From 79dbbfd882748a83809e489832bf207a45a3f7b5 Mon Sep 17 00:00:00 2001 From: Fabio Falezza Date: Fri, 25 Mar 2022 10:38:06 +0100 Subject: [PATCH] FIX: improved changelog and comments --- CHANGELOG.md | 9 ++++++--- include/franka/robot_state.h | 1 + 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 98530327..91516c79 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,15 +1,18 @@ # CHANGELOG -## 0.9.0 - UNRELEASED +## 0.9.0 - 2022-03-25 Requires Panda system version >= 4.2.1 - * **BREAKING** Add `O_ddP_O` base acceleration to robot state - * **BREAKING** New `base_acceleration_initialization_timeout` & `base_acceleration_invalid_reading` reflexes + * **BREAKING** Add `O_ddP_O` base acceleration to robot state, harcoded to `{0, 0, -9.81}`. + * **BREAKING** New `base_acceleration_initialization_timeout`, `base_acceleration_invalid_reading` + `cartesian_spline_motion_generator_violation` and + `joint_via_motion_generator_planning_joint_limit_violation` reflexes. * Adjust network error messages. Distinguish between problems resulting from: - a wrong network configuration. A message is shown after a timeout of 60 seconds. - a missing FCI feature or a blocked port due to Single Point of Control. An immediate error response is shown. + * Changed signature of `franka::Model::gravity` to use `O_ddP_O` in the robot state. ## 0.8.0 - 2020-04-29 diff --git a/include/franka/robot_state.h b/include/franka/robot_state.h index 452bb569..9f92773c 100644 --- a/include/franka/robot_state.h +++ b/include/franka/robot_state.h @@ -331,6 +331,7 @@ struct RobotState { * Linear component of the acceleration of the robot's base, expressed in frame parallel to the * @ref o-frame "base frame", i.e. the base's translational acceleration. If the base is resting * this shows the direction of the gravity vector. + * It is harcoded for now to `{0, 0, -9.81}`. */ std::array O_ddP_O{}; // NOLINT(readability-identifier-naming)