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ChangeLog
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CHANGELOG
----------------------
[Current]
* Correct bug introduced in 846be4ab58282d87.
* Merge pull request #20 from francois-keith/master
* Verify using an assertion that the foot is flat during the initialization of the walk.
* Simplify the chain building from the chest to the wrist.
* Add an assertion to avoid nul size of the sole.
* Use waist rather than root to create the chain.
* Remove useless IndexInVRML vector.
* Correct errors in debug mode.
* Correct OrientationsPreview: the order of left/right feet is no longer hard coded.
* Remove useless files (only the .hh were used).
[3.1.8]
* Since hrp2 is only needed for the tests, the dependency is declared in the tests.
* Synchronize.
* Merge pull request #19 from gergondet/topic/fixPGInitialization
* synchronize cmake module
* Fix intialization to allow restart of Herdt's PG
* Fix PG initialization
* Add some ostream operators for walkgen structures
* Fix source naming inconsistency
* Merge pull request #17 from gergondet/topic/fixHerdtFinalPosAndRunningFlag
* Correctly set m_Running
* Set running value properly for Herdt's PG
* Put the CoM at the center of the feet when stopping
[3.1.7]
* [cmake] Synchronize
* Update datref.cmake for Morisawa walking pattern generator.
* Merge branch 'topic/merge-rc-3.1.4'
* Synchronize
* Add a test for emergency stop.
* Remove debug output.
* Optimize code and remove initialisation problems (division by zero).
* Add test stress on Herdt WPG.
* Improve the test validation.
* Makes sure that ZMP, Left and Foot trajectory generation are synchronized.
* Makes jrl-walkgen less verbose.
* Cleaning. Remove unused code.
* Update ref values for unit test.
* First version with sensible output. The graphs have to be checked.
* First compiling version.
* Update the dependency in hrp2-14.
* Merge branch 'topic/rc-v3.1.4' into topic/merge-rc-3.1.4
* Simplify name handling for TestMorisawa2007.
* Add TestMorisaw2007ShortWalkTEstFGPI_64.datref.cmake
* [CMakeLists.txt] Add MACRO to generate Morisawa 2007 tests.
* Fix comparaison between x86_32 and x86_64.
* Fix problem related to the robot data path.
* [travis] Make cmake verbose
* Disable failing tests
* Synchronize
* Update README.md
* [travis] Add Travis support
* Fix directory to load default sample.wrl file for unitTesting.
* Update lib installation path (multiarch portability).
* Synchronize
* Revert "Interpolation of height with fifth order polynomials"
* Add vim swap files to .gitignore
* Synchronize.
* Make multi-body mode work
* Speed up computation
* Speed up add_term()
* Change the computation of selection matrices Vc..
* Merge branch 'topic/toes' of github.com:jrl-umi3218/jrl-walkgen into topic/toes
* Constraints on the com
* Merge branch 'topic/rc-v3.1.4 into topic/toes
* Enums and convex hull
* Remove PLDPHerdt ;(
* temporary
* Merge branch 'topic/toes' of github.com:jrl-umi3218/jrl-walkgen into toes
* change sign of foot constraint area in y-axis
* change sign for foot constraint in y-axis
* add access function of QP_N
* remove dependency of ROBOT
* Merge branch 'topic/rc-v3.1.4' into topic/toes
* Introduce pointer, rename
* Complete the list of maneuvers in TestHerdt2010
* Correct insertion of constraints
* CoM constraints, enums, clean up
* ...missing in the previous commit...
* Enums, rotations, clean up,
* Warning removal
* Improve, clarify and cohere compute_warm_start()
* Clean up
* Change enum type names and clean up
* Update indentation
* typo 2
* Typo
* UseWarmstart must be false if you dont use LSSOL
* Merge branch 'topic/rc-v3.1.4' of github.com:jrl-umi3218/jrl-walkgen into rc-v3.1.4
* Add the computation of initial solution wich respect all the constraints note : used in LSSOL (QLD don't support this)
* correct a segfault in LSSOL
* Add a comment
* compute the inverse of COP dynamic matrix U
* m_Degree must be initialize in the constructor
* COP double support constraint was wrong because security margins was counted two times
* Initialization + Attribute names
* Omit setting of velocity reference :HerdtOnLine
* Merge branch 'topic/rc-v3.1.4' of github.com:jrl-umi3218/jrl-walkgen into topic/rc-v3.1.4
* Include verification of sup. phase before interpretation
* Add a buffer to the modification of velocity reference It's usefull to avoid multi-thread problems
* Merge branch 'topic/rc-v3.1.4' of github.com:jrl-umi3218/jrl-walkgen into HEAD
* comment the part which concern the multi-body dynamics, because it's unused
* A minor bug with parenthesis (did not affect the program behavior)
* uninitialized data
* First part of warm-start with LSSOL
* Add interpolation of trunk orientations for N_ instants
* Correct a bug introduced in commit 5efc71.
* Add a patch in rigid-body-system to avoid wrong memory access.
* Correct test + warning removal.
* Move reset to the beginning of online routine
* Smaller refactoring
* I think there are five arguments...
* Add missing initialization in CallMethod
* Correct the type of an attribute (should be int rather than double).
* Add a patch preventing wrong memory access.
* Fix overflow problems inside for loops
* Align and complete previous commits
* Avoid the fall of the robot if it completed a pure rotation TODO to complete this : Center the CoM at the end of a movement
* Rename compute_term into multiply_terms
* Optimize and clarify the code
* Add a comment in OrientationsPreview class
* remove obsolete contents
* Correct a minor warning
* Documentation
* Remove object and warnings
* Correct the declaration of verify_angle_hip_joint. One of the parameters cannot be const.
* Remove debug traces et restore the use of QLD by default.
* Minor corrections in documentation
* Correct some rebase errors
* Add the second derivative for x,y,z,theta,omega and omega2.
* Use Polynomes of degree 5/6 instead of 3/4
* Add methods to initialize the Polynome of degree 5/6
* Simple rewriting of the code
* Add the computation of the second derivative to Polynome
* Correct typos
* Adding const operator wherever it's possible
* The link with lssol is now optional
* Add LSSOL solver to qp-problem and add some online tests for these Note : LSSOL sources are not included
* Disactivate equality constraints on feet positions
* remove cout
* Enhance jerk gain
* Minor changes
* Minor changes
* Method + minor bugfix
* Add methods for dynamics computation
* Add members and documentation
* Use of SupportStates_deq
* New method, some minor improvements
* :finish is deprecated for ZMPVelRef
* Minor changes
* Move solution interpretation and resize to OLFTG
* - Introduce enum type QPElement - Introduce enum type Solver - Remove predefined QP size - The first row of the constraints matrix is now zero!!! - m =
* Remove old CoP dynamics computation, doc., cleaning
* Change vertical interpolation to two order 5 polynomials
* Add computation of three-body cop dynamics
* Interpolation of height with fifth order polynomials
* Trajectory precomputation
* Add NbInstants to support_state_t
* see previous commit...
* Add precomputation of trajectory
* Remove obsolete todos
* Add member StepHeight_ and accessors
* Add computation of second derivative
* Move second derivative computation to parent class
* Include foot dynamics + Move declaration of types
* See previous commmit
* Switch to fifth order polynomials
* Move specification of dynamics to rigid-body...
* Minor bugfix
* Initialization
* Initialization
* New instance, documentation, pointer destruction
* Minor cleaning
* Add pointer member to simplified model
* Merge branch 'topic/new-classes' into topic/door
* Introduce classes for simulation of rigid bodies
* Complete unmerged details
* Merge topic/rc-v3.1.4
* Clean up and restructure slightly
* Bugfix
* Modify FSM to solve instability issues at the beginning
* The door is opening. The frontal constraints have to be verified
* Bugfixes, door fixed
* Minor changes
* PG cancellation and initialization
* Add call and move IQPMat
* Remove debug message
* Accessor, documentation
* Add external constraints on the CoM
* Merge with topic/rc-v3.1.4
* Minor temporary changes
* Add method
* Smaller refactoring
* Bugfix, Warnings, Refactoring
* Bugfix and clean up
* Bugfix and reformulation
* Add computation of external constraints and CoM position dynamics
* Add new object Door
* Add accessor to the constraints number and bugfix
* Add accessor to position matrices
* Add external object door
* Temporary change of the CoM initialization
* Documentation, clean up and bugfix
* Reformulated tests for Herdt2010 algorithm.
* Typo
* Add velocity output for the trunk direction, and bounds on hip joints angular velocity.
* Remove memory size display for qp-problem.
[3.1.6]
* Remove debian .
* Update ChangeLog
* Update tests for Kajita 2003.
* Synchronize
* Fix ZMP computation for multibody correction.
* Beautify DEBUG output.
* Add operator<< to COMState.
* Synchronize.
* Fix the end part of feet trajectory generation.
* Add a documentation clearer on how to compute the optimal weights for preview control.
* Put the real number of lines in TestObject.cpp
* Update CMakeLists.txt with header name.
* Initialize dZ and ddZ in the end phase of Kajita 2003.
* Starting the reference trajectory at 2 * Tsingle.
* Update the source files with the new header format.
* Reduce the time to start Morisawa's algorithm.
* Generate report when performing the comparison.
* Correct computation of initial CoM position.
* Generate developer documentation.
* Change header name to comply with format and generate doc.
* Make the system resilient to biped robot (aka a humanoid robot without upper body...)
* Indexes for arms reorganized and resilient against biped robot.
* Reinforce the configuration tests for some unitary tests.
* Add program + new walk mode specific currently.
* Add hrp2-14-data in the standard jrl-walkgen package when present.
* Fix unproper reference to hrp2-14-data packet version.
* Modify debian/control depending on the packages detected.
* Correct wrong dependence and update the reference files.
* Fix pb on TestKajita2003 (wrong include) + update ref for binary tests.
[v3.1.5]
* Add tests on Kajita 2003 algorithm (on two sequences)
* Add test Kajita 2003 (straight walking)
* Add test on Kajita 2003 algorithm (turning on a circle)
* Fix test for Morisawa 2007 algorithm
* Add new test for Kajita algorithm
* Remove useless field.
* Code cleaning
* Fix bugs introduced by commit 95ee for Kajita algorithm.
* Remove debugging messages.
* Remove debugging messages.
* Update test for Morisawa and insert Test for Kajita 2003.
* Clean up code, and started debugging for ZMP preview control.
* Update binary output of Morisawa On Line Test.
* Change test morisawa to reflect new test procedure.
* Set compilation to -O3 instead of -O2.
* Clean up code
* Add display of intervals duration.
* Add sensitivity to test intervals in analytical ZMP-COG trajectories.
* Set sensitivity to zero for FootGeneration. Add debug messages. Change package name in license part.
* Test traj. modification every 5 ms.
* Clean up AnalyticalMorisawaCompact + bug fix on failed traj. modification
* Fix operator= on FootTrajectoryGenerationMultiple.
* Clean up EndPhaseOfWalking and share queue filling.
* operator = and copy constructor for feet trajectories.
* Make sure that the new foot-step is introducing properly.
* Fix problem of time reference when adding a new foot-step.
* Fix package name.
* Prevent a memory loss by removing useless code
* Fix typo in debug message.
* Put name back to some nameless argument so it compiles with _DEBUG_MODE_ON_ too.
* [debian] Changed dpkh-shlibdeps to dh_shlibdeps
* [debian] Fix shlibdeps.
* Synchronize
* [debian] update changelog.
* [debian] Update shlibs file.
[v3.1.4]
* [debian] Second bunch of modifications for debian package generation.
* [debian] Fix the files for launchpad binary package generation.
* Revert "Move the resolution of the optimization problem to the object defining it"
* Revert "Correct pointer initialization that provokes a warning"
* Revert "malloc -> new"
* Revert "Add new class for intermediate computations"
* Revert "Add a class for the construction of optimization problems"
* Revert "Add matrices and types necessary to construct a least squares objective"
* Revert "Add new type for the CoM to be used by:"
* Revert "... idem ..."
* Revert "Integrate new CoM type"
* Revert "Integrate new CoM type"
* Revert "* m_2DLIPM -> m_CoM"
* Revert "Add methods for the computation and assignment of the variant part of"
* Revert "minor changes"
* Revert "Improve access to matrices and their transformation into final form"
* Revert "Add debug methods"
* Revert "Correct initialization of transpose matrices + minor changes"
* Revert "Correct function call"
* Revert "-Introduce m_NbVariables"
* Revert "Add exception handling to the reallocation"
* Revert "Remove redundant instanciation"
* Revert "Revise reallocation and printing"
* Revert "Move to privatepgtypes.h"
* Revert "Add types trunk_t, supportfoot_t, reference_t"
* Revert "Change output of test results"
* Revert "Add initialization and destruction of array dInitPos"
* Revert "Changes due to changed type names (functionality untouched)"
* Revert "Add members and change accessor names"
* Revert "Add methods"
* Revert "Add new and remove deprecated methods"
* Revert "Test new classes"
* Revert "Add method for the construction of selection matrices"
* Revert "Initialization and templates"
* Revert "New type and type methods"
* Revert "Minor change"
* Revert "Remove replaced function"
* Revert "Replace initializing for-loop by std::fill_n"
* Revert "Remove BuildingConstantPartOfTheObjectiveFunction()"
* Revert "Assure proper initialization of matrices"
* Revert "Some clean-up"
* Revert "Implement generation of constraints from topic/vel-ref-gen-cleaning-restructuring"
* Revert "Implement the generation of constraints in GenVelRef"
* Revert "Make setVertices and computeLinearSystem public methods of FCALS"
* Revert "Integrate the new method in ZMPVelocityRef..."
* Revert "Move to privatepgtypes"
* Revert "Change name of type"
* Revert "Add type for linear constraint"
* Revert "Add structure to handle 2-dimensional convex hulls"
* Revert "Simplifications due to the new structure"
* Revert "Standardize treatment of convex hulls"
* Revert "Split method buildConstraintInequalities into:"
* Revert "New methods"
* Revert "Struct for linear inequality sets"
* Revert "Minor changes"
* Revert "Copy of computeLinearSystem that manipulates arrays"
* Revert "Add members and methods"
* Revert "Add functions"
* Revert "Add method"
* Revert "Remove functions"
* Revert "ZMPVelocityReferencedQPDebug.cpp not needed anymore"
* Revert "Minor changes"
* Revert "Remove obsolete members of ZMPVel...QP"
* Revert "Add class and methods"
* Revert "Clean up"
* Revert "add src directory to doxyfile"
* Revert "Eliminate warnings"
* Revert "Accessors and documentation"
* Revert "Introduce new struct for array handling inside qp-problem"
* Revert "Simplifications resulting from introduction of new class"
* Revert "Copy with iterators for better performance"
* Revert "Remove obsolete functions and rearrange"
* Revert "Calls obsolete due to automatic dimensionning and initialization"
* Revert "Fix a problem related to the number of variables dumped."
* Revert "Update binary results of new algorithm."
* Revert "Fix warning and remove unused setReference(strm) for generator-vel-ref."
* Revert "Adding default policy when asking for inequalities."
* Revert "Fix warning in tests."
* Revert "!warnings"
* Revert "Const correctness and documentation"
* Revert "Add member for the current support state and accessors"
* Revert "Additional documentation and slight rearrangement in online()"
* Revert "obsolete class and documentation"
* Revert "Obsolete function, obsolete variables, name changing"
* Revert "Encapsulate class IntermedQPMat inside GenVelRef"
* Revert "Improve documentation"
* Revert "row_major for faster prod() computation"
* Revert "Determine double support time"
* Revert "Minor change"
* Revert "Encapsulation and documentation"
* Revert "New class for online trajectory interpolation"
* Revert "Remove obsolete methods"
* Revert "Minor changes"
* Revert "Minor changes"
* Revert "Encapsulation, restructuring, documentation"
* Revert "Use of final com-trajectory (with orientation of the trunk)"
* Revert "Remove obsolete members"
* Revert "Add turning motions to the test scenario of TestHerdt2010"
* Revert "Encapsulation, name changing"
* Revert "Change name of class"
* Revert "Change name of corresponding file"
* Revert "Rearrange and change of member names"
* Revert "Clean up"
* Revert "Change call by value to call by reference"
* Revert "Test size of variables before trying to allocate memory."
* Revert "Fix some problems to generate documentation."
* Revert "Add install documentation."
* Revert "Update binary test for Herdt walking pattern generator."
* Revert "Pre initialize the matrix size"
* Revert "Change the memory allocation policy to avoid time peak."
* Change the memory allocation policy to avoid time peak.
* Pre initialize the matrix size
* Update binary test for Herdt walking pattern generator.
* Add install documentation.
* Fix some problems to generate documentation.
* Test size of variables before trying to allocate memory.
* Change call by value to call by reference
* Clean up
* Rearrange and change of member names
* Change name of corresponding file
* Change name of class
* Encapsulation, name changing
* Add turning motions to the test scenario of TestHerdt2010
* Remove obsolete members
* Use of final com-trajectory (with orientation of the trunk) for computation of global reference
* Encapsulation, restructuring, documentation
* Minor changes
* Minor changes
* Remove obsolete methods
* New class for online trajectory interpolation
* Encapsulation and documentation
* Minor change
* Determine double support time
* row_major for faster prod() computation
* Improve documentation
* Encapsulate class IntermedQPMat inside GenVelRef
* Obsolete function, obsolete variables, name changing
* obsolete class and documentation
* Additional documentation and slight rearrangement in online()
* Add member for the current support state and accessors
* Const correctness and documentation
* !warnings
* Fix warning in tests.
* Adding default policy when asking for inequalities.
* Fix warning and remove unused setReference(strm) for generator-vel-ref.
* Update binary results of new algorithm.
* Fix a problem related to the number of variables dumped.
* Calls obsolete due to automatic dimensionning and initialization
* Remove obsolete functions and rearrange
* Copy with iterators for better performance
* Simplifications resulting from introduction of new class
* Introduce new struct for array handling inside qp-problem
* Accessors and documentation
* Eliminate warnings
* add src directory to doxyfile
* Clean up
* Add class and methods
* Remove obsolete members of ZMPVel...QP
* Minor changes
* ZMPVelocityReferencedQPDebug.cpp not needed anymore
* Remove functions
* Add method
* Add functions
* Add members and methods
* Copy of computeLinearSystem that manipulates arrays instead of variables of a custom type
* Minor changes
* Struct for linear inequality sets
* New methods
* Split method buildConstraintInequalities into:
* Standardize treatment of convex hulls
* Simplifications due to the new structure
* Add structure to handle 2-dimensional convex hulls
* Add type for linear constraint
* Change name of type
* Move to privatepgtypes
* Integrate the new method in ZMPVelocityRef...
* Make setVertices and computeLinearSystem public methods of FCALS
* Implement the generation of constraints in GenVelRef
* Implement generation of constraints from topic/vel-ref-gen-cleaning-restructuring
* Some clean-up
* Assure proper initialization of matrices
* Remove BuildingConstantPartOfTheObjectiveFunction()
* Replace initializing for-loop by std::fill_n
* Remove replaced function
* Minor change
* New type and type methods
* Initialization and templates
* Add method for the construction of selection matrices
* Test new classes
* Add new and remove deprecated methods
* Add methods
* Add members and change accessor names
* Changes due to changed type names (functionality untouched)
* Add initialization and destruction of array dInitPos
* Change output of test results Change required precision from 1e-6 to 1e-5
* Add types trunk_t, supportfoot_t, reference_t
* Move to privatepgtypes.h
* Revise reallocation and printing
* Remove redundant instanciation
* Add exception handling to the reallocation
* -Introduce m_NbVariables -Introduce resize(array, size) and setNbVariables(NbVar)
* Correct function call
* Correct initialization of transpose matrices + minor changes
* Add debug methods
* Improve access to matrices and their transformation into final form
* minor changes
* Add methods for the computation and assignment of the variant part of the objective
* * m_2DLIPM -> m_CoM
* Integrate new CoM type Add new accessors
* Integrate new CoM type Add overloaded accessor functions
* ... idem ...
* Add new type for the CoM to be used by: LinearInvertedPendulum2D intermediate-qp-matrices
* Add matrices and types necessary to construct a least squares objective
* Add a class for the construction of optimization problems
* Add new class for intermediate computations
* malloc -> new
* Correct pointer initialization that provokes a warning
* Move the resolution of the optimization problem to the object defining it
[v3.1.3]
* Synchronize.
* Remove ambiguity due to */* in comment
* Make compilation more robust.
* Fix cmake url.
* Change cmake url.
* Add an implementation for the function trunc for win32
* Synchronize
* Synchronize
* Synchronize
* Synchronize
* Update reading of sample data file using pkgdatarootdir.
* Increase the acceptable error between reference and computed values.
* Reindent
* Add missing parameter initialization
* Corrected bad pointer initialization.
* Clean ZMPVelocityReferencedQP.h and remove FullDebug mode.
* Fix end test + code cleaning.
* Add new reference tests to cope with new 1e-7 precision tests.
* Buildbot reported results with 1e-7 of error.
* Fix problem with ending phase + clean the code with vel-ref problem object.
* Fix regression test for TestHerdt2010.
* Code cleaning
* Synchronize.
* Update reference trajectoiries after hole filling.
* Fill some holes in the speed trajectories.
* Revert back optimization flags.
* Extend Problem to handle properly memory allocation.
* Add ODEBUG6SIMPLE
* Add constant part to avoid costly matrix multiplication.
* Fix cmake bugs for generating debian package for ubuntu 8.04.
* Fix assignement to an interger.
* Add packaging for 8.04 Ubuntu.
* Minor corrections.
* Update references value files with new filter.
* Remove any digits after 1e-8 for regression tests.
* Fix warnings.
* Synchronize
* Added correct use of lapack library for riccati equation unit test.
* Correct the link for TestRiccatiEquation
* Add missing compilation flag for win32
* Correct generation of pc file for jrl-walkgen.
* Removed unknown espace character.
* Fix ; in test-suite.
* Fix remaing ;
* Fix remaining ; + forbidden long long
* Fix problem of extra ;
* Synchronize cmake.
* Correct the flags for the unit tests
* Correct the use of HAVE_SYS_TIME_H
* Correct the API
* Win32: Correct the #include for gettimeofday
* Clean the code
* Fix problem on Com Z and dZ, update regression tests, synchronize.
* Use PKG_CONFIG_USE_DEPENDENCY new macro to import dependency flags properly.
* Added link flags and detection of lapack libraries.
* Synchronize.
* Add missing cross-links.
* Synchronize.
* Fix header installation.
* Fix unit tests compilation.
* Add JRL_DYNAMICS_LIBRARIES for tests.
* Revert merge 08b67f4cc7ecdc4ccea85803e9cef707813405b2.
* Make sure a shared library is generated.
* Add optional detection of hrp2-dynamics.
* Get rid of obsolete files.
* Fix aggressive optimization when setting release flags.
* Switch to submodule.
* Fix problems with further improvment of abstract-robot-dynamics normalization.
* Get rid of obsolete files.
* Fix aggressive optimization when setting release flags.
* Switch to submodule.
* Fix include path to matche branch topic/submodule of abstract-robot-dynamics.
* Implements package name modifications from other packages.
* Change related to abstract-robot-dynamics.
* Remove deprecated headers + reinforce header name policy
* Code cleaning.
* Update the reference data file for testing Herdt's algorithm.
* Remove m_EndPhaseOfWalking.
* Regression test for Herdt2010.
* Display information during regression test.
* Allows Herdt algorithms to stop.
* Add FootHalfSize as a file to be compiled.
* Applies use of FootHalfSize to handle constraints on feet size.
* Add new structure to handle data related to constraints on feet.
* Removed hard-coded values related to feet linear constraints.
* Win32 compatibility for the warning display
* Move SupportState_t to privatepgtypes.h
* Fix a compiling issue
* Finalize merge for ZMPVelocityReferencedQP.
* Finalize merge for OrientationsPreview.
* Merge OrientationsPreview.
* Acknowledge the fact that Velocity Reference is online anyway.
* Correct protection for recursive inclusion.
* Complete merge with vel-ref for FootConstraints.
* Indent PGTypes to GNU format.
* Remove trailing whitespace for PGTypes
* Remove trailing whitespace for FootConstraints.
* Finishes merge with vel-ref for FootConstraints
* Transitional commit for merging.
* Add SupportFSM in list of files to compile.
* Add SupportFSM object
* Remove StateSupport object.
* Reindent following emacs format.
* Remove trailing white spaces.
* Difference between two real values below 1e-8 is consider as 0.
* Remove trailing spaces.
* Changed indentation style to GNU
* Minor bugfix
* Delete SupportSate class
* Fix debian/watch file.
* Revert "Moved the new type SupportState_t to PGTypes.h"
* Revert "Online mode only"
* Revert "Changed class name SupportState to SupportFSM"
* Revert "Changed the structure of the FSM:"
* Changed the structure of the FSM: Now pure FSM The current and previewed support states are given as parameters of the new type SupportState_t.
* Changed class name SupportState to SupportFSM
* Online mode only
* Moved the new type SupportState_t to PGTypes.h
* Bump Debian package version.
* Added a new type for the support state
* Added new functions: interpolateTrunkState interpolateFeetPositions
* Fix output format for regression test.
* Code cleaning and warn the user that it compiles with hrp2Dynamics.
* Fix wrong test regarding hrp2Dynamics
* Make sure that ZMPVelocityReferencedQP works again.
* First of a series of clean ups. Removed some obsolete functions in ZMPVelocityReferencedQP, namely: ValidationConstraints EndPhaseOfTheWalking OnLineFootChange OnLineAddFoot buildZMPTrajectoryFromFootTrajectory!! GetZMPDiscretization!!
* Update debian package.
* Fix version debian/changelog.
* Add missing dependencies to Debian package.
* Fix missing export in debian/rules.
* Remove trailing whitespaces.
* Check that the robot model exists in unit tests.
* Disable test suite.
* Remove patch.
[v3.1.2]
* Import private repository.
[v3.1.1]
[3.1.1]
* Release 3.1.1
* Add precision filtering for regression test.
* Remove trailing time.
* Implements the new policy of having the init pose outside this package.
* Add reading of init pose file.
* Prevent wrong access to the set of relative steps when changing foot.
* Code cleanup.
* Regression test based on sample.wrl
* Fix Morisawa 2007 online steps generation.
* Almost fix end part of online walking for Morisawa 2007 algorithm.
* Fix a bug in debugging log.
* Throw exceptions in case of problem.
* Put back in shape off-line construction of trajectory for Morisawa 2007.
* Format debugging.
* Fix partially a problem related to time reference settings.
* Implements modifications for regression. Make work Morisawa 2007.
* Fix some problem related to the transfer from pointer to vector<double>.
* Remove debug dumping.
* Add debug information.
* Change pointer to vector.
* Starting regression tests.
* Default directory for binary installation.
* Fix syntax problem with some tests.
* Fix test using & instead of &&.
* Makes doc filename have short names.
* Add setCoMPerturbationForce method Extend the PGI CoM and ZMP are initialized with respect to the initial posture
* Add setState method
* Correct the test by removing a warning.
* An unsigned cannot be negative.
* Win32: Exporting the method gettimeofday does not make sense
* Correct the compilation order for unit test TestHerdt2010
* The functions of a structure need to be exported too
* Disable some verbose warnings for win32
* functions for perturbations
* First working implementation for the new API.
* Add implementation of new PGTypes methods.
* New API - Bookkeeping.
* Added the possibility to change the number of steps before stop online.
* Bump version 3.1.0 including Herdt's algorithm.
* Put debug flag in off mode.
* Normalize name and add dependencies.
* Get the yaw.
* Indentation + Beautification
* Fix problem due to merge between master and andrei PLDP.
* Indentation
* Remove double free for ZMP-COM-Feet trajectories object.
* Fix pb from merging master and pldp velocity reference branch.
* Remove ~ files from git status.
* Adapt PLDP to Velocity Reference ZMP-CoM-Feet trajectories generation scheme.
* Change directory to install examples.
* Install examples directory.
* Adding package target.
* Add missing initialization
* Const static data must be defined outside the header
* Add class to build linear constraints with velocity reference
* Fix file name problem.
* Final fix regarding andreinew-branch merging.
* Assume that the solver will always been less than Sampling Period.
* Fix a bug (foot trajectory) induced by merging.
* Reorganize unit tests to make them easier to handle.
* Add exception.
* Fix orientation Angles are reinitialized each iteration.
* Add uninstall target.
* Minor fix. (Removed debug output)
* Fix pb on the time computation.
* Default initialization of Buffer limit for end motion.
* Warn when no references to feet exist.
* Reduced the size of the feet constraints slightly
* Changed the chosen support foot during the DS->SS transition
* Add velocity reference extension of the API.
* Minor changes
* Minor bugfix
* Proper rad/degree conversion and absolute reference
* Minor changes
* Bugfix and minor changes
* Bugfix + minor changes
* Resolve conflicts
* resolve conflict
* Resolve conflicts
* add centering of the feet
* Security mechanism for the positionnning of the feet
* Added a parallel double support phase
* No logs
* Minor changes
* Lowered the height of the support feet to zero
* changed the size of the simple support areas to 60*120 mm
* Uninitialized value bugfix
* Some modifications to prevent memory leaks
* Minor modifications to avoid memory errors.
* Bugfix and clean up
* Cosmetic changes
* Cosmetic changes
* Hip joint constraints are read from the HDR object
* Added velocity constraint of the swing leg
* Algorithm for the generation of the feet orientations using 3rd and 4th order polynomials for the feet and the trunk
* Added computation of derivatives
* First version of the improved orientations algorithm.
* Added function verifyAccelerationOfHipJoint
* Added the body of the class OrientationsPreview
* Added a new type COMState as the existing COMPosition does not include first and second derivatives of the Angles.
* m_AnklePositionLeft protected -> public
* minor change
* Smaller modifications
* Added interpolation of the height
* Clean up
* Modified the method for the interpolation of feet coordinates
* Added online interpolation of the feet coordinates
* Copies of FootTrajectoryGeneration classes slightly modified for online interpolation
* Added temporarily a new function Herdt_Stop for the tests of the new online mode To be bypassed by a direct call soon.
* Added method initOnLineHerdt
* Added method OnLine: new QP solved when the stacks are close to get empty Added method InitOnLine: Precomputation of CoM ZMP and Feet values Added a time buffer for the computation of the problems (40 ms now)
* Initialization of the first two feet through the constructor.
* Modified Interface for online method.
* Added reference setter
* No changes just some clean up
* New class, new profile
* New structure to store the reference
* New profile for online walking with Herdt2010IROS
* Results now the same as in Scilab with the constraints of Nicolas
* Integrated the feet position constraints in buildConstraintMatrices
* Integrated the feet position constraints into footConstraintsAsLinearSystem
* Convex hull of position constraint points
* Added new deques and arrays for feet constraints
* Simulation gives now with ZMP constraints the same results as in scilab.
* Did the same as before for sagittal constraints.
* Fixed buildConstraintMatrices
* Fixed buildConstraintMatrices and validateConstraints.
* Symmetrical constraints
* Made a comparison with an identical problem in scilab.
* Tried to fix the malloc error
* Same constraints as in scilab.
* Results now the same as in scilab
* Further simplified the pb for debugging
* Added debugging functions
* Added a fixed double support phase
* first version with simple QP: Minimization of the jerk, instantaneous velocities, zmp constraints, free feet positions.
* Adapted the constraints to the new order of the variables.
* Bugfix of the original version.
* Prepared the linear part of the objective function
* Bugfixing and minor improvement
* buildConstraintMatrices: Working intermediate version
* Working on buildConstraintMatrices
* Minor Bugfix Better debugging
* Bugfix: Time passed in the preview window is now taken into account
* SupportState is written in SupportStates.dat every time setSupportState is called.
* Bugfix SF_it was not initialized properly
* Trace-printfs
* New functions buildZMPTraje... and buildConstraintMat... Restored the old function BuildZMPTraje... Both programs should now run in parallel
* Bugfix: The matrices D and Dc are computed at each iteration step. Optimization necessary later on. Added tracing printfs.
* Just a delete of the new object f_CALS in the destructor
* Just some tracing printfs
* Debugged both files and added printfs at the borders of relevant functions for somewhat easier tracing in the future. Debugging: The queue QueueOfSupportFeet and the variables FPx, FPy, FPtheta are not declared nor in the header file nor in the constructor anymore.
* Should work again version but does not
* Buggy version: corrupt double linked list
* adapted the code to the new type
* added new type of linear inequalities
* cleaned the code
* Almost working version
* asdf
* Uninitialized value bugfix
* Some modifications to prevent memory leaks
* Minor modifications to avoid memory errors.
* Bugfix and clean up
* Cosmetic changes
* Cosmetic changes
* Hip joint constraints are read from the HDR object
* Added velocity constraint of the swing leg
* Algorithm for the generation of the feet orientations using 3rd and 4th order polynomials for the feet and the trunk
* Added computation of derivatives
* First version of the improved orientations algorithm.
* Added function verifyAccelerationOfHipJoint
* Added the body of the class OrientationsPreview
* Added a new type COMState as the existing COMPosition does not include first and second derivatives of the Angles.
* m_AnklePositionLeft protected -> public
* minor change
* Smaller modifications
* Added interpolation of the height
* Some indexes of A and c where not initialized, crashing the test in Debug mode
* Add attribute initialization in initialization list
* The unitTest testOptCholesky and TestRiccatiEquation can be compiled under windows
* Simplify the CMakeLists (there was no need to do these tests)
* Clean up
* Modified the method for the interpolation of feet coordinates
* Added online interpolation of the feet coordinates
* Copies of FootTrajectoryGeneration classes slightly modified for online interpolation
* Added temporarily a new function Herdt_Stop for the tests of the new online mode To be bypassed by a direct call soon.
* Added method initOnLineHerdt
* Added method OnLine: new QP solved when the stacks are close to get empty Added method InitOnLine: Precomputation of CoM ZMP and Feet values Added a time buffer for the computation of the problems (40 ms now)
* Initialization of the first two feet through the constructor.
* Modified Interface for online method.
* Do not destroy the robot model.
* Added reference setter
* No changes just some clean up
* New class, new profile
* New structure to store the reference
* New profile for online walking with Herdt2010IROS
* Results now the same as in Scilab with the constraints of Nicolas
* Integrated the feet position constraints in buildConstraintMatrices
* Integrated the feet position constraints into footConstraintsAsLinearSystem
* Convex hull of position constraint points
* Added new deques and arrays for feet constraints
* Simulation gives now with ZMP constraints the same results as in scilab.
* Did the same as before for sagittal constraints.
* Fixed buildConstraintMatrices
* Fixed buildConstraintMatrices and validateConstraints.
* Symmetrical constraints
* Made a comparison with an identical problem in scilab.
* Tried to fix the malloc error
* Same constraints as in scilab.
* Results now the same as in scilab
* Further simplified the pb for debugging
* Added debugging functions
* Added a fixed double support phase
* first version with simple QP: Minimization of the jerk, instantaneous velocities, zmp constraints, free feet positions.
* Adapted the constraints to the new order of the variables.
* Bugfix of the original version.
* Prepared the linear part of the objective function
* Bugfixing and minor improvement
* buildConstraintMatrices: Working intermediate version
* Working on buildConstraintMatrices
* Minor Bugfix Better debugging
* Bugfix: Time passed in the preview window is now taken into account
* SupportState is written in SupportStates.dat every time setSupportState is called.
* Bugfix SF_it was not initialized properly
* Trace-printfs
* New functions buildZMPTraje... and buildConstraintMat... Restored the old function BuildZMPTraje... Both programs should now run in parallel
* Bugfix: The matrices D and Dc are computed at each iteration step. Optimization necessary later on. Added tracing printfs.
* Just a delete of the new object f_CALS in the destructor
* Just some tracing printfs
* Debugged both files and added printfs at the borders of relevant functions for somewhat easier tracing in the future. Debugging: The queue QueueOfSupportFeet and the variables FPx, FPy, FPtheta are not declared nor in the header file nor in the constructor anymore.
* Should work again version but does not
* Buggy version: corrupt double linked list
* Fix precision problem.
* adding a sensitivity test to cope with numeric approximations when generating foot steps. This resulted in discontinuities in the foot reference when starting a step sequence.
* adapted the code to the new type
* added new type of linear inequalities
* cleaned the code
* Almost working version
* Dump current version as 3.0.2.99
* asdf
[3.0.3]
* Release 3.0.3
* Notify GNU-LGPL-v3 license.
[3.1.0]
* Bump version 3.1.0 including Herdt's algorithm.
* Put debug flag in off mode.
* Normalize name and add dependencies.
* Get the yaw.
* Indentation + Beautification
* Fix problem due to merge between master and andrei PLDP.
* Indentation
* Remove double free for ZMP-COM-Feet trajectories object.
* Fix pb from merging master and pldp velocity reference branch.
* Remove ~ files from git status.
* Adapt PLDP to Velocity Reference ZMP-CoM-Feet trajectories generation scheme.
* Change directory to install examples.
* Install examples directory.
* Adding package target.
* Add missing initialization
* Const static data must be defined outside the header
* Add class to build linear constraints with velocity reference
* Fix file name problem.
* Final fix regarding andreinew-branch merging.
* Assume that the solver will always been less than Sampling Period.
* Fix a bug (foot trajectory) induced by merging.
* Reorganize unit tests to make them easier to handle.
* Add exception.
* Fix orientation Angles are reinitialized each iteration.
* Add uninstall target.
* Minor fix. (Removed debug output)
* Fix pb on the time computation.
* Default initialization of Buffer limit for end motion.
* Warn when no references to feet exist.
* Reduced the size of the feet constraints slightly
* Changed the chosen support foot during the DS->SS transition
* Add velocity reference extension of the API.
* Minor changes
* Minor bugfix
* Proper rad/degree conversion and absolute reference
* Minor changes
* Bugfix and minor changes
* Bugfix + minor changes
* Resolve conflicts
* resolve conflict
* Resolve conflicts
* add centering of the feet
* Security mechanism for the positionnning of the feet
* Added a parallel double support phase
* No logs
* Minor changes
* Lowered the height of the support feet to zero
* changed the size of the simple support areas to 60*120 mm
* Uninitialized value bugfix
* Some modifications to prevent memory leaks
* Minor modifications to avoid memory errors.
* Bugfix and clean up
* Cosmetic changes
* Cosmetic changes
* Hip joint constraints are read from the HDR object
* Added velocity constraint of the swing leg
* Algorithm for the generation of the feet orientations using 3rd and 4th order polynomials for the feet and the trunk
* Added computation of derivatives
* First version of the improved orientations algorithm.
* Added function verifyAccelerationOfHipJoint
* Added the body of the class OrientationsPreview
* Added a new type COMState as the existing COMPosition does not include first and second derivatives of the Angles.
* m_AnklePositionLeft protected -> public
* minor change
* Smaller modifications
* Added interpolation of the height
* Clean up
* Modified the method for the interpolation of feet coordinates
* Added online interpolation of the feet coordinates
* Copies of FootTrajectoryGeneration classes slightly modified for online interpolation
* Added temporarily a new function Herdt_Stop for the tests of the new online mode To be bypassed by a direct call soon.
* Added method initOnLineHerdt
* Added method OnLine: new QP solved when the stacks are close to get empty Added method InitOnLine: Precomputation of CoM ZMP and Feet values Added a time buffer for the computation of the problems (40 ms now)
* Initialization of the first two feet through the constructor.
* Modified Interface for online method.
* Added reference setter
* No changes just some clean up
* New class, new profile
* New structure to store the reference
* New profile for online walking with Herdt2010IROS
* Results now the same as in Scilab with the constraints of Nicolas
* Integrated the feet position constraints in buildConstraintMatrices
* Integrated the feet position constraints into footConstraintsAsLinearSystem
* Convex hull of position constraint points
* Added new deques and arrays for feet constraints
* Simulation gives now with ZMP constraints the same results as in scilab.
* Did the same as before for sagittal constraints.
* Fixed buildConstraintMatrices
* Fixed buildConstraintMatrices and validateConstraints.
* Symmetrical constraints
* Made a comparison with an identical problem in scilab.
* Tried to fix the malloc error
* Same constraints as in scilab.
* Results now the same as in scilab
* Further simplified the pb for debugging
* Added debugging functions
* Added a fixed double support phase
* first version with simple QP: Minimization of the jerk, instantaneous velocities, zmp constraints, free feet positions.
* Adapted the constraints to the new order of the variables.
* Bugfix of the original version.
* Prepared the linear part of the objective function
* Bugfixing and minor improvement
* buildConstraintMatrices: Working intermediate version
* Working on buildConstraintMatrices
* Minor Bugfix Better debugging
* Bugfix: Time passed in the preview window is now taken into account
* SupportState is written in SupportStates.dat every time setSupportState is called.
* Bugfix SF_it was not initialized properly
* Trace-printfs
* New functions buildZMPTraje... and buildConstraintMat... Restored the old function BuildZMPTraje... Both programs should now run in parallel
* Bugfix: The matrices D and Dc are computed at each iteration step. Optimization necessary later on. Added tracing printfs.