aikido:avk/feedingJsonMerge

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34aa417... by Aditya Vamsikrishna <email address hidden> on 2018-07-18

make format

f7e2d1a... by Aditya Vamsikrishna <email address hidden> on 2018-07-18

use the setter for goal

89a642c... by Aditya Vamsikrishna <email address hidden> on 2018-07-18

add setGoal

9f9ff70... by Aditya Vamsikrishna <email address hidden> on 2018-07-17

update branch according to latest ranking

31910a8... by Daniel Gallenberger <email address hidden> on 2018-07-17

Merge branch 'enhancement/yskim/json-in-marker' into feeding

54d722d... by Daniel Gallenberger <email address hidden> on 2018-07-17

Merge branch 'feeding' of https://github.com/personalrobotics/aikido into feeding

cfba2f6... by Aditya Vamsikrishna <email address hidden> on 2018-07-17

Ranking IK Solutions (#423)

* init

* Fixing const-correctness in state space

* update structure

* make format

* source for base ranking class

* make format

* add general sorting

* make format

* preallocate size of ranking vector

* nit todo removed

* remove unnecessary headers + new strategies

* make format

* remove redundant virtual keyword

* add FIFO to ranking strategy

* add source scripts for ranking strategies

* assign the base class members first

* make format

* add sources to read later

* correct macro for header-guard

* tests for FIFO + cleanup

* Fixing const-correctness of StateHandle

* Fix implicit conversion of StateHandle to State*

* Undo unnecessary changes

* Remove incorrect comment

* Add clone to StateSpace

* Format code

* test for the bug

* bug fix in adding IK solutions

* comment out unused variables

* nit comments

* Update changelog

* Update CHANGELOG.md

* WIP: Random restructuring to test stuff

* change API

* make format

* nominal configuration strategy

* test for nominal configuration strategy

* restructure the code into distance

* enable base class and nominal configuration ranker

* bring back test for nominal config ranker + check distances

* simplify the test script

* bring bakc joint avoidance ranker

* simplify the code

* make format

* clean up test scripts

* joint avoidance strategy

* consider cyclic joints

* make format

* make tests uniform

* update log

* simplify and address PR comments

* modify joint avoidance. TODO: change to indices of unbounded limits?

* modify constructor to take nominal configuration as parameter

* make format

* add docstring

* work with indices

* make format

* convenience function to get state without creating it explicitly

* simplify code

* make format

* update log

* edit docstrings

* use cartesianproduct state space

* add docstrings

* create limits states in ctr; use cartesian sspace.

* make format

* move helper function to anonymous namespace

* rename variables and functions for increased clarity

* make format

* simplify tests scripts

* remove unnecessary clone

* make format

* take in scoped states as expected during planning

* make format

* remove function outside scope of the PR

* remove getter for statespace; use MetaSkeletonStateSpace

* remove const-cast

* make format

* address concerns over state; cleanup

* remove unnecessary header

* remove unnecesary header

* make ranking efficient; address nit comments

* make format

* Refactor and fix weird bug.

5579009... by Youngsun Kim on 2018-07-13

[PoseEstimatorModule] add document for getObjInfo

5cad6e0... by Youngsun Kim on 2018-07-13

[PoseEstimatorModule] add the getter for mObjInfo

ec936b4... by Daniel Gallenberger <email address hidden> on 2018-07-13

Merge branch 'enhancement/brianhou/ros-traj-abort' into feeding