Failed with some Eigen issues. We aren't using Conda right now.

Fixes bugs with JointLimit task

Cf. ros-industrial/industrial_ci#770

…to topic/add-mesh-loader

…ggering nosetests

Nosetests runs any function with "test_" in the name. The validation
function should of course be excluded.

Add methods for mesh creation in Python

…n feasible

Noticed the following problem where in iteration 99, after already
having reached feasibility, it accepts a large ascent step:
98  2.28141e-01  2.66446e-03  3.87063e+03  1.00000e-03  1.00000e-03
0.0010     1  6.24123e+02  -9.65938e+02
99  1.55556e+07  6.67014e+10  3.26809e+08  1.00000e-02  1.00000e-02
1.0000     1  -1.62977e+08  -1.55556e+07
iter     cost         stop          grad          xreg        ureg
step    feas   dV-exp        dV
100  7.12945e+06  1.52536e+10  1.79564e+03  1.00000e-03  1.00000e-03
0.5012     1  -1.96396e+06  8.42617e+06

This check no longer allows to open gaps once feasibility has first been
reached.

… C++14 by default

…xample

[exotica_examples] Add surface alignment trajectory example

Add example for relative trajectory motion

…without updating FK

Add support for mimic joints

…intuitive

Adds support for parsing strings such as true/false or True/False to the
boolean parsing logic. Checks and reports on parsing issues. Reduces
redundancy of bool parsing between single value and vector

This reverts commit d5f8e73.

…y limit copy is deprecated

…ternal copy of velocity limits

…maticTree velocity limits

…ene initializer

Allows to set or override the velocity and acceleration limits stored in
the KinematicTree directly from the Scene initializer.

In the future, this is meant to replace manually defined bounds in
problems to unify the place they are being defined.

…its of size 1

…lizer

Define JointVelocityLimits / JointAccelerationLimits in the Scene initializer

This commit adds support for a problem start time. It assumes that the
entire trajectory's time indexing is shifted by the start time

This commit adds support for a problem start time. It assumes that the
entire trajectory's time indexing is shifted by the start time

…rt time

This commit adds support for a problem start time. It assumes that the
entire trajectory's time indexing is shifted by the start time

… time

This commit adds support for a problem start time. It assumes that the
entire trajectory's time indexing is shifted by the start time

There are getters and setters already exposed

…rajectories

Support for start time of scene state for trajectories

…for DynamicTimeIndexedShootingProblem

…ow to use velocity limits

…r-dynamic-time-indexed-shooting-problem

Extend JointLimit to limit joint velocities

…alizer

Adds optional JointPositionLimitsLower and JointPositionLimitsUpper
parameters to the Scene initializer to override the configuration limits
directly.

In the future, this will replace the LowerBound/UpperBound currently
exposed in some of the problems.

…errides

[exotica_core] Add ability to override position limits in Scene initializer

Deprecate TimeIndexedSamplingProblem::vel_limits