Released versions

MPK-1.2.2: Aug 31, 2009

• Changes in MPKgui
  • Update VRML reader to handle unsupported keywords.
  • Disable planner/cd/load menu when planning in progress.
  • Disable double click when planning in progress.


• Changes in MPKlib
  • Update Server to support clear and robust switch to different robot/planner.

MPK-1.2.1: May 28, 2007

• Changes in MPKlib
  • Find tunning in a couple of planners, including PRM, IK_ACA, MPEP.


• Changes in MPKgui
  • Some minor changes related planner dialogs.

MPK-1.2.0: May 10, 2007

• Changes in MPKlib
  • RRT planner replaced.
  • RRT-Connect planner replaced.
  • Added new data structure of tree and graph as first step toward replacing LEDA.
  • Fix a bug in ATACE planner, where a synchronization is missing between display thread and planning thread.
  • Add default directory manipulation, so that it take running directory as its default directory.


• Changes in MPKgui
  • Change the default setting of user dialog for ATACE planner.
  • Add RAMP logo in the gl window.
  • Enable white background for universe display.


• Other changes
  • Add #cspacecamera setting in those frequently used .mpk files.

MPK-1.1.1: Mar 3, 2006

• Moved MPK from Visual Souresafe server to CVS repository.
• Update changes in different versions (due to outage of VSS server).
• Restructure the directories for different components and documents.


• Changes in MPKlib
  • Allow a robot to have a base.
  • Solve most of memory leaks.
  • Fix potential issues in SWIFTpp, which caused many warning on running and crash on comlex scene.
  • Solve the problem of crashes on bad .mpk file (with invalid robot, environment, etc.
  • Seperate closed-chain planner into PL_RRT_Closedchain, PL_PRM_Constraint.


• Changes in MPKgui
  • Reorganize the menu, categorize planners by problems.
  • Solve the problem of crash when adding user obstacle in an empty scene.


• Other changes
  • Add robot model and .mpk file for powercube.

MPK-1.1.0: June 2005

• Changes in MPKlib
  • Add PL_MPEP planner.
  • Add PL_ATACE planner.
  • Add PL_ClosedChain planners.
  • Add IK_Jacobian planner.
  • Solve some memory leaks.


• Changes in MPKgui
  • Add interface to save and load user obstacles.
  • Add elapsed time display when planning.
  • Add user keyboard view control.

MPK-1.0 and before: