@sgabl sgabl tagged this Jun 28, 2018 · 36 commits to master since this tag

Assets 2
Requires Panda system version >= 1.3.0

Motion and control interfaces

  * **BREAKING** Added rate limiting of commanded values as an option in the control loop and as
    a helper function. Rate limiting is activated by default, this could change the behavior of
    existing programs. Only works when filters (`franka::Robot::setFilters`) are deactivated.
  * Added `joint_move_in_wrong_direction` error to `franka::RobotState`
  * Added first and second derivatives of last commanded signals to `franka::RobotState`

Library

  * Added `rate_limiting.h` to public interface
  * Removed unnecessary CMake script from installation