From 7bc14baa2d0dbf037b2b74c4de2b41c8b000f49a Mon Sep 17 00:00:00 2001
From: Aurelie Clodic <aurelie.clodic@gmail.com>
Date: Thu, 30 Oct 2014 17:53:43 +0100
Subject: [PATCH] [wip/sot-dyninv] Release v2.0.0
first release in robotpkg
Release v2.0.0
* Add the display method for normalization purposes.
* Synchronize.
* Remove deprecated method commanline.
* Add the command line 'remove', alias of 'rm'.
* For normalization purposes, use the DYNAMIC_GRAPH_ENTITY_DECL macro everywhere.
* Correct the prototype of the method getClassName.
* [cmake] Synchronize
* Correct documentation generation.
* Synchronize.
* Update sot-concept for romeo-sot v1.1.1
* Remove deprecated python scripts.
* Correct the path to the plugin directory of dynamic-graph.
* Resolve ambiguous constructor
* [travis] Add missing dependencies
* [travis] Add missing dependencies
* Update README.md
* [travis] Add Travis and coveralls.io support
* Fixed bug in last commit
* Fixed bug in setGain() and added reference input type in MetaTaskDynPosture.gotoq()
* Correct CMakeLists.txt: remove depr. file installation
* Remove deprecated scripts.
* Add TaskDynPassingPoint as a dynamic task
* Minor changes to the most simple kine and dyn tests
* Add MetaTask for dynamic angle and velocity limits
* Modified function name and command to set second order kinematics in order to uniform it to Device::setSecondOrderIntegration
* Added underscore to attribute name secondOrderKinematics in solver-kine.cpp
* Solved unreferenced pointer if empty stack
* Added comment for method setSize in stack-template.t.cpp
* Resolved timing problem on solver-kine. Now working on second order
* Added control on task type when second order is set
* Added control on task type when second order kinematics is set
* Added secondOrderKinematics option with drift Jdot*dq compensation in solver-kine and userfriendly changes/commentaries in solver-op-space.cpp
* Added gain utilisation to task-dyn-limits.cpp and added some useful comments
* Added Relative MetaTaskDyn and modified CMakeLists
* Added secondOrderKinematics option with drift Jdot*dq compensation in solver-kine and userfriendly changes/commentaries in solver-op-space.cpp
* Update reference to soth (point towards github not laas).
* Added gain utilisation to task-dyn-limits.cpp and added some useful comments
* Added Relative MetaTaskDyn and modified CMakeLists
* Resets the posture of the robot between configs in sot-concept.py
* Install the tutorial python scripts.
* Complete ros-walkromeo.py script
* Add Simple test for dynamic sot
* Add rotation part for gotoNd and goto6d
* Simple typo.
* Minor modification for ros-dynromeo.py
* Add missing viewer commands for robot-viewer in sot-concept.
* Change the missing tasks.
* Correct the right hand task for unittest/dyn_romeo.py
* Correct import pathes and robot name in the scripts.
* Sur-constrain the walk of romeo.
* Purposefully add some gaps in the walk script.
* Clean and comment the script ros-walkromeo.
* Clean and comment the script ros-planche with romeo.
* rename ros/p105.py
* Clean and comment the script p105 with romeo.
* Clean and comment the kine script with romeo.
* Clean, comment and correct the dynamic script with romeo.
* Default romeo robot has toes.
* Update 'classic' python script for romeo flying.
* Use the Macro solver in ros scripts.
* Add the simulation for romeo 'planing' with ros.
* Correct path in meta_task_6d python script.
* First draft for all python scripts.
* Add p105_demo for the romeo robot.
* Add a test for the dynamic SoT with romeo.
* Remove useless file.
* Synchronize.
* Working version for Romeo, thanks Francois.
* Modif robot specificities (path for romeo).
* Script correction and modif for romeo.
* Refact version with the minimal elements.
* Corrected the unittest kinewalk.
* Corrected version of the walk: work with HRP2-14.
* Merge remote branch 'origin/master'
* Moved robotSpecific to robot_specific, and install the generated python files in the binary dir.
* Minor modifs of the 2013_coursens scripts.
* Modify the robot specificy file.
* Mv robot specific to robot_specific.
* Avoid having hard-coded paths in robotSpecific.py
* Minor modif.
* IVIGIT: script of the ENS class 2013.
* Added the meta tasks in the cmake.
* Removed a trace in solver kine.
* Moved file.
* Deprecated filed removed.
* Moved to python/tools.
* Moved the script to python/unittest. None of them should be working yet, and need a little bit of correction and selection.
* Moved the meta tasks.
* Moved to sot.core.
* Moved some files in dedicated repository of python/
* Update cmake.
* Minor robot spec modifs.
* Added the task weight in the python init file.
* Moved the matrix util python into the sot core package.
* Minor modifs in the meta tasks.
* Minor changes in thread loop.
* Added the ALWAYS timer in attime.
* Correction of the solver kine header.
* IVIGIT task-weight.
* Minor changes.
* Finally, the active-set init-guess solver for inv kine.
* Revert "Revert "Added an operator into solver-kine.""
* Revert "Added an operator into solver-kine."
* Added an operator into solver-kine.
* Corrected a bug in task ineq.
* Synchronize.
* Add missing link.
* Correct python scripts.
* Avoid having hard-coded paths in robotSpecific.py
* Correct the operation 'down' for the stack-template.
* Using the meta_pg.
* Synchronize
* Correct link.
* Correct link dependencies.
* Correct the linkage.
* Add missing dependencies
* Win32: correct API
* Add missing const in the declaration of getClassName
* Correct the handling of python modules
* Correct the link with boost
* Add missing dependency between libs
* Win32: Instead of a symbolic link, realize a dirty copy of the headers
* Correct the exportation of symbols
* Correct the CMakelists
* ivigit.
* Added the compilation instruction for the new entity contact-selecter.
* Account for the error dot in the task computation.
* Added an accessor to the support signal.
* Add the new contact-selecter entity in python.
* Corrected a bug in debug mode.
* ivigit.
* Accounting for the modif in the sdes branch of sot-core.
* Accounting for the modif in cmake/python.cmake.
* Accounting for the new feature.sdes.
* Modify the output for OpenHRP seqplay.
* Working version used for the novela.
* Varying position of the COM.
* Slight changes in the timing.
* Accounting for the modifs in sot-core/feature.
* Synchronize
* Adding option to specify the robot model in the replay.py script (-R option). Now works with HRP2 and Romeo models.
* Added some other specificities to handle romeo.
* Corrected a hard-coded 36 dim.
* ivigit.
* Added n+10.
* Added hide and c
* Added some cases for matrix2vector convertion + corrected a probable bug in rpy.
* Slight modif in restore function.
* Added a empty constructor.
* ivigit.
* ivigit.
* Minor change in the task update.
* IVIGIT.
* Remove a undesired trace.
* Working version with option, but problem of initialization if the waist is not at 0.
* First working version.
* Added the rpy-to-matrix.
* IVIGIT.
* Robot viewer short cut.
* IVIGIT.
* Icra version.
* IVIGIT.
* Version I am very proud of :D
* Retried on the robot: failure: to much on the front.
* Maximale version, checked on the robot.
* Slight refactoring.
* Less demanding version.
* IVIGIT, copy from imit.py.
* Final version, to be tested on the robot.
* Simple correction to handle a vector in goto6d.
* Uses fast forward to correct the history
* IVIGIt.
* IVIGIT: working with taskCom, bug with support.
* IVIGIT.
* Cleaned version.
* Working version for OpenHRP, problem with the stab.
* Added a trajectory tracking to smooth the slide.
* Rewrite the vectorToTupple to enable row and col vectors.
* Added a fast forward to execute all events until a given position.
* Added zmp in history.
* Cleaned up version.
* Final version, working on OHRP.
* Complete version, but cannot replicate on openhrp.
* ivigit.
* Back from the robot Xp: worked for 2cm, better maybe with 1.5. Touch with 1. Try to slower the motion.
* Working version, ok for ohrp.
* IVIGIT.
* Non sigular version, falling with OpenHRP.
* IVIGIT.
* IVIGIT.
* Mutliple changes: added a spatial scaling, modify the return type of the position functions, added a anglePosition function.
* IVIGIT.
* Working motion, ready to be used on the robot ... wait, still a bug on the hip.
* Added the global "ping" function.
* Added vectorToTuple
* The best motion from now.
* Working with foot down.
* Working version, with posture, no head no arm and foot.
* Added the posture task.
* ivigit.
* Added a op point modifier. Should be ported to sot-core.
* Added a time-scaled parser.
* Minor bug correction.
* IVIGIT.
* IVIGIT.
* IVIGIT.
* Corrected a bug in signal refresh.
* IVIGIT.
* Changes to accept several arguments per iteration.
* Minor changes.
* Added the computation of the forces in each contact.
* Corrected the bug in the altitude of the foot.
* Added a command to apprehend eventual changes in the Jacobian while estimating its derivative.
* Unified the QR and pseudo inversion.
* Syntax error in debug mode.
* Working version with the new colpiv solver.
* WS removal.
* Passed the solver to template.
* Transfert all the class from the unittest to the header..
* First complete working version.
* IVIGIT.
* Moved dynred2 has the nominal reduced solver.
* Current working version, comparing both regular solver and reduced solver.
* Added some traces to check the task validity.
* Bug in the normal forces corrected. Version seems to work with reduced acceleration and forces.
* With solver reduced 2.
* With the second formulation of the reduced solver.
* IVIGIT.
* IVIGIT.
* First working version: control ok for 2 contacts + COM task + brek down.
* First working version.
* Correction of bug at the compilation.
* IVIGIT.
* IVIGIT.
* Using the new entity helper macro.
* Accounting for the changes in hrp210
* Accounting for new gpool().
---
Makefile | 1 +
sot-dyninv/DESCR | 1 +
sot-dyninv/Makefile | 28 ++++++++++++++++++++++++++++
sot-dyninv/PLIST | 31 +++++++++++++++++++++++++++++++
sot-dyninv/depend.mk | 27 +++++++++++++++++++++++++++
sot-dyninv/distinfo | 3 +++
6 files changed, 91 insertions(+)
create mode 100644 sot-dyninv/DESCR
create mode 100644 sot-dyninv/Makefile
create mode 100644 sot-dyninv/PLIST
create mode 100644 sot-dyninv/depend.mk
create mode 100644 sot-dyninv/distinfo
diff --git a/Makefile b/Makefile
index b88ffc26..d44b1b8b 100644
--- a/Makefile
+++ b/Makefile
@@ -91,6 +91,7 @@ SUBDIR+= romeo-description
SUBDIR+= ros-realtime-tools
SUBDIR+= rtslam-genom
SUBDIR+= sot-application
+SUBDIR+= sot-dyninv
SUBDIR+= sot-romeo
SUBDIR+= soth
SUBDIR+= spark-genom
diff --git a/sot-dyninv/DESCR b/sot-dyninv/DESCR
new file mode 100644
index 00000000..0e622f9b
--- /dev/null
+++ b/sot-dyninv/DESCR
@@ -0,0 +1 @@
+This sofware provides the solver and features to resolve the inverse of the dynamics of a free-floating robot, in contact with its environment. The basics are provided by the sot core, and the computation of the dynamics of the robot can be computed by a third party lib, for example sot-dynamic.
diff --git a/sot-dyninv/Makefile b/sot-dyninv/Makefile
new file mode 100644
index 00000000..804fcd66
--- /dev/null
+++ b/sot-dyninv/Makefile
@@ -0,0 +1,28 @@
+# robotpkg Makefile for: wip/sot-dyninv
+# Created: Aurelie Clodic on Thu, 30 Oct 2014
+#
+
+PKGNAME= sot-dyninv-${VERSION}
+DISTNAME= sot-dyninv-${VERSION}
+VERSION= 2.0.0
+PKGREVISION= 0
+
+MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=sot-dyninv/}
+MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}/stack-of-tasks/sot-dyninv
+
+MAINTAINER= hpp@laas.fr
+CATEGORIES= wip
+LICENSE= gnu-lgpl-v3
+
+DYNAMIC_PLIST_DIRS+= share/doc/sot-dyninv
+
+include ../../interfaces/jrl-mal/depend.mk
+include ../../motion/py-dynamic-graph/depend.mk
+include ../../motion/sot-core/depend.mk
+include ../../wip/soth/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/sysdep/doxygen.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/sot-dyninv/PLIST b/sot-dyninv/PLIST
new file mode 100644
index 00000000..1e6d77db
--- /dev/null
+++ b/sot-dyninv/PLIST
@@ -0,0 +1,31 @@
+@comment Thu Oct 30 17:29:40 CET 2014
+include/sot-dyninv/col-piv-qr-solve-in-place.h
+include/sot-dyninv/commands-helper.h
+include/sot-dyninv/config.h
+include/sot-dyninv/config.hh
+include/sot-dyninv/contact-selecter.h
+include/sot-dyninv/controller-pd.h
+include/sot-dyninv/deprecated.hh
+include/sot-dyninv/dynamic-integrator.h
+include/sot-dyninv/entity-helper.h
+include/sot-dyninv/feature-projected-line.h
+include/sot-dyninv/mal-to-eigen.h
+include/sot-dyninv/pseudo-robot-dynamic.h
+include/sot-dyninv/robot-dyn-simu.h
+include/sot-dyninv/signal-helper.h
+include/sot-dyninv/solver-dyn-reduced.h
+include/sot-dyninv/solver-kine.h
+include/sot-dyninv/solver-op-space.h
+include/sot-dyninv/stack-template.h
+include/sot-dyninv/stack-template.t.cpp
+include/sot-dyninv/task-dyn-inequality.h
+include/sot-dyninv/task-dyn-joint-limits.h
+include/sot-dyninv/task-dyn-limits.h
+include/sot-dyninv/task-dyn-passing-point.h
+include/sot-dyninv/task-dyn-pd.h
+include/sot-dyninv/task-inequality.h
+include/sot-dyninv/task-joint-limits.h
+include/sot-dyninv/task-weight.h
+include/sot-dyninv/warning.hh
+include/sot-dyninv/zmp-estimator.h
+lib/pkgconfig/sot-dyninv.pc
diff --git a/sot-dyninv/depend.mk b/sot-dyninv/depend.mk
new file mode 100644
index 00000000..b48e7382
--- /dev/null
+++ b/sot-dyninv/depend.mk
@@ -0,0 +1,27 @@
+# robotpkg depend.mk for: wip/sot-dyninv
+# Created: Aurelie Clodic on Thu, 30 Oct 2014
+#
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+SOT_CORE_DEPEND_MK:= ${SOT-DYNINV_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= sot-dyninv
+endif
+
+ifeq (+,$(SOT-DYNINV_DEPEND_MK)) # -------------------------------------------
+
+PREFER.sot-dyninv?= robotpkg
+
+SYSTEM_SEARCH.sot-dyninv=\
+ include/sot-dyninv/config.h \
+ 'lib/pkgconfig/sot-dyninv.pc:/Version/s/[^0-9.]//gp'
+
+DEPEND_USE+= sot-dyninv
+
+DEPEND_ABI.sot-dyninv?= sot-dyninv>=2.0.0
+DEPEND_DIR.sot-dyninv?= ../../wip/sot-dyninv
+
+endif # SOT_DYNINV_DEPEND_MK -------------------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/sot-dyninv/distinfo b/sot-dyninv/distinfo
new file mode 100644
index 00000000..9895e9ea
--- /dev/null
+++ b/sot-dyninv/distinfo
@@ -0,0 +1,3 @@
+SHA1 (sot-dyninv-2.0.0.tar.gz) = 8676d37b182e380b0fa5e393ee41986918a36c53
+RMD160 (sot-dyninv-2.0.0.tar.gz) = ebae6035211c05a50dcc63f66e7e0f94a6a742c3
+Size (sot-dyninv-2.0.0.tar.gz) = 235677 bytes
--
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