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Twolimbcc #83

Merged
merged 43 commits into from
Mar 5, 2017
Merged

Twolimbcc #83

merged 43 commits into from
Mar 5, 2017

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munozyanez
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Completed all tasks. Working both limbs and revised DH for both legs.
@jgvictores , remember you hardcoded the robot name as "teoSim", so check it properly to avoid problems.
Movement is still not fine, but it will be an issue in new repo.

@jgvictores
begin TwoLimbCartesianControl
8ae0759
@jgvictores
BasicTwoLimbCartesianControl inherit from ITwoLimbCartesianControl
8957412
@jgvictores
update for step
dd6336b
@jgvictores
remove unused torque
25afb5a
@jgvictores
BasicTwoLimbCartesianControl have two devices
395dd8a
@jgvictores
doc step
1cd857d
@jgvictores
fix BasicTwoLimbCartesianControl wrapper
a52899c
@jgvictores
link gait
fd2493a
@jgvictores
comment on trajectory
3c489e0
@jgvictores
simplify step() api
3a6d6ca
@jgvictores
set both limbs to vel mode
9f74b29
@jgvictores
begin control loop for two limbs
b42dfe0
@jgvictores
updating from develop: bring gait integration, and future merge easier
c0e37cd
@jgvictores
update BasicTwoLimbCartesianControl CMake to catch updated gait cmake…
cef32ae 
… var names
@jgvictores
BasicTwoLimbCartesianControl unfinished preparation for multiple kine…
d13027e 
…matic descriptions
@jgvictores
BasicTwoLimbCartesianControl unfinished preparation for multiple kine…
662e494 
…matic descriptions
@jgvictores
KdlSolver close if unrecognized angleRepr
828065a
@jgvictores
KdlSolver info on open
bea621c
@jgvictores
KdlSolver better gravity info on open
29170f9
@jgvictores
KdlSolver better H0 info on open
4f30f6b
@jgvictores
KdlSolver better HN info on open, reorganize open()
299a456
@jgvictores
improvements to KdlSolver, including --kinematics to search for kinem…
b0c553e 
…atics file
@jgvictores
BasicTwoLimbCartesianControl improvements, such as both limb kinematics
fe21ade
@jgvictores
shorten TwoLimbCartesianControlServer default port name
4138a06
@jgvictores
BasicTwoLimbCartesianControl close devices
14ac42b
@jgvictores
add limbB to stat
b1ca98c
@jgvictores
qA->currentQA, qB->currentQB
723fe7a
@jgvictores
polymorphism for trajectory
06085af
@jgvictores
BasicTwoLimbCartesianControl STEP add debug lines
1967599
@jgvictores
update to latest gait
14c7ff7
jgvictores and others added 13 commits November 7, 2016 18:49
@jgvictores
GaitTrajectory use GaitSupportPoligon for now
b50de9b
@jgvictores
call SetSwingParameters and SetSupportParameters since we can
51e2152
@munozyanez
modified: libraries/TeoYarp/BasicTwoLimbCartesianControl/BasicTwoLim…
5b07510 
…bCartesianControl.hpp

	modified:   libraries/TrajectoryLib/GaitTrajectory.cpp
@munozyanez
modified: libraries/TeoYarp/FakeControlboardOR/IVelocityImpl.cpp
cc5442c 
	modified:   libraries/TrajectoryLib/GaitTrajectory.cpp
@munozyanez
modified: libraries/TeoYarp/FakeControlboardOR/IVelocityImpl.cpp
ba851f7 
	modified:   libraries/gait
@munozyanez
modified: libraries/TeoYarp/BasicTwoLimbCartesianControl/DeviceDrive…
f3a5840 
…rImpl.cpp

	modified:   libraries/TrajectoryLib/GaitTrajectory.cpp
	modified:   libraries/TrajectoryLib/GaitTrajectory.hpp
	modified:   libraries/gait
@munozyanez
modified: libraries/TrajectoryLib/GaitTrajectory.cpp
49552c5 
	modified:   libraries/gait
@munozyanez
modified: libraries/TrajectoryLib/GaitTrajectory.cpp
dd4d0c2 
	modified:   libraries/gait
	modified:   share/kinematics/rightLegKinematics.ini
@munozyanez
modified: libraries/TrajectoryLib/GaitTrajectory.cpp
a866856 
	modified:   libraries/gait
@munozyanez
modified: libraries/gait
e97c559
@munozyanez
modified: libraries/TrajectoryLib/GaitTrajectory.cpp
8f7dc92 
	modified:   libraries/gait
	modified:   share/kinematics/rightLegKinematics.ini
@munozyanez
modified: libraries/TrajectoryLib/GaitTrajectory.cpp
ddc6cf7 
	modified:   libraries/gait
@munozyanez
modified: libraries/TeoYarp/BasicTwoLimbCartesianControl/DeviceDrive…
a57df1d 
…rImpl.cpp

	modified:   libraries/TeoYarp/BasicTwoLimbCartesianControl/ICartesianControlImpl.cpp
	modified:   libraries/TeoYarp/BasicTwoLimbCartesianControl/RateThreadImpl.cpp
	modified:   libraries/TeoYarp/ITwoLimbCartesianControl.h
	modified:   libraries/TrajectoryLib/GaitTrajectory.cpp
	modified:   libraries/gait
	modified:   share/kinematics/leftLegKinematics.ini
@jgvictores
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@munozyanez Thanks, looking much better. Could you please review and resolve the merge conflicts to enable the automatic merge?
Haven't checked the details, but hopefully it's just something to do with git submodules and all you have to do is force your version.

@munozyanez
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I can not say what to keep or not in teo-main/libraries/TeoYarp/CMakeLists.txt
Find attached difference text files
CMakeLists_BACKUP_4303.txt
CMakeLists_BASE_4303.txt
CMakeLists_LOCAL_4303.txt
CMakeLists_REMOTE_4303.txt

@PeterBowman
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@munozyanez I've merged develop into the derived branch twolimbcc-merged, please check if you are OK with these changes: 545a250. Most importantly, BasicTwoLimbCartesianControl and TwoLimbCartesianControlServer have been enabled as dynamically loaded plugins and their respective .ini files were included as well. Then, you just merge twolimbcc-merged into twolimbcc and the conflicts should be gone (not sure about gait and how submodules work, though).

BTW I can't compile this code with the checked out revision of gait (roboticslab-uc3m/gait@d0dbd6d). I'm getting a 'abs' is not a member of 'std' error at line 437 in src/tools/cpp.

@jgvictores
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BTW I can't compile this code with the checked out revision of gait (roboticslab-uc3m/gait@d0dbd6d). I'm getting a 'abs' is not a member of 'std' error at line 437 in src/tools/cpp

Touched at roboticslab-uc3m/gait@6f717d9

@jgvictores
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Version of gaitused updated in roboticslab-uc3m/teo-main@f10f7b7

@jgvictores jgvictores merged commit a57df1d into develop Mar 5, 2017
@jgvictores
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Final merge at roboticslab-uc3m/teo-main@94e6baa

@jgvictores jgvictores deleted the twolimbcc branch March 5, 2017 19:53
@PeterBowman PeterBowman mentioned this pull request Mar 6, 2017
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@munozyanez munozyanez mentioned this pull request Mar 9, 2017
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@PeterBowman PeterBowman mentioned this pull request Aug 16, 2017
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3 participants
@munozyanez @jgvictores @PeterBowman