forward port `#198 <https://github.com/ros-planning/moveit_core/issues/198>`_ to indigo
* Contributors: <NAME>, <NAME>

0.6.10 (2014-10-27)
-------------------
* Made setVerbose virtual in constraint_sampler so that child classes can override
* Manipulability Index Error for few DOF
  When the group has fewer than 6 DOF, the Jacobian is of the form 6xM and when multiplied by its transpose, forms a 6x6 matrix that is singular and its determinant is always 0 (or NAN if the solver cannot calculate it).
  Since calculating the SVD of a Jacobian is a costly operation, I propose to retain the calculation of the Manipulability Index through the determinant for 6 or more DOF (where it produces the correct result), but use the product of the singular values of the Jacobian for fewer DOF.
* Fixed missing test depends for tf_conversions
* Allow setFromIK() with multiple poses to single IK solver
* Improved debug output
* Removed duplicate functionality poseToMsg function
* New setToRandomPositions function with custom rand num generator
* Moved find_package angles to within CATKIN_ENABLE_TESTING
* Getter for all tips (links) of every end effector in a joint model group
* New robot state to (file) stream conversion functions
* Added default values for iostream in print statements
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