Changelog for package jskeus

Forthcoming

[Documentation]

[irteus/irtmath.l] Add docstring to lmeds functions & fix typo in comments (#636)
fixed formula of collision avoidance in jmanual (#628)
update comment in :joint-dof definition (#632)

[Bug fix]

[irtrobot.l] fix bug in :calc-zmp-from-forces-moments (#602) * add test for :calc-zmp-from-forces-moments
[irteus/irtutil.l] Enable to pass integer time-list to interpolator (#625) * [irteus/irtutil.l] Optimize float conversion of time-list in interpolator, Reflect @Affonso-Gui's offline comment * [irteus/irtutil.l] Enable to pass integer time-list to interpolator * [irteus] Add test of passing integer time-list to interpolator

cf. #625
Avoid irteusx errors when a file named 'NIL' exists (#618)
[irteus/irtmodel.l] fix Error in inverse-kinematics fail with :move-target (jsk-ros-pkg/jsk_pr2eus#474) #611) * add test code for (#611) * [irteus/irtmodel.l] refactor conditional branch and comments for debug print of :inverse-kinematics

[New features]

add write-to-png in irtgraph (#623)
[irteus/irtmodel.l] Display warning when input angle-vector dimension > the number of joints (#612)

[irteus/irtmodel.l] Fix the case of multi dof link

[irteus/irtgraph.l] Add clear-open-list in solve-init (#622) * [irteus/irtgraph.l] Add clear-open-list in solve-init * [irteus/irtgraph.l] Add key :resume to solve-init * [doc/irtgraph] Add example for irtgraph
png: enable to write transparent image with :background (#630)

[Build]

use gcc -dumpmachine instaed of uname -m for docker environment (#614) * use gcc -dumpmachine to detect target OS, istead of uname -m see euslisp/EusLisp#486 and euslisp/EusLisp#485 for more info * use arm64v8/ubuntu:{bionic,focal} instead of osrf/ubuntu_arm64, to fix segmentation fault

[CI]

fix GA: runs-on ubuntu-latest and use container for 'catkin' check (#638)

use archive repository for Debian Stretch

skip a lot of test code for arm64v8, because qemu on ubuntu>18.04, see #615

container does not have sudo

.github/workflows/config.yml: add test for compile in catkin (#621) * add pkg-config libpng --cflags to set incldue dir when compile euspng

euspng requries <png.h> wihch libpng-dev provies, but irteus genrate png.h from png.l
- .github/workflows/config.yml: add test for compile in catkin
use arm64v8/ubuntu:{bionic,focal} instead of osrf/ubuntu_arm64, to fix segmentation fault (#615) * use ubuntu-18.04 for host machine, in order to use previous qemu version for arm64v8/ubuntu https://launchpad.net/qemu/+packages euslisp/EusLisp#489 * apply same workaround as we have in EusLisp GA * use arm64v8/ubuntu:{bionic,focal} instead of osrf/ubuntu_arm64, to fix segmentation fault
Fix CI (#642) * .github/workflows/config.yml: use intel MacOS * override node20 actions/upload-artifact#616 (comment) * .github/workflows/config.yml: add --platform for qemu environment Fixes ` + docker run --rm --platform linux/amd64 -v /home/runner/work/EusLisp/EusLisp:/ws/euslisp -e ARCH=LinuxARM -t arm32v7/debian:unstable-slim bash -c ' set -x; set -e; apt update -qq; apt install -y -qq make gcc libgl-dev libglu1-mesa-dev libjpeg-dev libpng-dev libpq-dev libx11-dev libxext-dev; CFLAGS='\''-Werror=implicit-function-declaration'\'' ARCH=LinuxARM EUSDIR=/ws/euslisp make -C /ws/euslisp/lisp/ -f Makefile.LinuxARM eus0; CC='\''gcc -Werror'\'' ARCHDIR=LinuxARM EUSDIR=/ws/euslisp make -C /ws/euslisp/lisp/image/jpeg; exit 0' Unable to find image 'arm32v7/debian:unstable-slim' locally unstable-slim: Pulling from arm32v7/debian docker: no matching manifest for linux/amd64 in the manifest list entries. ` * osrf/ubuntu_arm64:trusty is deprecated

trusty: Pulling from osrf/ubuntu_arm64 docker: [DEPRECATION NOTICE] Docker Image Format v1 and Docker Image manifest version 2, schema 1 support is disabled by default and will be removed in an upcoming release. Suggest the author of docker.io/osrf/ubuntu_arm64:trusty to upgrade the image to the OCI Format or Docker Image manifest v2, schema 2. More information at https://docs.docker.com/go/deprecated-image-specs/.
Contributors: Aoi Nakane, Guilherme Affonso, Kei Okada, Masayuki Inaba, Naoki Hiraoka, Naoto Tsukamoto, Shingo Kitagawa, Shun Hasegawa, Masahiro Bando

1.2.5 (2021-12-01)

copy gnuplotlib from euslib/jsk.l (#261)
[irtgeo.l] fix triangulation (#585)
[irtsensor.l] add :no-window arg in camera-model (#588)
[irtviewer.l] add irtviewer-no-window, irtviewer without xwindow (#574)
[irtgraph.l] do not set cost when arc is not costed-arc (#603)
.travise-osx.sh : osx 10.14-: fix for new libX11.dylib location (/opt/X11/lib:/opt/local/lib -> /usr/local/lib) (#607)
[irtutil.l] fix minjerk interpolation sometimes returns large acceleration (#596)
[demo/sample-robot-camera.l] add sample-robot-camera.l : demo to manipulatie camera model (:ray, :screen-point) (#597)
[irtcollada.l] fix irtcollada problem that mesh poses are incorrect if root link is moved from origin (#600)
[irtmath.l] add comment to quaternion (#589)
doc/conf.py: download deb archive.ubuntu.com manually (#581)
Contributors: Kei Okada, Naoki Hiraoka, Naoya Yamaguchi, Shingo Kitagawa, Yohei Kakiuchi

1.2.4 (2020-07-03)

fix for debian release
- check EUSDIR/lisp/image/jpeg is writable (#580)
- add irteus man pages (#579)
- clearfly bullet licensesf( #578)
Contributors: Kei Okada

1.2.3 (2020-06-29)

[irteus/irtmodel.l] In method inverse-kinematics, check length of thre and rthre is equal to move-target (#536)
clearfy license (#575) * we forget to change licence to BSD when we move EusLisp license to BSD in 2010, see bottom line of page 3 in https://github.com/euslisp/jskeus/blob/1.0.0/doc/jmanual.pdf, (Version 9.00 is releaced, The license is changed to BSD
Fix compile on DOCKER_IMAGE=ubuntu:bionic COLLISION_LIB=PQP (#577)
- skip test-torque-from-its-own-weight-common for compiled code
- simplify every #'identity (mapcar #'(lamnda -> every #'(lambda
- remove eval-when from test-irt-motion.l, defmethod within defun
- do not have to use x::display, we have dummy-irtviewer
- use same label function within deftest failes only with COLLISOIN_LIB=PQP
Contributors: Kei Okada, Tatsuya Ishikawa

1.2.2 (2020-06-23)

[irteus/irtgl.l] add :string method to glviewsurface. (#530)
add irtstl.l, irtwrl.l : copied from wrl2eus.l and read-stl.l (#248)
- fix eus2stl, check if the body has glvertices, see jsk-ros-pkg/jsk_model_tools#208 (comment)
- run triangulation within esu2stl ( jsk-ros-pkg/jsk_model_tools#208 (comment) )
- add irtstl.l, irtwrl.l : copied from wrl2eus.l and read-stl.l
Fix triangulation of face-to-tessel-triangle (#562)
modify node to support image option, and update :write-to-dot so that .dot can include image (#573)
- add test code to genrate node with images
- add node and modify write-to-dot so that .dot can include image
[:self-collision-check] ignore links which do not have :faces (#571)
update :self-collision-check, warn message when link without faces is included in collision-check-pairs
Add eusbullet for using bullet collision function (implement with c defun) (#570)
- add test-self-collision-check-pqp/bullet
- fix btmakemeshmodel when faces is nil
- CBULLE.cpp print 'BT_MakeMeshModel with numVertices == 0'
- do not add pqp triangle to object which do not have :faces

　* relax test for cube-pqp

- add comment why we check boundp collision-algorithm-{pqp,bullet} before defvar collision-algorithm
- setmargin of bullet only works with mesh model to add margin for primitive geometry shape, set directory as geometric parameters
add test-collision-distance-fat, to check if :fat works
use :make-collsionmodel for euscollada-robot
use collision-* instaed of ppq-collision-*
irtcollision.l: collision-check add geo::PQP_FIRST_CONTACT for PQP and remove it for BULLET
add &key faces in :make-btmodel, to compatible with :make-pqpmodel
test/test-collision.l: add test-collision-distance
run test-collision-ALGO only when that ALGO is available
set COLLISION-ALGORITHM-BULLET and COLLISION-ALGORITHM-PQP if it is available
fix Makefile when PQP is not found
add travis job to check COLLISION_LIB

[irteus/irtmath.l] Add inverse matrix of complex matrix and eigen decompose considering complex number (#554)
- [irteus/irtmath.l] Add documents of functions
- [irteus/irtmath.l] Fix matrix-determinant check of solve-non-zero-vector-from-det0-matrix
- [irteus/irtmath.l] Debug print travis matrix-determinant
- [irteus/irtmath.l] Debug print travis mathtest.l
- [irteus/irtmath.l] Add inverse matrix of complex matrix and eigen decompose considering complex number
warn misisng color names (#558)
add documentation of :calc-walk-pattern-from-footstep-list (#550)
pythag is nolonger used in irteus/irtc.c (#563)
fix spelling to pass Debian packaging criteria (#564)
add save-animgif, save-mpeg, save-image functions (#560)
- add with-save-mpeg, with-save-animgif macro
- add save-animgif, save-mpeg, save-image functions
use travis by using bionic@travis (#565)
- install platex
- use travis on bionic
irtgeo.l: fix triangulation reported in #455
- irteus/test: add test-triangulation.l for testing mesh triangulation
[irtgeo.l] fix minor typo (#559)
Add eusbullet for using bullet collision function (implement with c defun) (#555)
- doc: update collision document.
- irteus: add eusbullet.
add 'brew update-reset' to travis/OSX (#557)
fix bug of extended-preview-controller (#551)
- [irteus-demo.l] add test-test-extended-preview-control-0-QR
fix bug of go-pos-params->footstep-list (#552)
- [test-irt-motion]have one deftest for each assert clause
- [test-irtmotion.l]fix test-go-pos-params->footstep-list-test
- fix bug of go-pos-params->footstep-list
[irtrobot.l test-irt-motion.l] fix sign and unit of moment in :calc-static-balance-point. add a test related to this (#541)
[irtrobot.l]add keyworld Q, R to :calc-walk-pattern-from-footstep-list (#546)
Add detail documentation of inverse kinematics (#549)
- fix document (irtmodel.tex)
- use .jpg (not .png)
- add detail documentation of inverse-kinematics
[irtmodel.l] fix bag of :draw-collision-debug-view (#542)
[irtdyna.l] fix bag of gait-generator::solve-av-by-move-centroid-on-foot (#545)
add rst target in doc/Makefile for sphinx-build (#548)
- sometimes pnmtopng fails on 14.04(travis)
- migrate to circleci 2.0, give feedback to github issue, reomve circle.yml and add .circleci
- update doc/Makefile: html
- conf.py: conver to str befor run replace('EusLisp-','')
- add readthedocs badge
- force rewrite EditOnGithub link
- fix for 18.04?
- add conf.py for sphinx
- add rst target in doc/Makefile for sphinx-build
- add irtbvh.tex irtcollada.tex irtpointcloud.tex irtgraph.tex irtext.tex for sphinx-build, also we welcome to add more explanation for these functions
- use git command to get current euslisp/irteus version for tex
- remove wrong command (exit) in copy_eus_tex #116
- remove jessie from travis: https://discourse.ros.org/t/kinetic-builds-disabled-on-eol-platform-debian-jessie/5051
- Update jmanual.pdf
Update longdescription command (#539)
Update longdescription according to Euslisp/#359
Contributors: Guilherme Affonso, Kei Okada, Kohei Kimura, Masaki Murooka, Naoki Hiraoka, Naoya Yamaguchi, Yohei Kakiuchi, Yoichiro Kawamura

1.2.1 (2019-01-07)

.travis-osx.sh: need install make by brew (#535)
try to run more irt tests on arm machine (#533) * ubuntu_arm64:trusty takes more than 50 min, so skip irteus-demo.l * irteus/nr.c: check rv1/w/f + anorm == anorm with eusfloat_t type * irteus/{irtc.c,nr.c}: use double for nr codes * irteus/irtutil.l interpolator :pass-time : calculate segment-time from time minus previous time-list, (incf segment-time dt) accumulate errors, specially 32bit machine * irteus/test/test-irt-motion.l: run all test with compiled code * irteus/test/geo.l: (body+ c1 b d1 c2 d2 c3 d3 c4 d4) could not pass the test on arm 32bit, use truncated version * irteus/test/geo.l somehow both 32/64 arm architecture needs to return #f(0 0 0) for small normalized vectors * irteus/test/mathtest.l: 9.656790+06 is too large for 32bit machine * irteus/test/mathtest.l: add test for pseudo-inverse2 to check if svdcmp failed to converge * irteus/test/test-pointcloud.l To test test-pointcloud.l with compiled code requires euslisp/EusLisp#357
[irtmodel.l]fix bug of :angle-vector for multi-dof joint (#532) * add test code to check bug of :angle-vector for multi-dof joint #529 * add more test on min-max-joint-table (#534)
travis.{yml,sh}: set travis to fail when gcc outputs compile warnings (`#527 <#527>`_e)
[irteus/irtviewer.l] support changing floor color. (#528 from mmurooka/floor-color * [jskeus/doc] add irtviewer.tex and figures for irtviewer manual. * [irteus/irtviewer.l] add :draw-origin, :draw-floor, and :floor-color. * [irteus/irtviewer.l] support changing floor color.
remove all compile warning (#526) * add -DLinux to Makefile.LinuxARM * enable debian_arm64:stretch * add WFLAGS to Makefile * remove all compile warning for eus0
.travis.yml: add debian:stretch test (#525) * Fix the compile on Debian stretch. #524 * set debian_arm64:stretch allow_failures * Fix the compile on Debian stretch.

Must like the comment above says, gcc 6 on Debian Stretch doesn't like redefining sin, cos, etc and throws an error. Fix this problem by not redefining on Debian Stretch.
[irtrobot.l] check if target coords is function or coordinates, also work if target coords is list of functions. (#503) * [irteus/irtmodel.l] Add :xm :ym :zm comment for rotation-axis keyword-argument. * [irtrobot.l] allow to use both list and atom of function(s) for target-coords, Fixed #476
add test with compiled lisp (#522) * .travis.sh: add compiled test * remove do-until-key x/10 message, debug (print r) code * test/robot-model-usage.l : reduce output message for travis * test/irteus-demo.l : reduce output message for travis * test/irteus-demo.l: use debug-veiw nil to reduce output message * test/full-body-ik.l: add debug-view option * test/geo.l: test-body+ test-vector-angle needs irteus to avoid 'outer circuit not found' and 'undefined function c-isnan * test/matrix.l : c-isnan test, disable test-matrix-concatenate-noargs,test-matrix-concatenate-single-matrix,test-matrix-concatenate-multiple-matrices becaues of 'undefined function concatenate-matrix needs irteus * test/mathtest.l : diagnoal, minor-matrix, atan2, outer-product-matrix, quaternion, matrix-log, pseudo-inverse, sr-inverse, manipulability, eigen decompose, sv/ql solve, lu-solve2, matrix-determinant, qr/ql-decompose needs irteus * test/coords.l : test-makecoords-quaternion needs quaternion2matrix defined in irteus * remove test codes which are moved to EusLisp euslisp/EusLisp#316 * add test with compiled lisp * re-define method within defun is not working with compiled code (#523)
- do not run test code on compile, but run when load
fix for osx and newer compiler (gcc >= 7 OR clang >=9) (#520) * disable DISPLAY for osx * gcc >= 7 OR clang >=9 dislike redefinition of sqrt/cos/fin/fabs ... * Disable redefinition of sqrt/cos/... to avoid some errors on macOS * fix osx travis
- remove homebrew/x11, which is deprecated
- do not run brew update, because brew update compile all module from source and it takes more than 1 hour
- copy setup process from euslisp/.travis-os.sh
- do not install x11 server
- export LIBGL_ALLOW_SOFTWARE=1 suggested by https://api.travis-ci.org/v3/job/403422947/log.txt
- make -j with 2
- add exit 0 end of .travis-osx.sh
- run as script, instead of source
[doc] Add example when IK target-coords function introduced in #514 (#518) * Add sample of ik using functional target-coords
Contributors: Chris Lalancette, Guilherme Affonso, Kei Okada, Kentaro Wada, Masaki Murooka, Naoki Hiraoka, Iori Yanokura

1.2.0 (2018-07-19)

to use IMPLIB we need run LIBNR first (#512, #513)
update function using defun() for euslisp/EusLisp#116 (#511)
Fix invalid indexing in collision link pair calculation (#461) * increase assert error for [test-samplerobot-walk-pattern-ntimes] * add more information (test-samplerobot-walk-pattern-ntimes) * returns (i - 1) ?? * remove (= (length link-list) 1) code, that should be included in subseq logic * Add checking of index in collision link pair calculation (#459) * Add test code to check invalid indexing of collision link pair calculation (#459)
[irteus/test/geo.l] add test-vector-angle. (#485)
[irteus/irtgeo.l] move :move-coords method from cascaded-coords class to coordinates class. (#486)
add ubuntu:bionic to .travis.yml (#508) * add ARCHDIR/lib to LD_LIBRARY_PATH * gnu gcc 7 complains with re-definition of math.h ` In file included from irteus/PQP/src/PQP.h:44:0, from irteus/CPQP.C:25: irteus/PQP/src/PQP_Compile.h: In function 'float sqrt(float)': irteus/PQP/src/PQP_Compile.h:47:26: error: 'float sqrt(float)' conflicts with a previous declaration inline float sqrt(float x) { return (float)sqrt((double)x); } ^ In file included from /usr/include/c++/7/math.h:36:0, from irteus/PQP/src/PQP_Compile.h:46, from irteus/PQP/src/PQP.h:44, from irteus/CPQP.C:25: /usr/include/c++/7/cmath:463:3: note: previous declaration 'constexpr float std::sqrt(float)' sqrt(float __x) ^~~~ ` * from trusty, use libpng-dev instead of libpng12-dev * add ubuntu:bionic to .travis.yml
set minjerk end position to last given value (#469)
[irteus/test/matrix.l] add test case of rotating around x-axis (#483)
debug :copy-state-to of rikiya-bvh-robot-model to map euscollada-robot correcly (#437) * add rikiya-file tum and cmu files * debug :copy-state-to of rikiya-bvh-robot-model to map euscollada-robot correctly * debug :copy-state-to method of rikiya-bvh-robot-model to accept euscollada-robot correctly
cascaded-link: inverse-kinematics, fix error message both :link-list and :move-target is required (#435)
CMakeList.txt: enable to run compile when .o is removed (#430)
fix load time.l in current directory (#429)
add documentation to :move-coords (#471)
Allow one to specify euslisp repository and branch from command line (#505)
[irtrobot.l] Fix typo, contenious rotatoin -> continuous rotation (#504)
Add test to check gensym reading. (#501)
Fix typo of 'midrot' function, "returns .... given two matrix r1 and r2 instead of r1 and r1" (#498)
[test, test-pointcloud] fix eps of significant figure for 32bit system (#497)
[test, test-pointcloud] fix eps for 32bit system (#495)
[irteus/test/geo.l] test distance method of face class. (#484) * [irteus/test/geo.l] add test-face-distance to check distance method of face class. euslisp/EusLisp#261 problem is checked.
Fix typo and misunderstanding in README.md (#488)
fixed :convert-to-world in pointcloud (#490) * [irtpointcloud] fix :convert-to-world is wrong if it was assoced * [test, pointcloud] add test for pointcloud
Fix bug in calculation of :cog-translation-axis (#481) * [irteus/irtmodel.l] Fix bug of :cog-translation-axis (#481). Do not define case sentence. Use :calc-target-axis-dimension. * [irteus/test/test-irt-motion.l] Add test to check :cog-translation-axis dimensions.
[jskeus/irteus/irtmodel.l][test/joint.l] fix target joint table in :angle-vector and update test (#478) * [jskeus/irteus/irtmodel.l] fix joint variable of getting target joint min-max-table. * [jskeus/irteus/test/joint.l] check whether joint angle overwritten with min-max-table is on the edge of table shape. min-max-table test becomes failure with this update because of #477 issue. * [jskeus/irteus/test/joint.l] fix incorrect condition about min-max-table-view in min-max-table test. * [jskeus/irteus/test/joint.l] update min and max angle of joint. * [jskeus/irteus/test/joint.l] update algortihm to set and check min-max-table matrix value. generated table shape and check result do not change. this update enables to change min or max joint angle to other value. * [jskeus/irteus/test/joint.l] fix mistaken idx to access table matrix. * [jskeus/irteus/test/joint.l] fix joint for setting table matrix size. * [jskeus/irteus/test/joint.l] fix incorrect keyword for setting min /max angle of joint. * [jskeus/irteus/test/joint.l] fix color symbol typo.
[irtsensor.l, camera-model] fix lighting when generating camera images by camera-model (#475)
irtscene.l: remove optional args from :spots (#462)
add x::window-main-one within display code of :inverse-kinematics, :calc-walk-pattern-from-footstep-list and :preview-control-dynamics-filter. So that we can interactively change viewpoint during demo programs(#457) * demo: add x::window-main-one after :flush or :draw-objects * irteus/irtdyna.l: add x::window-main-one in :preview-control-dynamics-filter * irteus/irtrobotl.l: add x::window-main-one in :calc-walk-pattern-from-footstep-list * irteus/irtmodel.l: add x::window-main-one in :inverse-kinematics with :debug-view t
Fix typo (segmnet -> segment) in irtutil.l (#458)
circle.yml run apt-get update before apt-get install (#456)
add kbhit() (#438)
[irteus/pqp.l, doc/pqp.tex] Add examples for pqp collision check functions in jmanual. Add documentation string for pqp collision functions. (#448)
.travis.yml : add travis job to run doc generation with BUILD_DOC=true (#453)
[doc, irtmodel] documentation string should be compiled by latex (#449)
[irteus/irtrobot.l,irtmodel.l] Fix bug in #445, add documentation to with-append-root-joint, and fix comment message in :fullbody-inverse-kinematics. (#446)
Fix camera model ( #433) * irteus/demo/sample-camera-model.l: add sample-robot-camera * irteus/demo/sample-robot-model.l: fix camera orientation * irteus/irtsensor.l: (defmethod camera-model (:draw-sensor )) use screen of viwing
add documentation string * irtutils.l (#439) * speed-to-angle/angle-to-speed, joint-velocity,joint-aceleration,joint-torque,max-joint-velocity,ax-joint-torque (#440)
[irtscene.l] error when spot name is empty (#441)
[irteus/kalmanlib.l] adaptive kalman filter demo / cleanup kalman demo (#426 from furushchev/kalman
[irtdyna.l] describe coordinates used in :calc-zmp and :calc-static-balance-point. refer #415, #419 (#423 )
irtdyna.l: :inertia-tensor fix documentation for tex (#424)
[irteus/irtgraph.l] update, graph output to dot file (add label to arcs) (#421)
Contributors: Guilherme de Campos Affonso, Ryo Koyama, Kei Okada, Masaki Murooka, Masayuki Inaba, Naoya Yamaguchi, Shunichi Nozawa, Yohei Kakiuchi, Yuki Furuta, Iori Yanokura, Éricles Lima, Óscar Carrasco

1.1.0 (2017-03-07)

Add vector-variance and covariance-matrix (#418) * add documentation to vector-variance and covariance-matrix * add vector-variance and covariance-matrix
[irteus.irtscene.l] add :remove-wall for scene-model (#417)
[irteus/irtpointcloud.l] fix bug of :set-color. (#416)
Adapt to moved formulae: homebrew/homebrew-x11 -> euslisp/homebrew-jskeus Fix #412
irtgl.l/irtpointcloud.l: add :aarch64 (#410)
Contributors: Kei Okada, Kentaro Wada, Masaki Murooka, Yohei Kakiuchi, Yuki Furuta

1.0.14 (2016-12-30)

update bvh2eus (#400) * fix documentation of bvh2eus * support :objects keyword for bvh2eus * check if the robot has correspond joint * add copy-state-to to rikiya-bvh-model * add {rikiya/cmu/tmu}-bvh2eus
add :makecurrent in :draw-on, this will fix #401 (#402 )
irtrobot.l: :inverse-kinematics-loop-for-look-at : use joint-list from joint of link-liste (#408 )
load lib/llib/time.l from .so object. Fix #292 (#409 )
irtviewer.l: Add :makecurrent in :change-background. Fix #404 (#406 )
Update kalmanlib (#396) * [irteus/kalmanlib.l] add kalmanlib sample of accelerated motion * [irteus/kalmanlib.l] allow larger dimension of H than A in kalman filter model * [irteus/kalmanlib.l] add controller term in model
add circle.yaml : run make doc in circleci (#395)
add test/queue.l for euslisp/EusLisp#185 (#394 )
Contributors: Ryo Koyama, Kei Okada, Shun Hasegawa

1.0.13 (2016-08-02)

add linear/minjerk-interpolator #391 * add linear/minjerk-interpolator * add irteus/test/interpolator.l * add doc for interpolators
mathtest.l : fix wrongly comment out-ed at #364 (#390 )
add test for eps>, eps<, eps>=, eps<= #385 (#385) * mathtest.l : fix wrongly comment out-ed at #364 * mathtest.l : add test for eps<, eps>, eps<=, eps>=, see section 14 of the manual.pdf * mathtest.l : add test for eps= and eps<>
Enable to set eps for orient-coords-to-axis #392 * [irteus/irtgeo.l] Enable to set eps for orient-coords-to-axis (epsilon is used for acos and this is too big in terms of angle error).
implement function for transpose image (#388 ) * [irteus/irtglc.c,irtues/irtext.l,Makefile] add irtglc.c / implement function for transpose image (#388 ) * [irteus/irtgl.l] add interface for transpose image function in irtglc.c; replace lisp code for transpose image with C code. * [irteus/test/rendering.l] add test for transpose * [irteus/test/pr2.png] add test image
irtdyna.l : add condition whther parent is root-link or not in irtdyna.l, and add test for calculate torque when using with-append-root-joint in irteus/test/test-irt-motion.l #382
irtdyna.l: set analysis level :coords in :calc-torque-from-vel-acc (irtdyna.l) #383
[irteus/irtrobot.l] Add all-limbs as robot limb information to motion result from calc-walk-pattern (#379 )
Calculate smooth swing foot rotation for walking motion (#378 ) * [irtdyna.l] Enable to calculate ZMP from total force/moment when update is t in :calc-zmp * [demo/walk-motion.l] Reduce execution time for small robot walking sample by reducing footstep number * [demo/walk-motion.l] Fix default rotation-axis to use all t by default. * [irtdyna.l] Calculate smooth swing foot rotation for walking motion.
Fix calculation of swing-leg-proj-coords to be smooth trajectory. (#371 ) * [irteus/irtdyna.l] Add hoffarbib calculation for swing-leg-proj-coords calculation to smooth trajectory. Previous sigmoig sometimes return discontinuous trajectory.
Update for stair walk #366 * [demo/walk-motion.l,test/irteus-demo.l] Add sample for stair climb. Add test for stair-climb and single-support walking. * [irtdyna.l] Use sigmoid to smooth z (cog, root, ...) trajectory.
[irteus/irtdyna.l] Add getting method for robot total inertia-tensor. Add and update documentation strings for mass prop calculation. #363
add armv8(jessie) returns aarch64 (#364) * add arm8(jessie) returns aarch64 * docker 16.04 does not have sudo installed * .travis.yml: add testing on ARM arach for both ubuntu/debian, debian for amd64, osx * .travis.sh: do not install tex * .travis.yml : allow_failure for osx
Support parallel Compile * compile_*.log depends on .l files (#375 ) * irteus/Makefile: support parallel compile (#373) * Makefile: use $(MAKE) instaed of make * Makefile: irteus-installed depends on eus-installed
OSX support * test/transparent.l: fix for osx, ru_maxrss retuns huge value on osx, so we check if the growth rate of vmrss (#377) * [.travis.yml] add .travis-osx.sh for building on OSX (#302 ) * Test installing jskeus by Homebrew via Push to master (#370 )
update travis.yml to use 16.04 (#357) * .travis.sh: docker 16.04 does not have sudo nor ptex-bin * .travis.yml : test on both 14.04 and 16.04 * .travis.sh add make for docker * .travis.yml: use docker to run travis.sh * .travis.sh: verbose apt-get update * [.travis.sh, travis.yml] split build file into .travis.sh * enable unittest.l cehcking #359 * update travis.yml to use 14.04 * [.travis.sh] Add apt-get update before apt-get execution #367
README.md: make is not installed on plain debian/ubuntu, need to apt-get intall make (#365 )
Update Testing * [irteus/test/vector.l] fix compare NaN (#361) * test/vector.l: test for nan/info read euslisp/EusLisp#162 (euslisp/EusLisp#354 ) * Enable unittest.l checking. (euslisp/EusLisp#359 ) * [irteus/test/unittest.l, .travis.yml] Enable unittest.l checking. Remove removing of failure (jsk-ros-pkg/jsk_roseus#21 (comment)) and add neglection of exitting. * [irteus/test/unittest.l] Add more print message to debug unittest.l. (euslisp/EusLisp#358)
Contributors: Furushchev, Kei Okada, Kentaro Wada, Ryo Terasawa, Shunichi Nozawa

1.0.12 (2016-03-20)

Walking for Quadruped Robot (#353)
- [irteus/demo/walk-motion.l, irteus/test/irteus-demo.l] add a calc-walk-pattern-from-footstep-list test for rotation-axis option
- [irteus/irtdyna.l] match the order of target-coords and link-list and rotation-axis, translation-axis, thre, rthre and so on
Fullbody Look at (#351)
- [jskeus/irteus/demo,test] add test for look-at ik.
- [jskeus/irteus/demo] add look-at-ik.l
Speed up access to end-coords (#342)
- [irteus/irtrobot.l] Fasten access for end-coords and root-link by not using assoc searching
Update :calc-grasp-matrix (#341)
- [irteus/test/test-irt-motion.l] Add test code for calc-grasp-matrix
- [irteus/irtmodel.l] Update :calc-grasp-matrix. Add documentation string and support rotation matrices.
Add example for irtscene (#340)
- [irteus/demo/scene.l] add sample code for irtscene
update Collision codes (#339)
- [irteus/irtmodel.l] Enable to change distance-limit for collision-checking
- [irteus/irtmodel.l] Add comment for what is included in col-list.
add sample program for virtual joint (#338)
- [demo/demo.l,virtual-joints.l,test/irteus-demo.l] Add example for virtual joint and include it in unittest for irt demos.
add make-fan-cylinder function (#337)
- [irteus/irtgeo.l] Add make-fan-cylinder function from euslib/jsk/jskgeo.l
Fix rotation nchange bug of sphere/6dof-joint (#336)
- [irteus/irtmodel.l] Fix rotation change bug of sphere-joint and 6dof-joint zero orientation setting, tested in the previous commit (test/test-irt-motion.l).
- [irteus/test/test-irt-motion.l] Add test for zero setting for orientation of 6dof-joint and sphere-joint. If zero vector is set as :joint-angle :relative t, worldrot should not change.
:calc-static-balance-point returns nan for the 1st time (#330)
- [irteus/irtrobot.l] Fix bug of omission of update-mass-properties.
- [irteus/test/test-irt-motion.l] Add test code to check the bug reported in #330 (comment)
Fix coginit bug of calc-walk-pattern-from-footste-list (#286)
- [irteus/irtrobot.l] Use :centroid method. This is :update-mass-properties and getting :c-til. So, we can update total COG information on initializing of calc-walk-pattern-from-footstep-list.
- [irteus/test/test-irt-motion.l] Add test code for calc-walk-pattern-from-footstep-list. (#327)
Support output/input dimension more than 1 for Preview Control (#324)
- [irteus/irtdyna.l] Support output dimension > 1 and input dimension > 1 for Preview Control classes
OSX support (#315)
- Add installing description via homebrew
- Test HEAD version euslisp which is installed via Homebrew
Fixed code for displaying objects with hidden-line mode. (#308, #309)
- [irteus/demo/sample-camera-model.l] add sample for using hidden line mode with camera-model
- [irteus/irtsensor.l] add :select-drawmode method to camera-model
- [irteus/irtscene.l] add :(add|remove)-(object(s)|spot(s)) methods
- [irteus/irtgl.l] fix drawing hidden-line
- [irteus/irtviewer.l] fix :select-drawmode method in irtviewer
Enable to clear :ik-draw-on-params (#323)
- [irtmodel.l] Add explanations for inverse-kinematics visualization.
- [test/test-irt-motion.l] Add test for :ik-draw-on-params clear check
- [irteus/irtmodel.l] Clear :ik-draw-on-params at the end of :inverese-kinematics-loop (by garaemon)
write fk section in doc (#325) * [doc/irtmodel.tex] add fk section in doc * [doc/irtmodel.tex] add sample code for updating :analysis-level in manual
irtmodel, disdyna : misc updates
- [irteus/irtmodel.l] Check additional-check function if exists regardless of success flag. (#345)
- [irteus/irtdyna.l] Enable to set jacobi from outside of :calc-torque-from-ext-wrenches (#344)
- [irteus/irtmodel.l] Remove unnecessary calculation of target joint dimension (#343)
- [irteus/irtmodel.l] Remove unused local variables (#339)
- [jskeus/irtmodel.l] Add comment about joint order for :calc-jacobian-from-link-list (#335)
- [irteus/irtdyna.l] Add mass properties calculation doc. (#328)
- [doc/irtmodel.tex] Fix typo in doc/irtmodel.tex (#300)
- [irteus/demo/sample-camera-model.l] fix (sample-get-camera-image-2) #268
- [irteus/test/mathtest.l] fix random with random state (#298)
Contributors: Yuki Furuta, Kei Okada, Kentaro Wada, Kohei Kimura, Masaki Murooka, Shunichi Nozawa, Yohei Kakiuchi, Eisoku Kuroiwa, Shinaro Noda

1.0.11 (2015-11-02)

Misc updates
- README.md : re-organize documents, put all export information to the end of the page
- README.md: update to 14.04
- Added Gitter badge
- add slack notification
irtsensor.l : update get-image
- irtsensor.l: add method documents
- [irtsensor.l] fix #294 for correct fx/fy
- [test/robot-model-usage.l] add test for sample-get-camera-image, disabled for now
- [demo/sample-camera-model.l] add sample-get-camera-image-1 and sample-get-camera-image-2
- irtsensor.l: support (&optinal cv) for create-viewer
- [irtsensor.l] overwrite default perspective view using :newprojection
- [test/robot-model-usage.l] add test for :ray and :screen-point of camera class of samplerobot
- add test for :ray and :screen-point of camera class
- fix image position from models
- add :create-viewer method to camera-model
- add sample for getting image and pointcloud from camera sensor
- [irtsensor] fix get image and pointcloud from camera model
add test for random and make-random-state
- [irteus/test/mathtest.l] add test for random / make-random-state
irtrobot : update fullbody ik
- [irteus/irtrobot.l] Use cog-null-space as nil in :fullbody-inverse-kinematics by default.
- [irtrobot.l] Add comments and check force, moment, target-coords checking
- [irteus/irtrobot.l] Calculate ext-wrench torque from total-wrench
- [irteus/irtmodel.l] Fix cog translation axis t
- [irteus/irtmodel.l, irtrobot.l] Reduce default min-loop for :fullbody-inveser-kinematics and :inverse-kinematics-for-closed-loop-forward-kinematics
- [irtmodel.l] Add usec to ik log file name to prevent conflict of file names called within one second.
- [test/test-irt-motion.l] Add test for new ik success/fail file and debug log file
- [irtdyna.l, irtmodel.l] Add ik debug information log including max loop count and target error transition.
irtrobot : update footstep
- [irteus/irtrobot.l] fix unit system of footstep-parameter
- [irteus/irtrobot.l] fix a step-count-method for y-axis in go-pos-params->footstep-list
- [irteus/demo] use go-pos-quadruped-params->footstep-list fucntion in order to get foot step list in quadruped walking motion
- [irteus] add a foot step generator function for quadruped walking
- [irteus/irtrobot.l, irteus/test/test-irt-motion.l] Add static balance point method and test for it.
- [irteus/irtrobot.l] Align default limbs based on order of force-sensors
irtrobot : support-polygon
- [irteus/irtrobot.l, irteus/demo/crank-motion.l] Modify support-polygon method to support convex hull of given name and add example to crank-motion (#263)
irtgl.l :
- add :make-pqpmodel method to glvertices
irtgeo.l :
- Add :worldcoords method to line to objects in irtviewer
euspng.c :
- Do not print debug message when writing a png file
irtmath.l :
- [irteus/test/matrix.l] Add test codes for concatenate-matrix functions which check arguments and concatenation results
- [irteus/irtmath.l] Add concatenate matrix functions moved from euslib/jsk/jsk.l.
Contributors: Eisoku Kuroiwa, Yuki Furuta, Kei Okada, Ryo KOYAMA, Ryohei Ueda, Shunichi Nozawa, The Gitter Badger, Yohei Kakiuchi

1.0.10 (2015-08-18)

[irteus/test/time.l] add test for time add/subtruct (euslisp/EusLisp#128)
[irteus/kalmanlib.l] add adaptive flag
[irteus/kalmanlib.l] add show P_k method
[irteus/test/string.l] add test for url encoding
.update-doc.sh: skip contents, commit png/jpg files
[irteus/demo/*.l] Use ;; at the begenning of print message to escape documentation from demo function usage.
[irteus/demo/closed-loop.l, special-joints.l, walk-motion.l] Add print message for demo functions.
[jskeus/irteus/test/character.l] add test for character
[irteus/test/number.l] add test for eus number
[irteus/irtmodel.l] Make pqpmodel in :init-ending
[irteus/irtmodel.l] Add check collision argument to :inverse-kinematics and nil by default according to #95
(irtpointcloud) fix removing global variables #223 (comment)
irteus/irtdyna (preview controller)
- [irteus/irtdyna.l] Fix documentation string to avoid eus documentation tex error
- [demo/walk-motion.l, irtdyna.l] Rename preview controller cog generator class
- [demo/walk-motion.l, test/irteus-demo.l] Update preview control example (long walk, impulsive force, liear zmp transition).
- [irteus/irtdyna.l] Add documentation and use extended-preview-controller for COG generator by default.
- [irteus/demo/walk-motion.l, irteus/irtdyna.l] Add :pass-preview-controller to add reference list
- [irteus/irtdyna.l] Return cart zmp
- [demo/walk-motion.l, irtdyna.l, test/irteus-demo.l] Update class names. Rename old preview-control => preview-control-cogxy-trajectory-generator.
- [irteus/demo/walk-motion.l, irteus/irtdyna.l] Use preview controller classes and remove extended-preview-control
- [irteus/irtdyna.l] Use preview-controller-base queue value directly and remove preview-dynamics-filter class
- [irteus/irtdyna.l] Fix indent
- [irteus/irtdyna.l] remove duplicated codes
- [irteus/irtdyna.l] Move queue handling and initialization and finalization check to preview-controller-base
- [irteus/irtdyna.l] Add queue data to preview-controller-base class
- [irteus/irtdyna.l] Update state getter methods
- [irteus/irtdyna.l] Enable to select queue initalization
- [irteus/irtdyna.l] Add extended-preview-control-base class
- [irteus/irtdyna.l] Update preview-controller-base updating and add methods for getter.
- [demo/walk-motion.l] Update quad sample. Especially in the :go-backward-over nil case, target cog was infeasible
- [irteus/demo/sample-robot-model.l] Inrease joint range for shoulder pitch and crotch pitch according to existent real robot joint ranges.
- [irteus/irtmodel.l, irteus/irtrobot.l] Do not use lambda function for additional-jacobi and additional-vel by default.
- [irteus/demo/walk-motion.l, irteus/test/irteus-demo.l] Add test for both preview-control and extended-preview-control
- [irteus/irtdyna.l] Add base class for preview controller which does not include cog and zmp
irteus/irtgl.l (glvertices)
- add write-wrl-from-glvertices function
- fix glbody, same name of slot veriable and class
- add :convert-to-world method to glvertices
irteus/irtmodel.l
- [irteus/irtmodel.l] Use dump-command as :fail-only by default.
- [irteus/irtmodel.l] Set success flag in one line
- [test/test-irt-motion.l] Add unittest for dump-command
- [irteus/irtmodel.l] Introduce dump-command as mode according to discussion in https://github.com/euslisp/jskeus/commit/8f9e79e4f24b86cc66fdf3d4bec1a71b878b099e#commitcomment-12334678
irteus/irtmodel.l closed-loop
- [irteus/irtmodel.l, irteus/demo/special-joints.l] Add method to calculate velocity for interlocking joint constraint. Use it in sample program.
- [irteus/irtrobot.l] Remove unused arguments.
- [irteus/irtrobot.l] Reduce too match mass properties calculation.
- [demo/closed-loop.l, demo/special-joints.l] Fix print usage style to match demo.l style.
- [irteus/demo/demo.l, irteus/test/irteus-demo.l] Add closed-loop sample and special-joint sample to demo.l and unittest.
- [irteus/demo/special-joints.l] Add special joints examples. Currently, interlocking joint are defined.
- [irteus/irtmodel.l] Add interlocking joint methods.
- [irteus/irtrobot.l] Fix additional-vel to argument
- add argument cog-null-space. set cog jacobian to additional-jacobi in :fullbody-inverse-kinematics
- add arguments additional-jacobi and additional-vel to cascaded-link :inverse-kinematics
- [irteus/test/test-irt-motion.l] Add test program for check-collision
Contributors: Yuki Furuta, Kamada Hitoshi, Kei Okada, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Masaki Murooka

1.0.9 (2015-07-09)

irtpointcloud.l: impliment :append methods on pointcloud
irtgl.l:
- fix transparent method on glvertices
- add :mirror-axis method to glvertices
irtmodel.l:
- Set (/ stop 10) as min-loop default value not to change ik behavior
- Update documentations for :inverse-kinematics-loop and add documentations for min-loop argument
- Remove unncessary loop checking and add min-loop argument discussed in #107
Contributors: Kei Okada, Shunichi Nozawa, Yohei Kakiuchi

1.0.8 (2015-06-19)

[README.md] add documents of null-space-ik
- downsized null-space-ik.png
- added null-space-ik sample in README.md
- added null-space-ik sample image
- Update README.md
[irtrobot] fix torque-vector for those who does not have two leg, ex) pepper
[irteus/test/const.l] add code to check intern/shadow/defconst
[irteus/irtrobot.l] fix :look-at problem (jsk-ros-pkg/jsk_pr2eus#72)
- fix :look-at, check othre direction
- add test code for :look-at
- check if look-at try to across non-valid joint angle
- set +-150 for neck-p range
Contributors: Kazuhiro Sasabuchi, Kei Okada

1.0.7 (2015-06-11)

update documentation
- [doc/{Makefile,jmanual.tex}] fix for compile on 14.04 too
- [irteus/irtgl.l] add documentation string to glvertices
- [irteus/irtviewer.l] add more comment on make-irtviewer
irtgl update
- [irteus/irtgl.l] add flat shader mode to glvertices and add shader mode option to :calc-normals
- [irteus/irtgl.l] add glbody, which is copied from collada-body of https://github.com/jsk-ros-pkg/jsk_model_tools/blob/master/euscollada/src/collada2eus.cpp#L1196
misc updates
- [irteus/irtrobot.l] fix for one leg robot (for example, pepper)
- [irteus/test/object.l] fix test conditoin, not sure why but previous commit needs this modification
- [.travis] update doc to jsk-ros-pkg/euslisp-docs
Contributors: Kei Okada, Yohei Kakiuchi

1.0.6 (2015-04-23)

fix minor bugs
- [irteus/PQP/Makefile.LinuxARM] add -fPIC for arm
- [Makefile] add .PHONE: doc
- [irtrobot.l] Fix initial refzmp pos.
Contributors: Kei Okada, Shunichi Nozawa

1.0.5 (2015-04-22)

ARM suppoort
- [Makefile.LinuxARM] add -fPIC for arm
- [Makefile] fix to work with armv7l
[irtrobot.l/irtdyna.l] support :ik-thre and :ik-rthre keyword for :calc-walk-pattern-from-footstep-list
[irtgraph.l] Add :debug keyword to :pop-from-open-list for consistency in API
[irtrobot.l] Update calculation of sole polygon (do not use end-coords)
Contributors: Kei Okada, Ryohei Ueda, Shunichi Nozawa

1.0.4 (2015-03-27)

add closed-loop support

[demo/closed-loop.l] Add sample program for closed-loop robots

[irtrobot.l] Add example method to generate default link function such as make-default-robot-link function

[irtmodel.l] Add inverese-kinematics method for closed loop forward kinematics

[irtmodel.l] Add end-coords-list for list of end-coords in cascaded-link slots

make support-polygon in init-endinghttps://github.com//pull/177/files

[irtrobot.l] :make-sole-polygon Trace all descendants bodies (fix for hrp4r and ystleg)

[irtrobot.l] :init-ending Add support polygon methods and make support polygon in :init-ending if legged robots

Utility function to choose good color for 10 and 20 categories #178

[irtutil.l] hvs2rgv set default value for i, s

[irtgl.l] find-color: add new rule, float-vecto [0-1], list [0-255]

[irtutil.l] add color-category10, color-category20: Utility function to choose good color for 10 and 20 categories and add function to convert from hex color to colormaterial

misc updates

[irteus/nr.c] add tred2, this fixed #186

[test/mathtest.l] add mathtest.l

[irtrobot.l] :calc-walk-pattern-from-foot-step-list Enable to choose use :calc-zmp or not. Without calc-zmp, we can calculate pattern fast.

[irtrobot.l] :print-vector-for-robot-limb / Add print vector method documentation

[irtgeo.l] quaternion-from-two-vector / Add function to compute quaternion from two vectors

[package.xml] removed, it is now stored in release repository https://github.com/tork-a/jskeus-release/tree/master/patches

Contributors: Kei Okada, Ryohei Ueda, Shunichi Nozawa

1.0.3 (2015-02-22)

[PQP.cpp, euspng.c] cast for printf
[irteus/irtgeo.c] inlucde math.c for function prototype
output euscomp results to dev/null
add test code for vplus/vector-mean
[irteus/irtmath.l] add lms/lmeds and sv-decompose from euslib
[irtc.c] add ql-decompose and qr-decompose
Check only {name} and {name}-robot in maek-robot-model-from-name
Add make-robot-model-from-name function to create instance of robot-model from the name of the robot
Disable DISPLAY environmental variable during compilation
Contributors: Kei Okada, Ryohei Ueda

1.0.2 (2015-01-13)

Set ${EUSDIR}/irteus as symlink
Move plot joint min max function to irtmodel.l and define it as method
Contributors: Kei Okada, Shunichi Nozawa

1.0.1 (2014-12-22)

Fix for when euslisp is already installed as deb, if objdir is given from upper script, we use them
use INSTALL{BIN,LIB,OBJ}DIR and IRTEUSDIR when euslisp and jskeus is separately installed
Contributors: Kei Okada

1.0.0 (2014-12-22)

(irtdyna, irtrobot, walk-motion) : Fix :refzmp->:zmp
(irteus-demo.l, walk-motion.l) : Add PrevewController testing and update plotting
(irtviewer.l) : Resize viewport when irtviewer is resized.
change :faces in glvertices
fix: update README.md (modify the instraction to use jskeus in Raspberry Pi)
add document to irtgl.l
add utility function for creating glvetices from faceset and list of faces
Merge pull request #142 from k-okada/add_warn_quaternion2matrix
fix irtviewer light
add document calc-jacobian-from-link-list
(irtrobot) : Add documentation string for :calc-force-from-joint-torque
add kalmanlib.l moved from euslib/jsk
add random-gauss and gaussian-random (moved from jsk.l)
Update README.md, fix according to #132
add test code for bignum (multiple and devide), [ euslisp/EusLisp/issues/62 ]
(irtpointcloud) : Fix order of documentation string
add document to irtpointcloud.l
(irtrobot, irtdyna, walk-motion) : Use :name instead of plist for footstep l/r
(irtmodel.tex) : Remove sample description for :solve-ik
(sample-arm-model, hanoi-arm) : Use :inverse-kinematics instead of :solve-ik (according to #125 (comment))
(irtrobot) : Update irtrobot methods documentation string
update document strings
fix order of author
use travis to generate pdf and htmls, add texlive-latex-base ptex-bin latex2html nkf ebb to install
add jmanual.pdf jmanual.dvi
add documentation tools
add deftest for reader
(sample-*-model) : Define sample-arm-robot and sample-hand-robot as robot-model subclass
(sample-multidof-arm-model) : Enable to set joint class for sample-multidof-arm-robot
(irtmodel.l) : Add comments for addtional-check argument
(null-space-ik) : Add additional-check for null-space example to wait for being enough distance
(test-irt-motion.l) : Add test codes for calc-torque with external force and moment
(irtmodel.l, test-irt-motion.l) : Update dump ik fail log to escape all links and list to fix jsk-ros-pkg/jsk_roseus#138 and fix bug in move-target or target-coords
(test-irt-motion) : Clear ik fail log file for one test
(irtmodel.l, test-irt-motion.l) : Fix link dump for move-target and search link included in :links and add test code
(test-irt-motion.l) : Set sample-robot instead of robot to avoid conflict
(.travis.ymml) : Add apt-get update to fix apt-get error reported in #101
(irtmodel.l, test-irt-motion.l) : Escape string link name and add test for string-name case
(irtmodel.l, test-irt-motion.l) : Fix link access in ik fail log and add test code for it. This bug is reported in jsk-ros-pkg/jsk_roseus#139
owverwrite face-normal-vector, see euslisp/EusLisp#21
irteus/test/geo.l: add test code for geometry functions (euslisp/EusLisp#21)
(irtdyna.l, test-irt-motion.l) Fix bug of :cog-convergence-check and add test codes
(irtmodel.l, joint.l) Add methods to make joint-min-max-table based on collision check and update test codes
(joint.l) Execute test even if display is not found
(joint.l) Add min-max violation test ;; Update joint.l to replace magic number by min-angle or max-angle
(all-robots-objects.l) Add unittest for scene models corresponding to euslisp/EusLisp#29
revert codes for collision model making according to #93 and jsk-ros-pkg/jsk_model_tools#46
(jsk-ros-pkg/jsk_model_tools/issues/41) irtrobot.l : move codes for collision model from euscollada-robot*.l
(jsk-ros-pkg/jsk_model_tools/issues/18) irtrobot.l, test/robot-model-usage.l, demo/sample-robot-model.l : add sensor accessosr and test codes ;; original PR is /pull/72
Update README.md, install git instead of subversion
add test code for multidof joints ;; omniwheel-joint, sphere-joint, and 6dof-joint ;; these test code are migrated from euslib/demo/ik/ik-test.l
check all ik solved in irteus-demo.l walk test
fix unsolved dual-arm-ik in irteus-demo.l by fix-leg-to-coords ;; replace deprecate fix-leg codes by :fix-leg-to-coords
find test codes in irteus/test directory to reduce description in .travis.yml according to the discussion in https://github.com/euslisp/jskeus/commit/83432a3d75c950481e9f3079b077f47f73c1059dp ;; currently unittest.l is neglected because it does not work
add test code for irteus/demo into irteus-demo.l and remove direct writing of test lines in .travis.yml according to discussion in https://github.com/euslisp/jskeus/commit/83432a3d75c950481e9f3079b077f47f73c1059d
add democode for null space ik (#83)
generate tempolary image files to tempolary directory if x::display is available ;; do not use rospack
move test codes in euslisp/test ;; move test-irtviewer.test and test-euslisp.test
reduce output of crank-motion ik debug-view message
update .travis.yaml to use irteus/test/irteus-demo.l to reduce code for do-until-key overwriting
move test codes from jsk_roseus/euslisp/test according to discussion in #78
add single support starting and ending for calc-walk-pattern-from-footstep-list
use end-coords-list and contact states instead of swing-leg-coords and support-leg-coords
Travis passed and separation of file has been completed. #73
Add sample arm robot which we can configure links and joints parameters.
update ik parameter for walk sample according to mass update of sample robot
enable to set weight for samplerobot ;; update default weight according Japanese Male data
enable to configure torso and waist length
convert to float because new-weight might be int and (eps= int float) does not work
add contact states and end-coords to return values from walking generator
set COG-Z to enable to generate up-down walking
check gcc -dumpmachine for deb build
try to download euslisp repository for 10 times, with GIT_SSL_NO_VERIFY=true
add argument to specify axis for angular momentum jacobian ;; calculate COG around angular momentum by default
add update-mass-property argument to reduce too much calling of mass property propergation
fix index of starting point of rotation component in inertia matrix
enable to change translation-axis for cog jacobian ;; enable to control cog x,y,z
use git rev-parse --short HEAD instaed of svnversion, see Issue #58
Add instraction to install more fonts in README.md.
add .travis.yml
fix for moving to github
Create README.md add images for README.md
comment out :expand-vertices
decrease torellance of noramlize-vector zero division check because original 1.0e-5 is too large ;; 1.0e-20 is sufficient both for 32bit os and 64bit os (in 32bit os, exponent parts in floating-point can be manage 10^36 order)
update generate-histogram-hs
update ;; reduce duplicate codes in difference-cog-position
fix wrong size of indices on :convert-to-faces
fix to use eps ;; use 1.0e-5 which is previous version's value
enable to set normalize vector zero division check ;; reduce normalize-vector torellance in matrix-log because default threshold 1e-5 is too large for radian representation
check 0 division reported by kuroiwa
use limb-cop-fz-list2 instead of limb-cop-fz-list reported by kuroiwa
merge reference zmp list to robot state list
update robot state list
add example for preview control dynamics filter
fix calculation of torellance
fix generate histogram function
reduce torelance of eps= for rotation of sphere-joint and 6dof-joint
add generate-histogram method to irtpointcloud
support linear-joint in joint vel acc calculation
fix rotation difference ;; reduce threshold of rotation difference ;; this should be implemented in :difference-rotation
calc root link velocity and acceleration considring spatial velocity formulation
just fix indent
use 'if' instead of 'return-from'
remove I-J#J which is not used in :collision-avoidance
remove x::wind-w-main-one ;; enable to use x::wind-w-main-one by user
add :calc-vel-for-cog
check collicion for all link which distance <= avoid-collision-distance ;; at previous revision, a link which has min-distance was checked. But, in the case that several links ware near the min-distance, min-distance links ware frequently switched and that cause joint velocity discontinuousness
add darwin example and fix comment
remove move centorid on foot ;; add limitation of rotation
add move-centroid-on-foot in calculating foot reachability
add endlink I-til setting
remove nil in limb-cop-fz-list reported by kuroiwa
fix typo ;; end-coorde -> end-coords
enable to set periodic-time
add preview control example ;; add comment to plot on gnuplot
add piped-fork function which returns list
add comments to specify units
remove unused zmp-z argument
use calc-cop-from-force-moment
add wrench-vector wrench-list conversion
add return-all-values to return both fz and cop
fix indent in calc-cop-from-force-moment
add method to calc worldcoords cop
add weight for calc contact force
set default-zmp-offsets based on all-limbs
use get-limbs-zmp instead of get-limbs-zmp-list
fix initialize of refzmp-next
increase loop count for solving riccati equation
remove temporary debug message
fix selecting of start leg
return pattern list
add crawl example
add all-limbs arguments and support crawl walk
use get-limbs-zmp-list
use rest of limbs
fix order of joints and set list of transform-coords
add :calc-torque-from-ext-wrenches
enable to set external force and moment in :calc-torque method
set default total wrench
add calc-contact-wrenches-from-total-wrench and use it in :torque-vector
add comment for unit system
fix position of calculation of :weight and fix indent
use dynamics in calculating zmp
enable to select statics or dynamics ;; currently default = statics according to previous specification
remove print in :calc-torque
set vel and acc from av and root-coords in calc-torque fix calc-torque in crank-motion sample
add root-spacial-velocity and root-angular-velocity arguments
add calculation of root-angular-velocity and root-spacial-velocity
add root-angular-acceleration and root-spacial-acceleration
separate calc-root-coords-vel-acc-from-pos and calc-av-vel-acc-from-pos
enable to return ik return value for walking angle-vector solution
add go-backward-over mode
fix orientation calculation ;; add additional-nspace-list
just fix indent
use absolute-p version 6dof-joint
add absolute-p for 6dof-joint
enable to set limbs
fix calling of function for additional-weight-list and additional-nspace-list
add joint-angle-limit-nspace-for-6dof which is experimental currently
multiply weight for additional nspace
fix order of null-space setting
flush starndard-input in do-until-key to use several do-until-key in one function
add dif-pos-ratio and dif-rot-ratio only for velocity , see issue #261
revert wrong commit (r996): add dif-pos-ratio, and dif-rot-ratio option, see Issue #261
add dif-pos-ratio, and dif-rot-ratio option, see Issue #261
return float-vector because angle-vector should be represented as float-vector
fix dispay det(JJt) not det(J), for non square matrix
add min/max, matrix-determinant for debug-view
do nothing when x::window-main-one is called in headless system, Issue #46
create irtviewer-dummy for headless system, Issue #33
check existence of objs
add interpolation of joint-angle from min-max-table according to [#43]
fix bug of defun ) shortage
output ik-failed, see issue #42 (https://sourceforge.net/p/jskeus/tickets/42/)
find joint value with in joint limit, in case of joint is out of limit, http://sourceforge.net/p/jskeus/tickets/43/
remove debug codefix :angle-vector consider mutual effect ,add :joint-min-max-table-{min/max}-angle, add min-max-table for rotationa joint, see #43
fix :angle-vector consider mutual effect ,add :joint-min-max-table-{min/max}-angle, add min-max-table for rotationa joint, see #43
clean up code, add :joint-min-max-table-{min/max}-angle, add min-max-table for rotationa joint, see #255
add min-max-table for rotationa joint, see #255
extract root-link coordinates as :root-coords ;; (send robot :worldcoords) != root-coords for some euscollada robots
rename :root-link -> :root-coords because of mis naming (typo)
add :draw-floor and :draw-origin option in make-irtviewer
update :cog-convergence-check to support numberp, functionp, vectorp for centroid-thre argument
fix null-space calculation
use additional-nspace-list instead of null-space
add quad walking sample
support quad walkint
add root-link-virtual-joint-weight arguments and init-pose-function
support :get-limbs-zmp, :get-counter-footstep-limbs
enable to set list footsteps
add read-char-case which can impelement y-or-n-p
add name arguments to bumpser-sensor
support specifying wrt in convert-to-faces
impliment :glvertices for getting single mesh
update to use additional-weight-list
add init-pose to robot-model
add torque-ratio-vector to cascaded-link
fix face direction (euslisp use cw)
change back face color on glvertices
use :set-color instead of :put :face-color
use set-color instead of :put face-color
add error for missing face-color
export eus2collada function to user package
suppor conversion of body or bodyset
add :move-coords method to cascaded-coords
add calc-zmp-from-forces-moments method
check existence of index of additional-nspace-list or additional-weight-list
add macro to re-direct output and error output
add bench macro to measure time using mtimer
support 6dof joint for additional nspace and weight
add additional-nspace-list and additional-weight-list to set nspace or weight of specific joints
fix: moved link coords while computing inertia frame
add print-vector-for-robot-limb
remove debug print
add values of mass, inertia and mass_frame to collada file in irtcollada.l [#38]
add sid to collada node for removing root_node in irtcollada.l, [#38]
add library_physics_models and library_physics_scene in irtcollada.l, but now adding dummy mass and inertia [#38]
swap order of <articulated_system> in irtcollada.l [#39]
rename attribute kinsystem -> robot1_kinematics, rename libarticulated_systems.kinScene_libarticulated_systems.kinScene -> robot1_motion,add attribute id=asystems to library_articulated_systems, in irtcollada.l [#39]
rename attribute kinsystem_motion -> robot1_motion, inst_kinsystem -> robot1_motion_inst, kinsystem_inst -> kmodel1_inst in irtcollada.l [#39]
update attribute names in irtcollada.l [#39]
modify Makefile.Cygwin for the latest Cygwin gcc
gcc on cygwin can't pass option to linker
add Makefile for ARM (raspberry pi, debian)
add Makefile for ARM (raspberry pi, debian)
rename functions for walk-motion
support small robot in walk-motion examples
increase cog-gain in :calc-walk-pattern-from-footstep-list
enable to set ratio parameter
add samples for robots in eus/models robots
fix: copy curvature in filter-with-indices
fix: resizing height/width when filtering at irtpointcloud
do not use angle-limit for rotational-joint [#25], [#29]
fix copy height and width in pointcloud :copy-from
add transparent option to :set-color method
use centroid method in drawing cenroid pos
add :set-color method to glvertices for using overwrighting object color
update :append-vertices
add move-joints-hook to configure FK's root-link
add documentation string for move-centroid-on-foot
clean up delete-displaylist-id code [#26]
fix memory leak on overwriting displaylist-id without release old one
update glvertices
add debug info to Makefile
set doc/latex, doc/jlatex directory as externals and use symlink to under euslisp/jskeus directory
use relative path for EUSDIR/irteus in case that we need to install euslisp
remove unsupported directories for non-svn environment
check if unsupported directories is checkout from svn
fix drawing glvertices on 32bit environment
check if wget/svn exists
set eus/modles to externals
use adequate glcontext for each viewer ;; at previous version, single euslisp object cannot be displayed in multiple irtviewer
remove print in joint method
change min/max limit of infinite rotational joint from 180 to 270, see [#25]
add :expand-vertices method to glvertices
check head link existence
separate :look-at method because of this method is too long for using in :limb method
add remove-nan option to :point-list
set link-list by default, which is discussed in ticket [#20]
look-at-hand supports :rarm, :larm, :arms and '(:rarm :larm)[#22]
support vector and coordinates in look-at-target [#21]
revert make-cube and make-cylinder, use :translate-vertices
add overwrite functions make-cube and make-cylinder with :origin-coords method
add walk-motion to demo.l
implement :clear-display-id method to glvertices
remove unused resetting
enable to set init-xk from preview-controller
add go-pos param method
add walk-motion example
remove jsk codes and :calc-walk-pattern-from-footstep-list
add preview control and gait generator class
enable to set target-coords for move-centroid-on-foot
add :view-name keyword to set :name for viewer
update svn:externals use https
remove eus/lib/llib from svn:externals
upgrade sourceforge
upgrade euslisp repository
fix pixel format for texture image
add code for drawing texture on glvertices
add implementation for :calc-normals on glvertices
add methods for creating faces to glvertices
add method :change-background for changing background color
:foot-midcoords moved from irt_proposals and add comments
add some filters for pointcloud
add fix-leg-to-coords and move-centroid-on-foot to robot-model
push (:sphere r) to :csg slot
add documentation string for joint-angle methods
remove global variable
add :get-image method to camera-model to getting image and depth
add keyword :fill to adding blank points and colors
remove global variable
add methods to glvertices
return vertices on bounding box
fix: drawing glvertices
add glvertices for displaying triangle mesh in OpenGL
add curvatures to pointcloud
fix: width and height must be set
change: directory for architectures should not be needed in advance
fix for mac/homebrew #3576504
fix previous commit
use png_get_ interface functions for png > 1.5
fix bashrc.eus message for Cygwin
uname -s never returns Linux32
use sed to strip _NT-6.1...
add header message
Rm command must be called with -f option., by mkojima
enable to set sample robot name
fix typo ;; ret -> rot
add joint-list argument to set order of joint for rbrain robots
check ret = nil ;; euslisp's rotation-matrix returns nil ;; euslib/jsk/jsk.l's rotation-matrix is overwrited not to return nil
mvoe :draw-torque which can be defined for cascaded-link instead of robot-model
fix height of current-centroid-pos drawing and change color
enable to draw float-vectors in ik result drawing ;; draw target-centroid-pos and current-centroid-pos
remove unused viewer :clear for ik debug
add do-until-key-with-check and re-define do-until-key using it ;; add do-until-key-with-timer
add color conversion (rgb <-> his) functions
remove unused variable c in :torque-vector
important change;; use association list instead of hash table because hash table directly uses sys::address and assoc list is faster than hash table in the case of small table
add debug message for user set weight
use prog1 in :inverse-kinematics-loop and :inverse-kinematics
add calc-torque-buffer-args for torque methods
use calc-torque not of super class but of self class for basicmodel robots
use :calc-torque method in :calc-zmp
use :update-mass-properties in :weight and :centroid methods
separate update-mass-properties from :calc-inertia-matrix-from-link-list
remove unnecessary allow-other-keys
use all-child-link instead of :exec-func-for-all-links and remove :exec-func-for-all-links
add comment for :cog-jacobian-balance-nspace
add grasp matrix and update calculation of default force & moment in :torque-vector
just fix indent in :torque-vector
remove unnecessary ext-force moment setting for non-legged robot
import make-ring function to user package
add make-ring function to generate ring primitive
rename handles -> handle according to rbrain robot-object
update g-vec value ;; 9.8 -> 9.80665
enable to set sweep parameter
enable to set crank model parameter
add deftest to obtain unittest result
rename eusmodel-validity-check -> eusmodel-validity-check-one ;; eusmodel-validity-check becomes single unittest program
remove labels function and fix indent
add handle function according to committed irteus models
add sample-broom class ;; separate labels function make-sweep
add eusmodel-validity-check ;; this code is not pr2 dependent and only dependent irtmodel specification, so i copy this function from euscollada-pr2-test.l
add :calc-force-from-joint-torque
add set-stereo-gl-attribute for quad buffer stereo
fix eus->collada conversion
use :joint-angle method in crank-motion
add comments to model making functions
just fix indent
define sample-crank class instead of local functoin
remove labels and fix indent
separate limb generating function to class method
add ;; to warning message in :joint-angle method
fix typo
use :arrow-scale argument in :draw-circle to configure scaling of tip of arrow
add :dump-command nil
consider all links included in robot model using all-child-links
add self collision check for all links using pqp-collision-check
define max-joint-torque for sample robot and draw torques in crank-motion sample
add link/joint method, link/joint name might be string or symbole, thus do use (send robot :link name) instaed of (send robot name)
fix for month
add c-isnan for c implimentation of isnan
add irtpoint.l irtgeoc.c for adding pointcloud class
fix dump-command
add funcall because target-coords support lambda definition;; TODO -> Should lambda function be dumped??
dump ik log both sucess/fail
add calc-weight from joint max velocity
add :calc-joint-max-velocity, and update truncate to speed limit algorithm in :move-joints, set periodic-time is 0.5 (10 times faster than default speed) when :inverse-kinemtaics
print scaled dav as debug message
add angle-to-speed, calc-joint-angle-min-max-for-limit-calculation uses angle-to-speed
joint-angle violation warning only when non-relative mode
j . axis is not always vector for rotational-joint
warning-message with yellow color and use > instead of >= for min/max check
use copy-list instead of copy-object for args->print-args
dump ik-command under /tmp if :inverse-kinematics filed
clean up :command debug code in :inverse-kinematics
do not destroy arguments copy args to print-args
minor fix : print s-expresion that re-produce failed ik commmand #666
print s-expresion that re-produce failed ik commmand #666
back to r777, no need to set target-coord
fxo typo ans->and
do not overwrite target-coords arguments inside the methods
do not overwrite target-coords arguments inside the methods
fix bvh2eus to use load-mcd
remove mis commit (r->self) for add :joint-order for irtbvh
add :joint-order for irtbvh
all-descendants is now changed to all-child-links, as irtrobot is cascaded-links that contains only bodyset-link (or cascaded-coords i.e end-coords)
add default :gripper method to irtrobot
add all-descendants
update eusbvh.l - send bvh-model :angle-vector (rbrain like reset-pose) - send bvh-joint :bvh-offset-rotate (bvh parameters) - send bvh-joint :bvh-offset-rotate-offset (bvh parameters in rbrain-linke reset-pose coordinates)
:joint-euler-angle : add :child-rot keyword
fix violate-min/max-angle warning
check if m is 3x3 matrix for matrix-to-euler-angle
print warning if joint-angle exceeds min/max angle
fix : back to r628
do not use joint-angle-bvh (bvh-offset-rotate) in :dump-motion methods
update sensor-model to allow-other-keys and camera-model to pass args to instantiate sensor-model class
support :name key to make-camera-from-param
fix manipulability-limit and gain according to use-leg mode
remove unnecessary update-mass-properties in cog-nullspace calculation
use :weight method ;; support euscollada robots in calculation of cog-jacobian
do not update mass property in :calc-inertia-matrix-from-link-list
add comment for axis-for-angular
remove unnecessary debug-view argument
remove default parameter for target-centroid-pos ;; use :centroid method to calculate whole-body centroid
add irtgraph.l to irteus, this is originally euslib/jsk/graph.l
remove trace of :parent in :find-link-route <- this is obsolete
check weight == 0 in calculation of centroid
trace all child-links from root link to calculate mass property information
update find-link-route to support robots which has links not included in (send robot :links)
use error instead of wrning-message for negative max-joint-torque and negative max-joint-velocity
add find-parent for when parent-link is not included in the link-list :calc-jacobian-from-link-list
fix negative max-joint-velocity/torque for non scalar joint
fix clac-angle-speed-gain-scalar/vector #704
print warning when max-joint-velocity and max-torque-value is minus
fix bug of fix leg to coords in full-body-ik sample
enable to set faces as an argument for pqp collision model
add debug message on :inverse-kinematics
set 6dof-joint's weight by default in :fullbody-inverse-kinematics ;; note that i defined additional weight set by using (memq :weight args) instead of weight argument because (memq :weight args) does not require default weight value
add method :inverse-rotate-vector to coordinates
enable to set collision-avoidance-link-pair outside of limb's inverse-kinematics methods
fix typo ;; cascaded-link -> coordinates
remove deprecated argument dt
update dual-manip-ik according to r725 commit
add arguments for jacobi and take function as union-link-list ;; update calculation of jacobian for object manip ik
add comments for :fullbody-inverse-kinematics and :cog-jacobian functions
fix viewer existence check ;; viewer is always bound in eus/lisp/geo/viewport.l ;; if viewer is available, viewer does not nil
add :fullbody-inverse-kinematics using root-link virtual joint and cog-jacobian balancing
fix typoes ;; cog-thre -> centroid-thre
add union-link-list for funcall argument in calc weight by lambda form
add cog-convergence debug message if ik fail
move centroid convergence check codes to check centroid convergence at the ending of IK
add :ik-convergence-check and remove duplicated codes
extract loop count check from convergence check dotimes loop
add centroid-offset-func ;; this can be used for balancing against simulation external force
just fix arrangement of local variables and indents
fix typo ;; cog-target-pos -> target-centroid-pos ;; add additional check for target-centroid-pos
add comments to use cog-jacobian in :calc-inverse-kinematics-nspace-from-link-list
add cog-jacobian null-space to :calc-inverse-kinematics-nspace-from-link-list ;; cog-jacobian is not used by default for non-legged robots
update crank-motion sample to use legs' constraint in fullbody :inverse-kinematics
just fix indent according to r718 commit
use g-vec instead of using 9.8
fix bug when rotation angle between v and axis equals to 180[deg] ;; support :-x, :-y, and :-z for axis
fix automatic change of perspective-far and perspective-near
:spots returns all spots in sub-scenes ;; patching saito's diff
assoc both spots and other objects to scene model
assoc spot to scene model
support function target-coords in ik fail message
add orient-coords-to-axis function and use it in :look-at ik
fix only indent according to r710 commit
support lambda target-coords to update target-coords in every ik loop ;; for example, target-coords must be updated in look-at ik
remove unused variable dt from :calc-torque and :torque-vector
fix calculation of default moment ;; minimal interanl moments
fix typo ;; rleg-end-coords -> lleg-end-coords
fix bug of axes of ankle joints ;; ankle-p -> :y, ankle-r -> :x
fix direction of z axis for rarm-wrist-y
fix typo ;; rleg-kneep-p -> rleg-knee-p
reset ext-force and ext-moment because these parameters are always set before :calc-torque
enable to configure arms and legs sizes
add labels functions to reduce duplicate codes to generate limbs
remove unused variable c in sample-robot-init
rename rleg link names ;; rarm-link? -> rleg-link?
set centroid of links other than default-robot-link
set a mass center of default-robot-link as a volume center
set objs to irtviewer-objects
fix typos ;; irtiewer-objects -> irtviewer-objects
do not occur error when mkae-irtviewer/objects was called with out X server
remove implicit mkdir;; use must specify output directory explicitly
add make-package to irtext.l to import collada functions
add exit-p to indicate whether exit or not
update default argument for output-full-dir
add collada converter codes to irteus
revert dummy commit
dummy commit for jenkins
dummy commit for jenkins
increase max-joint-velocity of rotational-joint because (/ pi 4) is too small
add use-line-break argument to neglect linebreak
fix typo warnig-color -> warning-color
add draw-torque method to robot-model class
add comments and add buffer reuse codes
update :propagate-mass-properties method ;; separate append-mass-properties calculation from this method
set wrt to :local if wrt is not specified by user
fix auto far/near adjustment
print warning message if joint name not found ;; this is behaviour before revision 644
fix typoes in angle-speed-collision-blending setting
fix angle-speed-blending ;; previous -> null-space vector for collision-avoidance is affected by blending coefficient ;; disable angle-speed blending if avoid-collision-joint-gain equals zero
fix :look-all paramater
add code to change perspective-near and paerspective-far according to object size in :look-all
add method to calculate torque-vector using robot's knowledge
add method to calculate fullbody mass properties
fix for missing parent-coords
add max-torque-vector method to cascaded-link
add max-joint-torque to slots of joint class
add make-camera-from-param and send :draw-on to camera-model to draw viewings
fix header size for using defined constant
fix defforeign shared libraries because file name is not needed for linked library in Linux
svn propdel svn:executable CPQP.C
propset svn:executable on
add shebang in demo.l
remove parsing of joint instamce using member because naming rules are standardized to use :[limb name]-[joint name]
add user-defined joint methods to sample-hand and fix typoes
add user-defined joint methods to sample-robot
if robot have limb-method named method, call them in :limb
update draw-things coordinates before :look-all
add write-to-image-file to glsurface
fix to use float number
update :angle-vector for infinite rotational-joint, crop between -180 and 180
revert r634, #493
add revert-if-fail option
add :move-arm limb when call :inverse-kinematics from send robot :rarm/:larm
remove previous commit, make OS=Linux32 to create 32bit eus on x86_32 machine, make create 64bit eus
modify Makefile in order to make 32bit jskeus when ARCHDIR=Linux on x86_64 machine. if ARCHDIR=Linux64 on x86_64, it creates 64bit jskeus
standardize unit system of moment ;; fix yaw moment, [Nmm]->[Nm]
add irtbvh.l in compile_irtg, irtext.l and Makefile
add joint-eular-angle to sphere-joint
add irtbvh.l
add matrix-to-euler-angle
add :calc-zmp method ;; add joint velocities and joint accelerations arguments to :calc-torque and remove av argument
add CYGWIN_NT-6.1-WOW64 cygwin on Windows 7 x64
modify Makefile.Cygwin and euspng.c for most recent Cygwin-6.1 1.7.8, this is checked on Linux version
set tmp-dim from tmp-dims and remove unused allocation for tmp-dim ;; use j instead of i for index of dotimes of vel-p and vel-r because i is already used in outer dotimes
warn failed information when :look-at did not converge
pass :target-coords to :inverse-kinematics-loop in :look-at for debug-view
add :joint-list and :links method interface to robot-model's :limb method
fix typo in with-assoc-move-target macro
fix local variable name to follow implicit euslisp naming rules
rename local variables in with-assoc-move-target to avoid symbol conflict
add with-assoc-move-target macro for associating and di-associating move-target
add allow-other-keys to :joint-angle method like other joint classes
enable usage of list or function to set inverese-kinematics weight
add :spot, :object
add max-joint-velocity to each joint classes
tmp-weight and tmp-nspace ;; local variables -> argument for fast calculation and buffering
get manuals from /svnroot
fix typo ;; mqme -> memq ;; increase max loop count because in some case max = 30 is too few
add warninge message when eus-server fails
fix :angle-vector method to support joints which joint-angle is float-vector such as sphere-joint, omniwheel-joint, wheel-joint and 6dof-joint
fix sample-robot's head link configuration ;; number of head links was 3, which is not corresponding to number of head joints 2
remove circular warning to compile irtc.o
execute (make-irtviwer) in (objects) if no viewer is exectued before
check if objs has :bodes method in :bodies method of irtscene
add eus/models for eus-installed
add provide, in-package, and
add irtscene for scene-model class
add make-faceset-from-vertices, which is used in converter irteus model and objecets
add to read image from eusdir relative directories
check (get texture-img (:texture-max-width,:texture-max-height)) for max texture image size
add x::window-main-one to update-particle to accpet mouce event
irtc depend on everything for SVNVERSION
remove (print args) debug code from bumper-model
remove debug code
add draw-objects for camera-model
add :3d-point method for camera-model
fix face-to-tessel-triangle to manually copy edge instance, do not use copy-object
add :viewing method to camera-model
copy edge before make new face
add comment
fix bumper-model wich new sensor-model class
fix end-coords position
send irtviewer :title to each demo
change ik :step 300 -> :stop 500 for safety reason
fix l6 and b6
support middle button to move view-target and use persepctive-far to limit look-all
add MACHINE=i386 for 10.5 OSX
move :look-at method in :inverse-kinematics* from cascaded-link to robot-model because :head depends on not cascaded-link but robot-model
update for revision 577 commit ;; fix weight of translation component of 6dof-joint
mm->m does not needed in calc-jacobian-linear
add extern to CPQP.c for explicit declaration
rewrite sample-arm-model.l, do not use translate/rotate-vertices
fix :find-link-route method for links which parent-link is not prepared adequately ;; fix :look-at method
matrix-log retuns [-pi, pi]
add find-parent labels function for move-target which parent is not included in link-list
fix bug #356, when q0 is 0, by r.ueda
fix for old Makefile, patch by r.ueda
source bashrc.eus -> source ~/bashrc.eus
add Makefile.Darwin
darwin, use macport libraries from /opt/local/
add function definition for PQP_MakeModel
define gluTessBegin/EndPolygon in eus/opengl/src/oglfunction.c.c
r563 is wrong, this code was ok
remove redundant gluTestEndContour and gluTessBeginCountour
add Makefile.Darwin
set path for Darwin
fix make-sphere
extern make-sphere x-of-cube y-of-cube z-of-cube height-of-cylinder radius-of-cylinder radius-of-sphere
add make-sphere, accessors
add body-to-faces
move body-to-triangles from jskeus to irtgeo
remove :area check before make-face-from-vertices
return if (send face :area) is too small
do not use vertex-neighborhood-threshold, it did not work well
fix: infinity loop when geo::face-ear-clipping could not find mutually visible vertices
fix bug of weight in :calc-joint-angle-speed ;; in null space, weight is not always necessary ;; necessary to collision avoidance and limit avoidance
support Darwin, set ARCHDIR=Darwin if uname -m is Darwin
divide demo.l to several files, add hanoi-arm.l
add particle simulation and timer-obj samples
make link from /irteus to jskeus/irteus, so that users is able to load irteus/irtmodel.l
add new line to warn in geo::face-to-triangle-make-simple
rename (camera . viewing) -> (camera vwing)
rename to bumper->bumer-model, sensor->sensor-model
rename to bumper->bumer-model, sensor->sensor-model
fix for CYGWIN
fix to write bashrc.eus for Cygwin
comment, add jskeus directory to load-path
load file relative to jskeus directory for new load-path rule
add jskeus/ directory, which is up directory of eus/ or irteus/ directory to load-path
change messege to instruct how to setup bashrc
svn up again if failed
comment out (load "irdmodel.l")
move demo.l to demo directory
checkout eus directory with -N
add SVNVERSION for cygwin
fix for CYGWIN_NT-6.1
fix for CYGWINNT-6.1
show bashrc.eus sestting in the last of make process, and fix typo LD_LIBRARY_PATHPATH->LI_LIBRARY_PATH
change viewing in camera, viewing is squal to coordinates if left camera, and translate if right, camera, so that :ray use original (float-vector (* screenx u) (* screeny v) viewsitance), :screen-point uses viewing (which is align to left camera frame) to calculate
:screen-point does not use :view since left-handed viewing coordinates is not fit modern camera information, so we use send self inverse-transformation and :project3
set :view-up default to #f(0 -1 0)
fix typo on camera (:width () pheight) -> (:height () pheight)
remove with-append-obj-virtual-joint macro;; alternatively add append-obj-virtual-joint function ;; user can append virtual joint using this function and add sample to test5
fix :ray divide ix iy with pwidth/2 and pheight/2
fix :ray divide ix iy with float-converter pwidth and pheight
fix typo in :ray pwdith -> pwidth
viewing :ray takes normalized (NDC) inputs and retuns ray in global coordinate frames,
add :draw-circle for draw circle around a coordinates
fix bugs on ray, (send viewing :ray) retuns ray in viewer coordinate frames, (send cam :ray) retuns ray in world coordinate frames
rename sensor to sensor-model
rename pwidth/pheight -> width/height as rbrain/basicsensors.l
add :pwidth and :pheight accessor in sensors, and support :name keyword
add irtsensor.l for robot modeling
add additional-check to :inverse-kinematics-loop ;; user can define optional convergence conditions by using :additional-check
use with-gensyms in with-** macro
add with-append-virtual-obj-joint and calc-jacobian-from-link-list-including-robot-and-obj-virtual-joint for multi-armed manipulation of an object ;; add dual-armed manipulation example to demo.l as test5
add with-gensyms macro for multiple gensym
enable offsetting jacobian column index
add transform-coords to :calc-jacobian-from-link-list ;; jacobian is represented in transform-coords ;; transform-coords is move-target by default
remove unnecessary argument pos-r and pos-i
use worldrot and transform instead of :inverse-transform-vector in calc-jacobian-default-rotate-vector ;; this may cause fast calculation ;; remove unused buffer tmp-v3a and tmp-v3b from calc-jacobian-default-rotate-vector
change how to set default joint name because the name generated by gensym cannot be dumped
:paste-texture-to-face searches image file in eusdir/img
add union-link-list and jacobian to arguments ;; user can set these parameters outside of :inverse-kinematics and :inverse-kinematics-loop
remove unused variable jacobi in :collision-avoidance and fix typo avoid-collision-joint-gain -> avoid-collision-null-gain
move codes for calculating nspace from :move-joints-avoidance to :calc-inverse-kinematics-nspace-from-link-list ;; this method can be called outside of :move-joints-avoidance
move codes for calculating weight from :move-joints-avoidance to :calc-inverse-kinematics-weight-from-link-list ;; this method can be called outside of :move-joints-avoidance
fix weight multiplication in :collision-avoidance ;; separate null component from joint component
add PQPDELETEMODEL to delete PQP model pointer
align to 2^n when scale big image image
set viewpoint larget thatn perspectiv-neer, this works if target is small
update :move-viewing-around-viewtarget
return to initial joint-angle ;; not only joints included in union-link-list but also joint-list ;; for example, if using :look-at-target t, head joints must return to initial joint-angle
:collision-avoidance-link-pair-from-link-list supports link-list which length is 1
return string when strm is nil likewise format
fix: :look-all can take bbox, bodies,links,robtos... as an arguments
fix :look-all, when the target is not #f(0 0 0)
call :draw-objects end of :create
send-all objects :worldcords before draw-things
glNormali3fv needs :inverse-rotate-vector
key of hash table gl-texturecoords is changed from vertices to edge, since vartices is updated if you call :translate etc.
initialize m-til, c-til and I-til in :reset-dynamics, so all bodyset-link's parameters become initialized when :init
fix calculation of moment ;; user must set ext-moment based on ext-force
fix typo ;; angular-velocity -> angular-momentum
calculate world axis from worldcoords of default-coords
add accessor to :angular-acceleration and :spacial-acceleration
update target in every iteration in :look-at
support :move-target in :look-at
move joint-torque, joint-velocity and joint-acceleration from bodyset-link's slots to joint's slots
remove calculation of momentum-velocity and angular-momentum-velocity ;; these parameters are not essential to :inverse-dynamics ;; remove unused tmp-vd and tmp-ve
add buffers to :inverse-dynamics methods for fast computation
fix bug of multiple declaration of I in :inverse-dynamics and propagate debug-view argument to :forward-all-kinematics and :inverse-dynamics
support rotational-joint and linear-joint and arrange codes by using let
modify unit system for inverse dynamics variables for fast computation and support joint classes other than rotational-joint at following revision
move inverse-dynamics codes from irtmodel.l to irtdyna.l
move gluScaleImage from :paste-texture-image to draw-glbody
add SVNVERSION to lisp-imprementation-veresion
fix typo #:+jsk -> #+:jsk
rename test4->test-j1 and add #+:jsk for non-jsk users
check pathname-type before read-pnm file
use glBindTexture to execute glTexImage2D once per image
fix bug of calc-inertia-matrix-linear ;; axis-for-angluar [mm] -> [m]
add update-mass-propeties to reduce computation of mass propeties
update inertia matrix calculation ;; use world-default-coords instead of child-link ;; refer to revision 452 commit
fix bug in :joint-angle of 6dof-joint and sphere-joint ;; use anguler velocity for orientation instead of RPY angle ;; modify axis (list :z :y :x) -> (list :x :y :z)
remove :assoc and :dissoc because this assoc is essentially unnecessary ;; only after revision 452, this unused assoc has a bad effect because parent-link's coords is refered in calculation of world-default-coords
add manuals target
add to download jmanual.pdf and manual.pdf
reduce duplicate codes for joint-angle-limit-weight and joint-angle-limit-nspace
remove unsupported directories in eus/lib
svn co euslisp if eus directory is not exists
use svn:externals to chekout euslisp
remove *-update, *-installed to svn up and make everytime you type make
remove comment-outed code for jacobian calculation
update jacobian calculation ;; use world-default-coords instead of child-link because axis is fixed to world-default-coords
revise diffs commited at revision 439 and revision 443 about wheel-joint and omniwheel-joint
back to 424 ;; need to rearrange codes about calc-jacobian-child-rotate-vector ;; diffs commited at revision 439 and revision 443 will be revised
axis of omniwheel-joint, sphere-joint and 6dof-joint are defined default-coords relative axis
convert to 8bit if bit_depth is 16bit in PNG_READ_IMAGE
:pasate-texture-to-face support :image and :tex-coords as jskeusgl
do not convert rgb->bgr in PNG_COLOR_TYPE_RGB
propset snv:keywords Author Data Id Revision
do not :add-port (display-id) when display is nil, this happens when DISPLAY is not defined and init-xwindow is not called from eusrt.l
update :joint-angle method of omniwheel-joint ;; support both relative = t and relative = nil
(get self :gl-textureimage) holds texture images pasted on it's faces, for read-image-file once per same file
set max size of texture image to 256*256
set name to gluScale-d-Image
fix dimension of joint-angle of wheel-joint ;; wheel-joint is 2-dof joint
remove vpush, since function cons(a,b) push a and b internally
change makestring -> makebuffer, since make-string assume buffer is already allocated by someone else
whien image type is PNG_COLOR_TYPE_RGB_ALPHA, convert RGBA->rgb
update to support png platte image
support grayscale-image texture mapping
fix samples ;; define :reset-pose method for simple-robot as a initial posture ;; update for no-leged-robot
fix bug of 6dof-joint's axis calculation ;; paxis shuold not be child-link relative ;; wheel-joint, omniwheel-joint and sphere-joint are not fixed yet.
remove GL-DISPLAYLIST-ID when new texture is settled to a face
make the origin of the sample-robot to the origin of the root link ;; add transform in order to fix simple-robot's legs to some coords
compile lisp/image/jpeg before eusjpeg.l
remove bashrc.eus when make clean
remove pgsql.c,h which is generated when compile pgsql in lib/llib directory
use image/jpeg/makefile to clean the directory
add irtdyna.l for the mass properties and dynamics computation ;; currently irtdyna.l supports cog jacobian and inertia matrix ;; add test5 as an example of fullbody motion generation
add with-append-root-joint macro in order to add joint such as 6dof-joint and omniwheel-joint
.bashrc use # for comment, changed from lisp style comment ;;
fix compile error, pqp->euspqp
fix read-image-file
fix read-png-file, add file name to :name of image object as jpeg, remove old api
add irtimage.l file for read-image-file, write-image-file
add read-png-file and write-png-file
fix for cygwin, load cygGL-1.dll/libGL.so to defforeign glPolygonOffset
add to compile libirtimg.so for eusjpeg
add :select-drawmode to support hid mode in irtviewer
generate bashrc.eus file
add makefile to compile euslisp and irteus
move converter codes to rbrain directory because the converter program depends on rbrain codes
fix computation of child-reverse ;; if len = l+1, child-reverse is not detected in previous code
this is a commit for fixes #178 ;; use child-reverse for axis of joint
this is a commit for refs #178
:lookup support :debug-view and display current count, max count was changed from 10->30
use weight in :collision-avoidance
fix with-different-positions-and-rotations macro by nozawa
fix a-link-list -> col-link-list because al in a-link-list may go out of range of ddav-col
rename the latter ddav-col -> dav-col-null in order to make codes easy-to-read ;; add some comments to :collision-avoidance method
fix evaluation in with-difference-positions-and-rotations
add joint-args instead of if sentence about 6dof-joint
remove unused jacobi# from :collision-avoidance and add jacobi# check in :calc-joint-angle-speed
fix nan check ;; when using abs, (eq r nan) cannot be used for nan check
reduce diffuse calculation of I-J#J ;; previously I-J#J is calculated in :calc-joint-angle-speed and :collision-avoidance ;; at new revision I-J#J is calculated only in :move-joints-avoidance and passted to :collision-avoidance and :calc-joint-angle-speed as a :key argument
change specification of :calc-collision-avoidance-distance to reduce codes ;; previously difference between the nearest-points of link pairs is used as ret ;; at the new version that is used as col-list
rearrange codes in :collision-avoidance and remove unused variables
add comments to joint-angle-limit-nspace and joint-angle-limit-weight and rearange several lines using let
add utility macro with-move-target-link-list
add &allow-other-keys to :joint-angle ;; see basicmodel.l and irtmodel.l at revision 40469
remove debug code from rotational-joint class
add &rest args in arguments of :speed-angle method of joint
add :joint-dof, :speed-to-angle, :calc-jacobian in joint class
move fstringdouble for working with eus2, and change name of fstring2double, double2fstring
fix weight calculation in :move-joints-avoidance ;; limitation of weight to ristrict weight value over 0.001 seems not to be necessary ;; add sample function to ik-test.l
add codes for Linux64 bit. In order to use Linux64, envirornment variable have to be set ARCHDIR=Linux64
use gensym name for joint class for uniq naming
support function for null-space ;; eval(when load) does not work when using local variables defined outside of :inverse-kinematics
fix setf of dav-col ;; 6dof-joint, wheel-joint, omniwheel-joint and sphere-joint ware not supported at previous version ;; use calc-target-joint-dimension to calculate joint index
remove unused let from 6dof-joint and sphere-joint ;; add args to 6dof-joint ;; at pvrevious version, 6dof-joint does not work well because of hrp2legs-joint's commit at revision 38978
fix convergence check of :inverse-kinematics-loop ;; likewise convergence check of :inverse-kinematics, use dif-pos and dif-rot instead of vel-p and vel-r because dif-pos and dif-rot directly represent whether ik converged or not
bring back p-limi, r-limit argument for calc-vel-from-*
reduce duplicate codes for format array or vector ;; add format-array function based on print-array
add argument to :joint-angle if joint is derived from 6dof-joint when ik-fail
add weight modification to :move-joints-avoidance ;; reduce weight of the duplicate joint such as :torso in dualarm-ik
bug fix for coordinates::difference-rotation :rotation-axis (:xx :yy :zz)
revert joint-angle-limit-nspace at revision 37613 ;; please check /home/nozawa/prog/euslib/demo/ik/ik-test.l
rename geo::face-ear-clipping to geo::face-to-triangle-make-simple, add :insode check with edge entersection, this produces better result, but not perfect.
support jacobian-based :inverse-kinematics in hrp2legs-joint ;; if :use-toes '(t t), use jacobian-based :inverse-kinematics for :rleg and :lleg ;; if :use-toes '(nil nil), use :kajita-ik for :rleg and :lleg ;; fix :link-list of hrp2-leg's :inverse-kinematics (only use leg's link-list)
rearange codes using let and remove unused variables
adapt irteus codes to update in which collisoin-avoidance-link-pair is replaced to collision-avoidance-links at revision 32377 ;; add *-collision-avoidance-links to robot-model's slot similar to *-end-coords or *-root-link and some methods using *-collision-avoidance-links ;; update convert-irtmodel to use *collision-avoidance-links
add weight, centroid and inertia-tensor to converted irt eus model
add find-extreams finction: find the elements of datum which maximizes key function
fix for rotation-axis :xm :ym :zm, change defference-rotation method in coordinates and calc-dif-with-axis function
i convert the most of all source code by nkf -w. if you want to know about details, you need to check the emails from ueda, subject are the source codes of eus to utf8. i have compared python, gauche, nkf, jchardetect, qkc and nkf is the best way. nkf can detect euc-jp, sjis and iso-2022 and convert to utf8, but cannot latin-1. so i didnt convert i2c and debian project
add libnr
change compile order
split nr code from irtc.c to nr.c
special value for :waist-p
add :return-with-port keyword to connect-server-until-success
add :max-port keyword to connect-server-until-success
move from jsk.l to irtutil.l, eus-server, connect-server-until-sucess
define need-thread in irtutil.l
:make-current before gl::draw-globjects in irtviewer
fix > to >= ;; original paper is if d|dH/dt| >= 0
float_t->eusfloat_t, integer_t->eusinteger_t
fix for 64bit eus float->float_t
:collision-avoidance fix if sentence
remove unused mode :ik-failed and replace unused return-value ret -> t in :move-joints-avoidance and :move-joints
add default value for thre, rthre, rotation-axis and translation-axis
use :calc-union-link-list in :inverse-kinematics
:calc-vel-from-dif-pos-rot -> calc-vel-from-dif/calc-vel-from-rot
fix :collision-avoidance-link-pair-from-link-list
change : q = f(d) qca + {1-f(d)} J# b + N W y
fix :collision-avoidance-link-pair-from-link-list
fix global variables
draw min-distance collision-pair in red
add col-dav when twe collision-link-pair has same min-distance
update debug message
use [deg] unit for debug message
add debug message
add calc-union-link-list
add debug message
fix typo, check with cvs -r 1.14 1.14 irtgeo.l
fix to write mapjoin's package
fix count of row in :calc-jacobian-from-link-list ;; in previous revision r1.111, link-list which length is over 3 doesn't work
add utility macro with-difference-position-and-rotation and with-difference-positions-and-rotations
remove fix-targets support...
remove look-at-target from inverse-kinematics-loop and add :look-at codes to :inverse-kinematics for compatibility
IMPORTANT commit. change arguments of inverse-kinematics-loop from coordinates to position and rotation velicity
make :draw-collision-debug-view method. because debug drawing in :inverse-kinematics-loop is too long and ugly.
bug fix face-to-triangle 'bad face' error if triangle assigned
add keyword argument to :calc-jacobian-from-link-list in :inverse-kinematics-loop ;; translation-axis, rotation-axis and move-target
update face-to-triangle, body-to-triagles
use copy-object for weight in :move-joints-avoidance
weight does not have side effect on :inverse-kinematics, but :inverse-kinmatics-loop changes weight
revert to 1.101
add face-ear-clpping, face-to-triangle supports face with hole
add mapjoin
fix bug in calcation of weight ;; weight was overwrited in :move-joints-avoidance
remove wmat <- unused in :move-joints-avoidance
joint-angle-limit-nspace, for wasit-y joint, neutral-angle is always 0
draw collision-avoidance-result in inverse-kinematics-loop for better display
fix :no-clear, no-flush rules
add angle-speed-collision-blending to debug-view message
add debug in :collision-avoidance
add pgsql
set :name using gensym, for (find-viewer) in send irtviewer :create
make-irtviewer :title works
update test4
update test3, this should be mode sophisticated?
fix test2, do not use map just for dolist, move-target and link-list used in :inverse-kinematics is the purpose of this sample, so these elements must be easily understand
fix :collision-avoidance-link-pair-from-link-list, if two links have same parent, then never collide???
add :irt in features in irtext.l
change exit to error for continuing debug of NaN in matrix2quaternion of irtc.c
previous commit is mistake
if :debug-view has :no-flush, does not flush in draw-objects of inverse-kinematics-loop
add :calc-torque to cascaded-link (nozawa)
add dynamics parameters to bodyset-link class and create new methods for dynamics calculation (:inverse-dynamics, :forward-all-kinematics...)
add *g-vec* for dynamics calculation (ref. euslib/jsk/preview.l and euslib/rbrain/dynamics.l)
fix bug in :collision-avoidance
add test4 for using jsk/rbrain library
fix bug in :collision-avoidance(nozawa)
fix sample program :: test1 ... add argument use-torso, use-leg :: test2 ... remove rbrain depended code and adapt to dual-arm IK :: test3 ... use multi link-list IK
add debug-view to :no-clear in :inverse-kinematics-loop and fix default argument of thre and rthre
need-clear need-flush
don't load by euscomp
add
replace ik method, :move-joints -> :inverse-kinematics-loop
replace ik method, :move-joints -> :inverse-kinematics-loop
adapt thre and rthre to list or atom in :inverse-kinematics and :inverse-kinematics-loop
fix calculation of col in :calc-jacobian-from-link-list
use args and ik-args for :calc-vel-from-dif-pos-rot
add angle-speed-limit
commit for dual-arm ik : main update are as follows : list of move-target,target-coords ... can be used in inverse-kinematics or so. :move-joints-avoidance requires jacobian
integrate vel-pos and vel-rot -> vel and add :calc-vel-from-dif-pos-rot
use args and ik-args in :inverse-kinematics-loop
move-target does not used in move-joint-avoidance
add default value to stop and loop in :inversekinematics-loop
add rotation-axis to ik-args and inverse-kinematics-loop and fix "check solved or not"
move-avoidance-* taes local difference
fix differnece-position/rotation to calculate local difference
do not display error when pair-list is null
fix
fix previsous commit
add :inverse-kinmatics-loop
fix collision-avoidance-links for sample-robot
add :inverse-kinematics-loop
add :debug to :collision-avoidance-link-pair-from-link-list
fix typo :inverse-kenematics-args -> :inverse-kinematics-args
add :inverse-kinematics-args
fix: if avoid-collision-distnace 0, do not call :collision-avoidance
print x when :debug
if avoid-collision-distnace 0, do not call :collision-avoidance
fix calculation of dif-pos (in :difference-position)
update :difference-translation
fix child-link when child-reverse (in :calc-jacobian-from-link-list)
fix previous commit / support :translation-axis for dif-pos
support :translation-axis for dif-pos
change variable r in joint-angle-limit-weight : global -> local (nozawa)
support :obstacles
update ik methods, add references
fix joint-angle-limit-nspace/joint-angle-limit-weight
fix:add del-joint
add del-joint
update axis of wheel/shere/6dof
fix :collision-avoidance, use nearest joints for move-joint-avoidance
mat-tmp-cc, mat-tmp-cr nolonger used in pseudo-inverse
fix pointer generated by makeint must use intval not >>2
fix pseudo-inverse2
modify forward-message-to/to-all 's warning in case to is nil while only in debug
support rotation-axis :xx :yy :zz
add pseudo-inverse2, use array-dimensions
set analysis-level in inverse-kinematics
change polygon -> poly for thread safe
fix a typo
modify :move-joints-avoidance
add ia32 mode for x86_64 linux
add :draw-objects to geo::viewer for (pickview :separate t)
chage debug-view in move-joints for (pickview :separate t)
support :obstacle and :collision-avoidance keyword for :collision-avoidance-link-pair-from-link-list
remove collision-avoidance-link-pair, add :collision-aovidance-link-pair-from-link-list
fix typo
rearrange, la, nul-col, dav-col to null-space-joint-limit, null-space-collision-avoidance, angle-speed-collision-avoidance
re-arraange collision-avoidance related codes :collision-avoidance, collisoin-avoidance-args :collision-avoidance-calc-distance
support :null-space '(....)
fix sphere/6dof-joint to zyx-angle
change 6d-joint -> 6dof->joint
fix joint-angle-limit-nspace not to return inf
support :no-message in debug-view
support :no-message mode
set weight=0 when min-angle == max-angle, with avoid-weight-gain
add sphere and 6d joint
support avoid-weight-gain and avoid-null-gain for omniwheel/wheel-joints
set weight (wmax) even if avoid-weight-gain == 0
restore when fillbody ik failed
support fullbody ik
change slot variable name from centroid to acentroid
add centroid
add :weight and :intertia-tensor
add permutation and combination
#f() -> (float-vector) in wheel-joint, because it invekes SEGV
fixed typos in move-joints-avoidance
add LIBIRTEUSX to clean
add wheel/omni-joint
fix typo
remove :box from bodyset
add :box to bodyset
fix sample-hand
add default-coords to slot of joint class
add default-coords to bodyset-link, use default-coords in :joint-angle of linear-joint and rotational-joint
add argument(args) to :collision-avoidance-link-pair
fix debug-view angle: display format error
fix for new cygwin/X
integrate calc-dif-with-{translation,rotation}-axis to calc-dif-with-axis
do not calculate weight when avoid-weight-gain and avoid-nspace-gain
add :angle-speed keyword to :move-joints
update (:collision-avoidance, (:move-joints-avoidance
fix wmat, umat, support when min/max-angle is inf
speed up sr-inverse-org
fix :calc-inverse-jacobian when degenerated link-list, fix when p-limit/r-limit is nil
lu-decompose2 accepts LU-DECOMPOSE2 mat [result] [tmp-vector]
fix typo on copyright
fix file encoding
add :analysis-level to bodyset-link
check event-type and window-id for skipping x event, use :expose for each item
move defmethod polygon :reset-normal to jskgeo.l
declare analysis-level in bodyset-link
fix matrix-log, use atan not atan2
add sensor information
fix to work when no viewer created, again
error handling when normalize-vector #f(0 0 0), again
fix when no pickview/irtviewer is created
error handling when normalize-vector #f(0 0 0) -> 0, add VNORMALIZE in irtc.c remove defun normalize-vector from irtmath.l
fix when avoid-collision-gain 0
support irteus.exe
add send-message
update sr-inverse
use assoc instead of hash-table
fix loading sequence
add irteus
add trunk, tags and branches
Contributors: Kei Okada, Kentaro Wada, Kohei Kimura, Noriaki Takasugi, Shunichi Nozawa, Takashi Ogura, Yohei Kakiuchi, Haseru Chen, Jyunya Fujimoto, Hiroyuki Mikita, Masayuki Inaba, Mitsuharu Kojima, Kotaro Nagahama, Manabu Saito, Tsukasa Ito, Ryohai Ueda, Yuto Mori

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CHANGELOG.rst

CHANGELOG.rst

Changelog for package jskeus

Forthcoming

1.2.5 (2021-12-01)

1.2.4 (2020-07-03)

1.2.3 (2020-06-29)

1.2.2 (2020-06-23)

1.2.1 (2019-01-07)

1.2.0 (2018-07-19)

1.1.0 (2017-03-07)

1.0.14 (2016-12-30)

1.0.13 (2016-08-02)

1.0.12 (2016-03-20)

1.0.11 (2015-11-02)

1.0.10 (2015-08-18)

1.0.9 (2015-07-09)

1.0.8 (2015-06-19)

1.0.7 (2015-06-11)

1.0.6 (2015-04-23)

1.0.5 (2015-04-22)

1.0.4 (2015-03-27)

1.0.3 (2015-02-22)

1.0.2 (2015-01-13)

1.0.1 (2014-12-22)

1.0.0 (2014-12-22)

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CHANGELOG.rst

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CHANGELOG.rst

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Changelog for package jskeus

Forthcoming

1.2.5 (2021-12-01)

1.2.4 (2020-07-03)

1.2.3 (2020-06-29)

1.2.2 (2020-06-23)

1.2.1 (2019-01-07)

1.2.0 (2018-07-19)

1.1.0 (2017-03-07)

1.0.14 (2016-12-30)

1.0.13 (2016-08-02)

1.0.12 (2016-03-20)

1.0.11 (2015-11-02)

1.0.10 (2015-08-18)

1.0.9 (2015-07-09)

1.0.8 (2015-06-19)

1.0.7 (2015-06-11)

1.0.6 (2015-04-23)

1.0.5 (2015-04-22)

1.0.4 (2015-03-27)

1.0.3 (2015-02-22)

1.0.2 (2015-01-13)

1.0.1 (2014-12-22)

1.0.0 (2014-12-22)