ros/rosdistro — pull request #6103 by isucan (2014-10-28 06:04:08+00:00)
Title: moveit_core: 0.6.10-0 in 'indigo/distribution.yaml' [bloom]

Increasing version of package(s) in repository `moveit_core` to `0.6.10-0`:

- upstream repository: https://github.com/ros-planning/moveit_core.git
- release repository: https://github.com/ros-gbp/moveit_core-release.git
- distro file: `indigo/distribution.yaml`
- bloom version: `0.5.12`
- previous version for package: `0.6.9-0`

## moveit_core

```
* 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
* Change PlanningScene constructor to RobotModelConstPtr
* Documentation and made printTransform() public
* Reduced unnecessary joint position copying
* Added getSubgroups() helper function to joint model groups
* Maintain ordering of poses in order that IK solver expects
* Added new setToRandomPositions function that allows custom random number generator to be specified
* Split setToIKSolverFrame() into two functions
* Add check for correct solver type
* Allowed setFromIK to do whole body IK solving with multiple tips
* Contributors: Acorn, Dave Coleman, Ioan A Sucan, Jonathan Weisz, Konstantinos Chatzilygeroudis, Sachin Chitta, hersh
```