Add joint velocity limit constraint support (dartsim#1407)

CHANGELOG.md

@@ -2,15 +2,28 @@
 
 ### [DART 6.10.0 (20XX-XX-XX)](https://github.com/dartsim/dart/milestone/58?closed=1)
 
+* Kinematics
+
+  * Added IkFast parameter accessors to IkFast class: [#1396](https://github.com/dartsim/dart/pull/1396)
+
 * Dynamics
 
-  * Fix friction and restitution of individual shapes in a body: [#1369](https://github.com/dartsim/dart/pull/1369)
+  * Fixed friction and restitution of individual shapes in a body: [#1369](https://github.com/dartsim/dart/pull/1369)
+  * Fixed soft body simulation when command input is not resetted: [#1372](https://github.com/dartsim/dart/pull/1372)
+  * Added joint velocity limit constraint support: [#1407](https://github.com/dartsim/dart/pull/1407)
 
 * GUI
 
   * Fixed memory leaks from dart::gui::osg::Viewer: [#1349](https://github.com/dartsim/dart/pull/1349)
   * Added point rendering mode to PointCloudShape: [#1351](https://github.com/dartsim/dart/pull/1351), [#1355](https://github.com/dartsim/dart/pull/1355)
   * Updated ImGui to 1.71: [#1362](https://github.com/dartsim/dart/pull/1362)
+  * Fixed refresh of LineSegmentShapeNode: [#1381](https://github.com/dartsim/dart/pull/1381)
+
+* Parser
+
+  * Allowed parsing SDF up to version 1.6: [#1385](https://github.com/dartsim/dart/pull/1385)
+  * Fixed SDF parser not creating dynamics aspect for collision shape: [#1386](https://github.com/dartsim/dart/pull/1386)
+  * Added root joint parsing option in URDF parser: [#1399](https://github.com/dartsim/dart/pull/1399), [#1406](https://github.com/dartsim/dart/pull/1406)
 
 * dartpy
 
@@ -19,11 +32,25 @@
   * Added shadow technique: [#1348](https://github.com/dartsim/dart/pull/1348)
   * Added findSolution and solveAndApply to InverseKinematics: [#1358](https://github.com/dartsim/dart/pull/1358)
   * Added InteractiveFrame and ImGui APIs: [#1359](https://github.com/dartsim/dart/pull/1359)
+  * Added bindings for Joint::getTransformFrom{Parent|Child}BodyNode(): [#1377](https://github.com/dartsim/dart/pull/1377)
+  * Added bindings for BodyNode::getChild{BodyNode|Joint}(): [#1387](https://github.com/dartsim/dart/pull/1387)
+  * Added bindings for Inertia: [#1388](https://github.com/dartsim/dart/pull/1388)
+  * Added bindings for getting all BodyNodes from a Skeleton: [#1397](https://github.com/dartsim/dart/pull/1397)
+  * Added bindings for background color support in osg viewer: [#1398](https://github.com/dartsim/dart/pull/1398)
+  * Added bindings for BallJoint::convertToPositions(): [#1408](https://github.com/dartsim/dart/pull/1408)
+  * Fixed typos in Skeleton: [#1392](https://github.com/dartsim/dart/pull/1392)
 
 * Build
 
   * Fixed compiler warnings from GCC 9.1: [#1366](https://github.com/dartsim/dart/pull/1366)
-  * Replace M_PI with dart::math::constantsd::pi(): [#1367](https://github.com/dartsim/dart/pull/1367)
+  * Replaced M_PI with dart::math::constantsd::pi(): [#1367](https://github.com/dartsim/dart/pull/1367)
+  * Enabled octomap support on macOS: [#1078](https://github.com/dartsim/dart/pull/1078)
+
+### [DART 6.9.2 (2019-08-16)](https://github.com/dartsim/dart/milestone/60?closed=1)
+
+* Dynamics
+
+  * Allowed constraint force mixing > 1: [#1371](https://github.com/dartsim/dart/pull/1371)
 
 ### [DART 6.9.1 (2019-06-06)](https://github.com/dartsim/dart/milestone/59?closed=1)
 

dart/constraint/ConstraintSolver.cpp

@@ -609,7 +609,7 @@ void ConstraintSolver::updateConstraints()
         }
       }
 
-      if (joint->isPositionLimitEnforced())
+      if (joint->areLimitsEnforced())
       {
         mJointLimitConstraints.push_back(
             std::make_shared<JointLimitConstraint>(joint));