[wip/lwr-genom] Bump to 2.4

 Changes since 2.3:
  - add collision detection by force monitoring
  - remove PlayFile request
  - adapt TrackQ to slow he trajectory when maximal velocities are
reached
  - fix timeScale evolution and adaptation
  - fix GotoXAbs to move the arm with a pose goal (the interpolation
is done in the joint space)
  - depends on softMotion-libs-3.6

lwr-genom/Makefile

@@ -2,7 +2,7 @@
 # Created:			Xavier Broquere on Wed, 27 Oct 2010
 #
 
-DISTNAME=		lwr-genom-2.3
+DISTNAME=		lwr-genom-2.4
 CATEGORIES=		manipulation
 MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=lwr-genom/}
 MASTER_REPOSITORY=	git ssh://trac.laas.fr/git/robots/lwr-genom

lwr-genom/depend.mk

@@ -33,7 +33,7 @@ SYSTEM_SEARCH.lwr-genom=\
 
 DEPEND_USE+=		lwr-genom
 
-DEPEND_ABI.lwr-genom?=lwr-genom>=2.3
+DEPEND_ABI.lwr-genom?=lwr-genom>=2.4
 DEPEND_DIR.lwr-genom?=../../wip/lwr-genom
 
 endif # LWR-GENOM_DEPEND_MK ----------------------------------------

lwr-genom/distinfo

-SHA1 (lwr-genom-2.3.tar.gz) = fbc40f95c47c51124842e553d39ac7efcf8e4def
-RMD160 (lwr-genom-2.3.tar.gz) = 28f1e77421c3d11982e39d807e1478234867c90b
-Size (lwr-genom-2.3.tar.gz) = 42739 bytes
-SHA1 (patch-aa) = 821b9c463521555ade40f660fd92786c988578c7
-SHA1 (patch-ab) = 01a2e886bac3d725e6d83059bed8bd47443984ca
+SHA1 (lwr-genom-2.4.tar.gz) = 34b41775b3b817b95b1091b5676f7cc3bba6ee21
+RMD160 (lwr-genom-2.4.tar.gz) = 901b0d3f733d65cb4ddebb15aed10ddc2005cfa6
+Size (lwr-genom-2.4.tar.gz) = 43333 bytes

lwr-genom/patches/patch-aa

---- lwr.gen	2010-12-08 10:46:34.000000000 +0100
-+++ ../../lwr.gen~	2011-01-10 13:16:53.007837818 +0100
-@@ -129,7 +129,7 @@
- 			    LWR_NO_TOOL::"LWR Left tool", LWR_NULL_BASE::"LWR Left base",
-                             GEN_FALSE::"Is LWR Right used",49938::"LWR Right port", "192.168.27.5"::"LWR Right IP",
- 			    LWR_GRIPPER::"LWR Right tool", LWR_JIDO_BASE::"LWR Right base",
--                            "/local/kuka/openrobots/data/BioMove3DDemos/coldman/Jido-lwr-sahand/"::"Colman models file location",
-+                            "/local/kuka/openrobots/share/move3d/assets/coldman/Jido-lwr-sahand/"::"Colman models file location",
-                             "world.xml"::"Colman models file name";
-                             
-     codel_main:             lwrInitMain;

lwr-genom/patches/patch-ab

---- codels/lwrCmdCodels.cc~	2011-01-20 14:40:53.000000000 +0100
-+++ codels/lwrCmdCodels.cc	2011-01-21 11:13:04.897729846 +0100
-@@ -2340,11 +2340,15 @@
-     if(smTraj.nbAxis != 24) {
-       printf("ERROR: lwr::TrackQ traj.nbAxis (%d) != 24 \n", smTraj.nbAxis);
-       return ETHER;
-+    } else { 
-+      printf("INFO: lwr::TrackQ there are %d axes in the trajectory \n", smTraj.nbAxis);
-     }
- 
-+
-     currentMotion.traj.clear();
-     currentMotion.traj.importFromSM_TRAJ_STR(&smTraj);
--
-+    currentMotion.traj.computeTimeOnTraj();
-+    //currentMotion.traj.print();
-     break;
-   default:
-     *report = S_lwr_BAD_MODE;