Current development status

Sarathi is currently usable for path planning. The following is a non-exhaustive list of on-going and pending tasks.

Status
C/C++ client library for connecting with SOAP server version 0.1 ready
SOAP server version 0.1 ready
Command processor integrated into command processor
Path planner MPK planner available as a plugin
Robot description plugin (KUKA) skeleton done
Robot description plugin (Powercube) skeleton done
Robot description plugin (Katana) dropped for foreseeable future
Interpolator version 0.1 ready
Reporter Coding not started
Exception and events processor Coding not started
Trajectory generator Coding not started
Sequencer Coding not started
Free motion Coding not started
Parameter estimator Coding not started
Estimator Coding not started
Controller Coding in progress