Dispositioning PRs since v 0.5.0 (#440)

This is the exhaustive list of all PRs since v 0.5.0, summarized and
grouped (as appropriate).

This also includes a re-format so that it fits within an 80-column
document.

CHANGELOG.md

 ## FCL 0
 
-### FCL 0.6.0 (2016-XX-XX)
+### FCL 0.6.0 (2020-02-10)
 
 * Core/Common
 
-  * Reorganized source tree: [#161](https://github.com/flexible-collision-library/fcl/issues/161), [#163](https://github.com/flexible-collision-library/fcl/pull/163)
-  * Templatized FCL for scalar type: [#154](https://github.com/flexible-collision-library/fcl/pull/154), [#165](https://github.com/flexible-collision-library/fcl/pull/165)
-  * Removed dependency on boost: [#140](https://github.com/flexible-collision-library/fcl/pull/140), [#146](https://github.com/flexible-collision-library/fcl/pull/146), [#147](https://github.com/flexible-collision-library/fcl/pull/147), [#148](https://github.com/flexible-collision-library/fcl/pull/148)
+  * Removed dependency on boost:
+     [#140](https://github.com/flexible-collision-library/fcl/pull/140),
+     [#146](https://github.com/flexible-collision-library/fcl/pull/146),
+     [#147](https://github.com/flexible-collision-library/fcl/pull/147),
+     [#148](https://github.com/flexible-collision-library/fcl/pull/148)
+  * Fix incorrect use of `FCL_BUILD_TYPE_DEBUG`:
+     [#153](https://github.com/flexible-collision-library/fcl/pull/153)
+  * Replaced `NULL` with `nullptr`:
+     [#158](https://github.com/flexible-collision-library/fcl/pull/158)
+  * Templatized FCL for scalar type:
+     [#154](https://github.com/flexible-collision-library/fcl/pull/154),
+     [#165](https://github.com/flexible-collision-library/fcl/pull/165),
+     [#188](https://github.com/flexible-collision-library/fcl/pull/188)
+  * Reorganized source tree:
+     [#163](https://github.com/flexible-collision-library/fcl/pull/163),
+     [#175](https://github.com/flexible-collision-library/fcl/pull/175)
 
 * Math
 
-  * Switched to Eigen for math operations: [#96](https://github.com/flexible-collision-library/fcl/issues/96), [#150](https://github.com/flexible-collision-library/fcl/pull/150)
-  * fcl::Transform defined to be an Isometry to facilitate inverses [#318](https://github.com/flexible-collision-library/fcl/pull/318)
+  * Switched to Eigen for math operations:
+     [#150](https://github.com/flexible-collision-library/fcl/pull/150)
+  * Rework `fcl::constants`; replace M_PI instances and include scalar-dependent
+    numerical tolerances:
+     [#264](https://github.com/flexible-collision-library/fcl/pull/264),
+     [#279](https://github.com/flexible-collision-library/fcl/pull/279)
+  * `fcl::Transform` defined to be an `Isometry` to optimize inverses:
+     [#318](https://github.com/flexible-collision-library/fcl/pull/318)
 
 * Geometry
 
-  * Simplified Convex class, deprecating old constructor in favor of
-    simpler, documented constructor:
+  * BVH Model throws intelligent errors when it runs out of memory:
+     [#237](https://github.com/flexible-collision-library/fcl/pull/237)
+  * Generate a BVH Model from multiple primitives:
+     [#308](https://github.com/flexible-collision-library/fcl/pull/308)
+  * Clean up `Convex` class:
      [#325](https://github.com/flexible-collision-library/fcl/pull/325),
-     [#338](https://github.com/flexible-collision-library/fcl/pull/338)
-  * Fixed interpretation of capsule in primitive Capsule-Capsule distance computation.
+     [#338](https://github.com/flexible-collision-library/fcl/pull/338),
+     [#369](https://github.com/flexible-collision-library/fcl/pull/369)
+  * Computation of `Capsule` moment of inertia corrected:
+     [#420](https://github.com/flexible-collision-library/fcl/pull/420)
+  * Added tests on local AABB computation for `Capsule`:
+     [#423](https://github.com/flexible-collision-library/fcl/pull/423)
+  * Fixed interpretation of capsule parameters in primitive capsule-capsule
+    distance computation.
      [#436](https://github.com/flexible-collision-library/fcl/pull/436)
 
 * Broadphase
 
-  * Fixed redundant pair checking of SpatialHashingCollisionManager: [#156](https://github.com/flexible-collision-library/fcl/pull/156)
-
-* Narrowphase
-
-  * Add custom sphere-box collision and distance algorithms for both solvers: [#316](https://github.com/flexible-collision-library/fcl/pull/316)
-  * Add custom sphere-cylinder collision and distance algorithms for both solvers: [#321](https://github.com/flexible-collision-library/fcl/pull/321)
-
-* Distance
-
-  * Added distance request option for computing exact negative distance: [#172](https://github.com/flexible-collision-library/fcl/pull/172) 
-
-* Build/Test/Misc
+  * Fixed redundant pair checking of `SpatialHashingCollisionManager`:
+     [#156](https://github.com/flexible-collision-library/fcl/pull/156)
+  * Clean up of hierarchy tree code:
+     [#439](https://github.com/flexible-collision-library/fcl/pull/439)
   * Default callback functions for broadphase collision managers have been moved
     out of `fcl::test` and into `fcl` namespace (with a corresponding name
     change, e.g., `defaultDistanceFunction` --> `DefaultDistanceFunction`).
      [#438](https://github.com/flexible-collision-library/fcl/pull/438)
     * This includes the removal of the stub function
       `defaultContinuousDistanceFunction()`.
-  * Added version check for Visual Studio in CMake (VS2015 or greater required): [#189](https://github.com/flexible-collision-library/fcl/pull/189)
-  * Added CMake targets for generating API documentation: [#174](https://github.com/flexible-collision-library/fcl/pull/174)
-  * Enabled build with SSE option by default: [#159](https://github.com/flexible-collision-library/fcl/pull/159)
-  * Added missing copyright headers:  [#149](https://github.com/flexible-collision-library/fcl/pull/149)
-  * Added test utility for performing equality between Eigen matrix-types (`CompareMatrices` in `test/eign_matrix_compare.h`): [#316](https://github.com/flexible-collision-library/fcl/pull/316)
-  * Unused and uncompilable private methods removed from `HierarchyTree`.
-     [#439](https://github.com/flexible-collision-library/fcl/pull/439)
+
+* Narrowphase
+
+  * Added distance request option for computing exact negative distance:
+     [#172](https://github.com/flexible-collision-library/fcl/pull/172)
+  * Adjust tolerance on cylinder-cone unit test to pass on MacOS:
+     [#198](https://github.com/flexible-collision-library/fcl/pull/198)
+  * Unify computation of nearest point in convexity-based distance algorithms:
+     [#215](https://github.com/flexible-collision-library/fcl/pull/215)
+  * Fixed bug in cylinder-half space collision query:
+     [#255](https://github.com/flexible-collision-library/fcl/pull/255),
+     [#267](https://github.com/flexible-collision-library/fcl/pull/267)
+  * Errors in box-box collision function addressed -- this changes the semantics
+    of the old results: penetration depth is a *positive* value and the position
+    of the penetration will *not* lie on the surface of one box, but lies at the
+    midpoint between the two penetrating surfaces:
+     [#259](https://github.com/flexible-collision-library/fcl/pull/259)
+  * Fixed bug in `meshConservativeAdvancementOrientedNodeCanStop`:
+     [#271](https://github.com/flexible-collision-library/fcl/pull/271)
+  * `CollisionRequest` gets a "GJK tolerance":
+     [#283](https://github.com/flexible-collision-library/fcl/pull/283)
+  * Correct distance queries to report nearest point in _world_ frame:
+     [#288](https://github.com/flexible-collision-library/fcl/pull/288)
+  * Various corrections and clarifications of the GJK algorithm used for general
+    convex distance:
+     [#290](https://github.com/flexible-collision-library/fcl/pull/290),
+     [#296](https://github.com/flexible-collision-library/fcl/pull/296),
+     [#324](https://github.com/flexible-collision-library/fcl/pull/324),
+     [#365](https://github.com/flexible-collision-library/fcl/pull/365),
+     [#367](https://github.com/flexible-collision-library/fcl/pull/367),
+     [#373](https://github.com/flexible-collision-library/fcl/pull/373)
+  * Remove duplicated code between GJKDistance and GJKSignedDistance:
+     [#292](https://github.com/flexible-collision-library/fcl/pull/292)
+  * Significant bug fixes in the EPA algorithm for computing signed distance on
+    penetrating convex shapes:
+     [#305](https://github.com/flexible-collision-library/fcl/pull/305),
+     [#314](https://github.com/flexible-collision-library/fcl/pull/314),
+     [#336](https://github.com/flexible-collision-library/fcl/pull/336),
+     [#352](https://github.com/flexible-collision-library/fcl/pull/352),
+     [#388](https://github.com/flexible-collision-library/fcl/pull/388),
+     [#397](https://github.com/flexible-collision-library/fcl/pull/397),
+     [#417](https://github.com/flexible-collision-library/fcl/pull/417),
+     [#434](https://github.com/flexible-collision-library/fcl/pull/434),
+     [#435](https://github.com/flexible-collision-library/fcl/pull/435),
+     [#437](https://github.com/flexible-collision-library/fcl/pull/437)
+  * Add custom sphere-box collision and distance algorithms for both solvers:
+     [#316](https://github.com/flexible-collision-library/fcl/pull/316)
+  * Add custom sphere-cylinder collision and distance algorithms for both
+    solvers:
+     [#321](https://github.com/flexible-collision-library/fcl/pull/321)
+  * Octree-mesh distance query returns witness points:
+     [#427](https://github.com/flexible-collision-library/fcl/pull/427)
+
+* Build/Test/Misc
+
+  * Ensure the locally generated config.h is used:
+     [#142](https://github.com/flexible-collision-library/fcl/pull/142)
+  * Use major.minor version for ABI soversion:
+     [#143](https://github.com/flexible-collision-library/fcl/pull/143)
+  * Added missing copyright headers:
+     [#149](https://github.com/flexible-collision-library/fcl/pull/149)
+  * Enable Win32 builds on AppVeyor CI:
+     [#157](https://github.com/flexible-collision-library/fcl/pull/157)
+  * Enabled build with SSE option by default:
+     [#159](https://github.com/flexible-collision-library/fcl/pull/159)
+  * Show build status of master branch in README.md:
+     [#166](https://github.com/flexible-collision-library/fcl/pull/166)
+  * Added CMake targets for generating API documentation:
+     [#174](https://github.com/flexible-collision-library/fcl/pull/174)
+  * Clean up finding external dependencies and use imported targets where
+    available:
+     [#181](https://github.com/flexible-collision-library/fcl/pull/181),
+     [#182](https://github.com/flexible-collision-library/fcl/pull/182),
+     [#196](https://github.com/flexible-collision-library/fcl/pull/196)
+  * Added version check for Visual Studio in CMake (VS2015 or greater required):
+     [#189](https://github.com/flexible-collision-library/fcl/pull/189)
+  * Add dedicated SSE CMake option:
+     [#191](https://github.com/flexible-collision-library/fcl/pull/191)
+  * Remove unused references to TinyXML from build:
+     [#193](https://github.com/flexible-collision-library/fcl/pull/193)
+  * Minor corrections to signed distance tests:
+     [#199](https://github.com/flexible-collision-library/fcl/pull/199)
+  * Fix various compiler warnings and enable warnings as errors in CI:
+     [#197](https://github.com/flexible-collision-library/fcl/pull/197),
+     [#200](https://github.com/flexible-collision-library/fcl/pull/200),
+     [#204](https://github.com/flexible-collision-library/fcl/pull/204),
+     [#205](https://github.com/flexible-collision-library/fcl/pull/205)
+  * Allow the CMake RPATH to be configured:
+     [#203](https://github.com/flexible-collision-library/fcl/pull/203)
+  * Set SSE flags for the Apple compiler:
+     [#206](https://github.com/flexible-collision-library/fcl/pull/206)
+  * Windows CI always uses double-valued libccd:
+     [#216](https://github.com/flexible-collision-library/fcl/pull/216)
+  * Clean up of CMake install configuration:
+     [#230](https://github.com/flexible-collision-library/fcl/pull/230)
+  * Formalize visibility of binary symbols:
+     [#233](https://github.com/flexible-collision-library/fcl/pull/233)
+  * Remove tapping deprecated homebrew-science:
+     [#262](https://github.com/flexible-collision-library/fcl/pull/262)
+  * Move travis CI to use xcode 9 instead of 7.3:
+     [#266](https://github.com/flexible-collision-library/fcl/pull/266)
+  * Fix VS2017 incompatibility:
+     [#277](https://github.com/flexible-collision-library/fcl/pull/277)
+  * Mention Visual Studio version requirement in INSTALL file:
+     [#284](https://github.com/flexible-collision-library/fcl/pull/284)
+  * Correct CMake error message for the wrong version of libccd:
+     [#286](https://github.com/flexible-collision-library/fcl/pull/286)
+  * Added test utility for performing equality between Eigen matrix-types
+    (`CompareMatrices` in `test/eign_matrix_compare.h`):
+     [#316](https://github.com/flexible-collision-library/fcl/pull/316)
+  * Toward enabling dashboards on CI:
+     [#328](https://github.com/flexible-collision-library/fcl/pull/328)
+  * Add configuration files for various static analyzers:
+     [#332](https://github.com/flexible-collision-library/fcl/pull/332)
+  * Update AppVeyor badge URL in README:
+     [#342](https://github.com/flexible-collision-library/fcl/pull/342)
+  * CMake fixes and cleanup:
+     [#360](https://github.com/flexible-collision-library/fcl/pull/360)
+  * Enable --output-on-failure for CI builds:
+     [#362](https://github.com/flexible-collision-library/fcl/pull/362)
+  * Corrected test of the distance function to be compatible with libccd 2:
+     [#371](https://github.com/flexible-collision-library/fcl/pull/371)
+  * Provides the `UnexpectedConfigurationException` so that when narrowphase
+    operations encounter an error, they can throw this new exception which
+    will trigger a logging of the types and poses of the geometries that led to
+    the error:
+     [#381](https://github.com/flexible-collision-library/fcl/pull/381)
+  * Provide catkin packaage.xml per ROS REP 136:
+     [#409](https://github.com/flexible-collision-library/fcl/pull/409)
+  * Updated README.md to reflect FCL 0.6.0 syntax changes:
+     [#410](https://github.com/flexible-collision-library/fcl/pull/410)
 
 ### FCL 0.5.0 (2016-07-19)
 
-* Added safe-guards to allow octree headers only if octomap enabled: [#136](https://github.com/flexible-collision-library/fcl/pull/136)
-* Added CMake option to disable octomap in build: [#135](https://github.com/flexible-collision-library/fcl/pull/135)
-* Added automatic coverage test reporting: [#125](https://github.com/flexible-collision-library/fcl/pull/125), [#98](https://github.com/flexible-collision-library/fcl/pull/98)
-* Added CMake exported targets: [#116](https://github.com/flexible-collision-library/fcl/pull/116)
-* Fixed API to support Octomap 1.8: [#129](https://github.com/flexible-collision-library/fcl/pull/129), [#126](https://github.com/flexible-collision-library/fcl/issues/126)
-* Fixed continuousCollisionNaive() wasn't resetting the returned result when no collision: [#123](https://github.com/flexible-collision-library/fcl/pull/123)
-* Fixed uninitialized tf in TranslationMotion: [#121](https://github.com/flexible-collision-library/fcl/pull/121)
-* Fixed fcl.pc populated incorrect installation paths: [#118](https://github.com/flexible-collision-library/fcl/pull/118)
-* Fixed octree vs mesh CollisionResult now returns triangle id: [#114](https://github.com/flexible-collision-library/fcl/pull/114)
-* Fixed minor typo: [#113](https://github.com/flexible-collision-library/fcl/pull/113)
-* Fixed fallback finding of libccd: [#112](https://github.com/flexible-collision-library/fcl/pull/112)
-* Fixed a nasty bug in propagate propagateBVHFrontListCollisionRecurse(): [#110](https://github.com/flexible-collision-library/fcl/pull/110)
-* Fixed test_fcl_math failures on Windows 64 bit due to non-portable use of long: [#108](https://github.com/flexible-collision-library/fcl/pull/108), [#107](https://github.com/flexible-collision-library/fcl/issues/107)
-* Fixed compilation in Visual Studio 2015, and suppressed some warnings: [#99](https://github.com/flexible-collision-library/fcl/pull/99)
-* Fixed build when libccd package config not found: [#94](https://github.com/flexible-collision-library/fcl/pull/94)
-* Removing dependency on boost: [#108](https://github.com/flexible-collision-library/fcl/pull/108), [#105](https://github.com/flexible-collision-library/fcl/pull/105), [#104](https://github.com/flexible-collision-library/fcl/pull/104), [#103](https://github.com/flexible-collision-library/fcl/pull/103)
+* Added safe-guards to allow octree headers only if octomap enabled:
+   [#136](https://github.com/flexible-collision-library/fcl/pull/136)
+* Added CMake option to disable octomap in build:
+   [#135](https://github.com/flexible-collision-library/fcl/pull/135)
+* Added automatic coverage test reporting:
+   [#125](https://github.com/flexible-collision-library/fcl/pull/125),
+   [#98](https://github.com/flexible-collision-library/fcl/pull/98)
+* Added CMake exported targets:
+   [#116](https://github.com/flexible-collision-library/fcl/pull/116)
+* Fixed API to support Octomap 1.8:
+   [#129](https://github.com/flexible-collision-library/fcl/pull/129),
+   [#126](https://github.com/flexible-collision-library/fcl/issues/126)
+* Fixed continuousCollisionNaive() wasn't resetting the returned result when no
+  collision:
+   [#123](https://github.com/flexible-collision-library/fcl/pull/123)
+* Fixed uninitialized tf in TranslationMotion:
+   [#121](https://github.com/flexible-collision-library/fcl/pull/121)
+* Fixed fcl.pc populated incorrect installation paths:
+   [#118](https://github.com/flexible-collision-library/fcl/pull/118)
+* Fixed octree vs mesh CollisionResult now returns triangle id:
+   [#114](https://github.com/flexible-collision-library/fcl/pull/114)
+* Fixed minor typo:
+   [#113](https://github.com/flexible-collision-library/fcl/pull/113)
+* Fixed fallback finding of libccd:
+   [#112](https://github.com/flexible-collision-library/fcl/pull/112)
+* Fixed a nasty bug in propagate propagateBVHFrontListCollisionRecurse():
+   [#110](https://github.com/flexible-collision-library/fcl/pull/110)
+* Fixed test_fcl_math failures on Windows 64 bit due to non-portable use of
+  long:
+   [#108](https://github.com/flexible-collision-library/fcl/pull/108),
+   [#107](https://github.com/flexible-collision-library/fcl/issues/107)
+* Fixed compilation in Visual Studio 2015, and suppressed some warnings:
+   [#99](https://github.com/flexible-collision-library/fcl/pull/99)
+* Fixed build when libccd package config not found:
+   [#94](https://github.com/flexible-collision-library/fcl/pull/94)
+* Removing dependency on boost:
+   [#108](https://github.com/flexible-collision-library/fcl/pull/108),
+   [#105](https://github.com/flexible-collision-library/fcl/pull/105),
+   [#104](https://github.com/flexible-collision-library/fcl/pull/104),
+   [#103](https://github.com/flexible-collision-library/fcl/pull/103)