added chinese translation for Getting Started - #697
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to use helper script extrajoints.tcl supporting any number of allowed extra joints
1) preview tab: show extra joints' values after homing (if not showing offsets) 2) preview tab: show allhomeicon for extra joints as well as the coordinates 3) preview tab: show limitedicon (not somelimiticon) individually for extra joint on limit switch also: a) consolidate logic for icon display for w/wo offset b) use common params for glBitmap for all icons c) refactor show_icon() and use for all icons
Signed-off-by: andypugh <andy@bodgesoc.org>
This commit is a lazy way to test that it is backwards compatible using the buildbot. Signed-off-by: andypugh <andy@bodgesoc.org>
The inRange() test formerly set all joint positions to zero before computing new joint values by kinematicsInverse(). This method is suitable for most kinematics inverse calculations but can fail for kins that *iterate* to a solution using current joint positions as the start values for the computation. Such a failure occured with the sim puma560.ini using genserkins with 'benign' reports like: "ERR kI - compute_jinv (joints: 0.000000 ... ), (iterations=0) Investigation showed that genserkins:kinematicsInverse() detected a singular matrix as reported by compute_jinv() but the function genserkins:kinematicsInverse() returns the error reported from the gomath library (GO_RESULT_SINGULAR -- a positive enum). The test in inRange() used '<0' as its criteria so the error was masked.
This reverts commit 8746c7b.
This reverts commit e7bc262.
This reverts commit 8efba9b.
Testing in a test branch indicates that this compiles on current platforms. I am open to further changes and corrections, but let us get the master branch compiling cleanly again.
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Unfortunately this seems to have pulled all changes between 2.8 and Master in to your pull request. |
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I translated "Getting Started" doc to chinese, please review my commit.