jskeus-commit — jskeus commit mailing list

[jskeus-commit] SF.net SVN: jskeus:[902] trunk/irteus/irtrobot.l

[<sn...@us...>]

Revision: 902
          http://sourceforge.net/p/jskeus/code/902
Author:   snozawa
Date:     2013-05-01 07:04:55 +0000 (Wed, 01 May 2013)
Log Message:
-----------
set link-list by default, which is discussed in ticket [#20]

Modified Paths:
--------------
    trunk/irteus/irtrobot.l

Modified: trunk/irteus/irtrobot.l
===================================================================
--- trunk/irteus/irtrobot.l	2013-05-01 04:33:10 UTC (rev 901)
+++ trunk/irteus/irtrobot.l	2013-05-01 07:04:55 UTC (rev 902)
@@ -238,25 +238,57 @@
                   (t (list l/r))))))
   ;; override inverse-kinematics methods for look-at method
   (:inverse-kinematics
-   (target-coords &rest args &key look-at-target &allow-other-keys)
-   "(target-coords &rest args &key look-at-target &allow-other-keys)
-    look-at-target suppots t, nil, float-vector, coords, list of float-vector, list of coords"
+   (target-coords
+    &rest args
+    &key look-at-target
+         (move-target)
+         (link-list
+          (if (atom move-target)
+              (send self :link-list (send move-target :parent))
+            (mapcar #'(lambda (mt) (send self :link-list (send mt :parent))) move-target)))
+    &allow-other-keys)
+   "(target-coords
+    &rest args
+    &key look-at-target
+         (move-target)
+         (link-list
+          (if (atom move-target)
+              (send self :link-list (send move-target :parent))
+            (mapcar #'(lambda (mt) (send self :link-list (send mt :parent))) move-target)))
+    &allow-other-keys)
+    look-at-target suppots t, nil, float-vector, coords, list of float-vector, list of coords
+    link-list is set by default based on move-target -> root link link-list"
    (if (atom target-coords) (setq target-coords (list target-coords)))
    (prog1
-       (send-super* :inverse-kinematics target-coords args)
+       (send-super* :inverse-kinematics target-coords
+                    :move-target move-target :link-list link-list args)
      (send self :look-at-target look-at-target :target-coords target-coords)
      ))
   (:inverse-kinematics-loop
-   (dif-pos dif-rot &rest args
-            &key target-coords debug-view look-at-target
-            &allow-other-keys)
-   "(dif-pos dif-rot &rest args
-            &key target-coords debug-view look-at-target
-            &allow-other-keys)
-    look-at-target suppots t, nil, float-vector, coords, list of float-vector, list of coords"
+   (dif-pos dif-rot
+    &rest args
+    &key target-coords debug-view look-at-target
+         (move-target)
+         (link-list
+          (if (atom move-target)
+              (send self :link-list (send move-target :parent))
+            (mapcar #'(lambda (mt) (send self :link-list (send mt :parent))) move-target)))
+         &allow-other-keys)
+   "(dif-pos dif-rot
+    &rest args
+    &key target-coords debug-view look-at-target
+         (move-target)
+         (link-list
+          (if (atom move-target)
+              (send self :link-list (send move-target :parent))
+            (mapcar #'(lambda (mt) (send self :link-list (send mt :parent))) move-target)))
+         &allow-other-keys)
+    look-at-target suppots t, nil, float-vector, coords, list of float-vector, list of coords
+    link-list is set by default based on move-target -> root link link-list"
    (if (atom target-coords) (setq target-coords (list target-coords)))
    (prog1
        (send-super* :inverse-kinematics-loop dif-pos dif-rot
+                    :link-list link-list :move-target move-target
                     :target-coords target-coords args)
      (if debug-view (send self :look-at-target look-at-target :target-coords target-coords))
      ))

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[jskeus-commit] SF.net SVN: jskeus:[901] trunk/irteus/irtrobot.l

[<sn...@us...>]

Revision: 901
          http://sourceforge.net/p/jskeus/code/901
Author:   snozawa
Date:     2013-05-01 04:33:10 +0000 (Wed, 01 May 2013)
Log Message:
-----------
look-at-hand supports :rarm, :larm, :arms and '(:rarm :larm)[#22]

Modified Paths:
--------------
    trunk/irteus/irtrobot.l

Modified: trunk/irteus/irtrobot.l
===================================================================
--- trunk/irteus/irtrobot.l	2013-05-01 04:21:39 UTC (rev 900)
+++ trunk/irteus/irtrobot.l	2013-05-01 04:33:10 UTC (rev 901)
@@ -227,7 +227,15 @@
 	 (unless args (setq args (list nil))) (send* self :limb :torso args))
   (:arms (&rest args) (list (send* self :larm args) (send* self :rarm args)))
   (:legs (&rest args) (list (send* self :lleg args) (send* self :rleg args)))
-  (:look-at-hand (l/r) (send self :head :look-at (send self l/r :end-coords :worldpos)))
+  (:look-at-hand
+   (l/r)
+   "(l/r) ;; l/r supports :rarm, :larm, :arms, and '(:rarm :larm) ;; "
+   (send self :look-at-target
+         (mapcar #'(lambda (x) (send self x :end-coords))
+                 (cond
+                  ((consp l/r) l/r)
+                  ((eq l/r :arms) '(:rarm :larm))
+                  (t (list l/r))))))
   ;; override inverse-kinematics methods for look-at method
   (:inverse-kinematics
    (target-coords &rest args &key look-at-target &allow-other-keys)

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[jskeus-commit] SF.net SVN: jskeus:[900] trunk/irteus/irtrobot.l

[<sn...@us...>]

Revision: 900
          http://sourceforge.net/p/jskeus/code/900
Author:   snozawa
Date:     2013-05-01 04:21:39 +0000 (Wed, 01 May 2013)
Log Message:
-----------
support vector and coordinates in look-at-target [#21]

Modified Paths:
--------------
    trunk/irteus/irtrobot.l

Modified: trunk/irteus/irtrobot.l
===================================================================
--- trunk/irteus/irtrobot.l	2013-04-30 10:54:05 UTC (rev 899)
+++ trunk/irteus/irtrobot.l	2013-05-01 04:21:39 UTC (rev 900)
@@ -231,21 +231,46 @@
   ;; override inverse-kinematics methods for look-at method
   (:inverse-kinematics
    (target-coords &rest args &key look-at-target &allow-other-keys)
+   "(target-coords &rest args &key look-at-target &allow-other-keys)
+    look-at-target suppots t, nil, float-vector, coords, list of float-vector, list of coords"
    (if (atom target-coords) (setq target-coords (list target-coords)))
    (prog1
        (send-super* :inverse-kinematics target-coords args)
-     (if look-at-target
-         (send self :head :look-at (send (car target-coords) :worldpos)))))
+     (send self :look-at-target look-at-target :target-coords target-coords)
+     ))
   (:inverse-kinematics-loop
    (dif-pos dif-rot &rest args
             &key target-coords debug-view look-at-target
             &allow-other-keys)
+   "(dif-pos dif-rot &rest args
+            &key target-coords debug-view look-at-target
+            &allow-other-keys)
+    look-at-target suppots t, nil, float-vector, coords, list of float-vector, list of coords"
    (if (atom target-coords) (setq target-coords (list target-coords)))
    (prog1
        (send-super* :inverse-kinematics-loop dif-pos dif-rot
                     :target-coords target-coords args)
-     (if (and debug-view look-at-target)
-         (send self :head :look-at (send (car target-coords) :worldpos)))))
+     (if debug-view (send self :look-at-target look-at-target :target-coords target-coords))
+     ))
+  ;; look-at-target supports -> t, nil, float-vector, coords, list of float-vector, list of coords
+  (:look-at-target
+   (look-at-target &key (target-coords))
+   (cond
+    ((float-vector-p look-at-target)
+     (send self :head :look-at look-at-target))
+    ((coordinates-p look-at-target)
+     (send self :head :look-at (send look-at-target :worldpos)))
+    ((and (consp look-at-target)
+          (every #'identity (mapcar #'float-vector-p look-at-target)))
+     (send self :head :look-at
+           (scale (/ 1.0 (length look-at-target)) (reduce #'v+ look-at-target :initial-value #f(0 0 0)))))
+    ((and (consp look-at-target)
+          (every #'identity (mapcar #'coordinates-p look-at-target)))
+     (send self :head :look-at
+           (scale (/ 1.0 (length look-at-target)) (reduce #'v+ (send-all look-at-target :worldpos) :initial-value #f(0 0 0)))))
+    ((null look-at-target))
+    (t (send self :head :look-at (send (car target-coords) :worldpos)))
+    ))
   (:torque-vector
    (&key (force-list) (moment-list) (target-coords)
          (debug-view nil)

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[jskeus-commit] SF.net SVN: jskeus:[899] trunk/irteus/irtgeo.l

[<ky...@us...>]

Revision: 899
          http://sourceforge.net/p/jskeus/code/899
Author:   kyouhei
Date:     2013-04-30 10:54:05 +0000 (Tue, 30 Apr 2013)
Log Message:
-----------
revert make-cube and make-cylinder, use :translate-vertices

Modified Paths:
--------------
    trunk/irteus/irtgeo.l

Modified: trunk/irteus/irtgeo.l
===================================================================
--- trunk/irteus/irtgeo.l	2013-04-30 10:26:31 UTC (rev 898)
+++ trunk/irteus/irtgeo.l	2013-04-30 10:54:05 UTC (rev 899)
@@ -522,69 +522,7 @@
                           0 (* pipe-radius (sin (* i dtheta))))
             v-list))
     (apply #'make-torus v-list :segments segments args)))
-;; over write geo/primt.l
-(defun make-cube (xsize ysize zsize &rest args &key (name) (color) (origin-coords) &allow-other-keys)
-"MAKE-CUBE x y z &key color name coords"
-   (setq xsize (float xsize) ysize (float ysize) zsize (float zsize))
-   (let ((xsize/2 %(xsize / 2.0))
-         (ysize/2 %(ysize / 2.0))
-         (zsize/2 %(- zsize / 2.0))
-         v1 v2 v3 v4 b)
-      (setq v1 (float-vector xsize/2 ysize/2 zsize/2)
-            v2 (float-vector xsize/2 (- ysize/2)  zsize/2)
-            v3 (float-vector (- xsize/2) (- ysize/2) zsize/2)
-            v4 (float-vector (- xsize/2) ysize/2 zsize/2))
-      (cond
-       (origin-coords
-        (let ((vlst (mapcar #'(lambda (v) (send origin-coords :transform-vector v)) (list v1 v2 v3 v4)))
-              (zvec (send origin-coords :rotate-vector (float-vector 0 0 1))))
-          (scale zsize zvec zvec)
-          (setq b (apply #'make-prism vlst zvec
-                         :name name :color color
-                         :primitive (list ':cube xsize ysize zsize)
-                         args))))
-       (t
-        (setq b (apply #'make-prism (list v1 v2 v3 v4) zsize
-                       :name name :color color
-                       :primitive (list ':cube xsize ysize zsize)
-                       args))))
-      (dolist (f (send b :get-face nil :side))
-        (send f :id (append (send f :id) (list  (nth (nth 1 (send f :id))
-                                                     '(:-x :-y :x :y))))))
-      b))
-;; over write geo/primt.l
-(defun make-cylinder (radius height &rest args
-                             &key (segments 24) (circumscribed nil) (origin-coords)
-                             &allow-other-keys)
-"MAKE-CYLINDER radius height (:segments 12) (:circumscribed nil) (origin-coords) :color :name"
-   (setq radius (float radius) height (float height))
-   (let* ((theta (/ 2pi segments))
-          (radius (if circumscribed (/ radius (cos (/ theta 2.0))) radius))
-          (p (float-vector radius 0 0))
-          (base (list p))
-          cyl)
-     (dotimes (i (1- segments))
-       (push (rotate-vector (car base) theta :z) base))
-     (when origin-coords
-       (setq base
-             (mapcar #'(lambda (pp) (send origin-coords :transform-vector pp)) base))
-       (setq height
-             (send origin-coords :rotate-vector (float-vector 0 0 height))))
-     (setq cyl
-           (apply #'make-prism base height
-                  :primitive  (list ':cylinder radius height segments)
-                  args))
-     (cond
-      (origin-coords
-       (setf (get cyl :center-axis) (make-line (send origin-coords :worldpos)
-                                               (v+ (send origin-coords :worldpos) height))))
-      (t (setf (get cyl :center-axis) (make-line (float-vector 0 0 0)
-                                                 (float-vector 0 0 height)))))
-     cyl))
-(defun make-cube-from-bounding-box (bbox &rest args &key (origin))
-  (let ((cds (make-coords :pos (send bbox :center)))
-        (dsize (send bbox :diagonal)))
-    (apply #'make-cube (elt dsize 0) (elt dsize 1) (elt dsize 2) :origin-coords (when origin cds) args)))
+
 ;;
 ;; accessor to primitive bodies
 ;;

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[jskeus-commit] SF.net SVN: jskeus:[898] trunk/irteus/irtgeo.l

[<ky...@us...>]

Revision: 898
          http://sourceforge.net/p/jskeus/code/898
Author:   kyouhei
Date:     2013-04-30 10:26:31 +0000 (Tue, 30 Apr 2013)
Log Message:
-----------
add overwrite functions make-cube and make-cylinder with :origin-coords method

Modified Paths:
--------------
    trunk/irteus/irtgeo.l

Modified: trunk/irteus/irtgeo.l
===================================================================
--- trunk/irteus/irtgeo.l	2013-04-26 02:51:46 UTC (rev 897)
+++ trunk/irteus/irtgeo.l	2013-04-30 10:26:31 UTC (rev 898)
@@ -522,7 +522,69 @@
                           0 (* pipe-radius (sin (* i dtheta))))
             v-list))
     (apply #'make-torus v-list :segments segments args)))
-
+;; over write geo/primt.l
+(defun make-cube (xsize ysize zsize &rest args &key (name) (color) (origin-coords) &allow-other-keys)
+"MAKE-CUBE x y z &key color name coords"
+   (setq xsize (float xsize) ysize (float ysize) zsize (float zsize))
+   (let ((xsize/2 %(xsize / 2.0))
+         (ysize/2 %(ysize / 2.0))
+         (zsize/2 %(- zsize / 2.0))
+         v1 v2 v3 v4 b)
+      (setq v1 (float-vector xsize/2 ysize/2 zsize/2)
+            v2 (float-vector xsize/2 (- ysize/2)  zsize/2)
+            v3 (float-vector (- xsize/2) (- ysize/2) zsize/2)
+            v4 (float-vector (- xsize/2) ysize/2 zsize/2))
+      (cond
+       (origin-coords
+        (let ((vlst (mapcar #'(lambda (v) (send origin-coords :transform-vector v)) (list v1 v2 v3 v4)))
+              (zvec (send origin-coords :rotate-vector (float-vector 0 0 1))))
+          (scale zsize zvec zvec)
+          (setq b (apply #'make-prism vlst zvec
+                         :name name :color color
+                         :primitive (list ':cube xsize ysize zsize)
+                         args))))
+       (t
+        (setq b (apply #'make-prism (list v1 v2 v3 v4) zsize
+                       :name name :color color
+                       :primitive (list ':cube xsize ysize zsize)
+                       args))))
+      (dolist (f (send b :get-face nil :side))
+        (send f :id (append (send f :id) (list  (nth (nth 1 (send f :id))
+                                                     '(:-x :-y :x :y))))))
+      b))
+;; over write geo/primt.l
+(defun make-cylinder (radius height &rest args
+                             &key (segments 24) (circumscribed nil) (origin-coords)
+                             &allow-other-keys)
+"MAKE-CYLINDER radius height (:segments 12) (:circumscribed nil) (origin-coords) :color :name"
+   (setq radius (float radius) height (float height))
+   (let* ((theta (/ 2pi segments))
+          (radius (if circumscribed (/ radius (cos (/ theta 2.0))) radius))
+          (p (float-vector radius 0 0))
+          (base (list p))
+          cyl)
+     (dotimes (i (1- segments))
+       (push (rotate-vector (car base) theta :z) base))
+     (when origin-coords
+       (setq base
+             (mapcar #'(lambda (pp) (send origin-coords :transform-vector pp)) base))
+       (setq height
+             (send origin-coords :rotate-vector (float-vector 0 0 height))))
+     (setq cyl
+           (apply #'make-prism base height
+                  :primitive  (list ':cylinder radius height segments)
+                  args))
+     (cond
+      (origin-coords
+       (setf (get cyl :center-axis) (make-line (send origin-coords :worldpos)
+                                               (v+ (send origin-coords :worldpos) height))))
+      (t (setf (get cyl :center-axis) (make-line (float-vector 0 0 0)
+                                                 (float-vector 0 0 height)))))
+     cyl))
+(defun make-cube-from-bounding-box (bbox &rest args &key (origin))
+  (let ((cds (make-coords :pos (send bbox :center)))
+        (dsize (send bbox :diagonal)))
+    (apply #'make-cube (elt dsize 0) (elt dsize 1) (elt dsize 2) :origin-coords (when origin cds) args)))
 ;;
 ;; accessor to primitive bodies
 ;;

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[jskeus-commit] SF.net SVN: jskeus:[897] trunk/irteus/demo/demo.l

[<sn...@us...>]

Revision: 897
          http://sourceforge.net/p/jskeus/code/897
Author:   snozawa
Date:     2013-04-26 02:51:46 +0000 (Fri, 26 Apr 2013)
Log Message:
-----------
add walk-motion to demo.l

Modified Paths:
--------------
    trunk/irteus/demo/demo.l

Modified: trunk/irteus/demo/demo.l
===================================================================
--- trunk/irteus/demo/demo.l	2013-04-23 11:19:11 UTC (rev 896)
+++ trunk/irteus/demo/demo.l	2013-04-26 02:51:46 UTC (rev 897)
@@ -7,6 +7,7 @@
 (load "hand-grasp-ik.l")
 (load "dual-manip-ik.l")
 (load "crank-motion.l")
+(load "walk-motion.l")
 (load "hanoi-arm.l")
 (load "particle.l")
 

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[jskeus-commit] SF.net SVN: jskeus:[896] trunk/irteus/irtgl.l

[<ky...@us...>]

Revision: 896
          http://sourceforge.net/p/jskeus/code/896
Author:   kyouhei
Date:     2013-04-23 11:19:11 +0000 (Tue, 23 Apr 2013)
Log Message:
-----------
implement :clear-display-id method to glvertices

Modified Paths:
--------------
    trunk/irteus/irtgl.l

Modified: trunk/irteus/irtgl.l
===================================================================
--- trunk/irteus/irtgl.l	2013-04-21 15:14:14 UTC (rev 895)
+++ trunk/irteus/irtgl.l	2013-04-23 11:19:11 UTC (rev 896)
@@ -578,7 +578,7 @@
    (send-super* :init args)
    self)
   (:filename (&optional nm) (if nm (setq filename nm)) filename)
-  (:clear-display-id ()) ;;; not implemented yet
+  (:clear-display-id () (setf (get self :GL-DISPLAYLIST-ID) nil))
   ;; (:check-normal ())
   ;; (:update ()) ;; call update when updating coordinates
   (:actual-vertices ()
@@ -720,6 +720,10 @@
      (setq mesh-list (append mesh-list ret))
      (send self :calc-bounding-box)
      self))
+  (:draw-on
+   (&key ((:viewer vwer) *viewer*))
+   ;; not implemented yet
+   )
   (:draw (vwr &rest args)
    (let* (newlis
           (mat (send (send self :worldcoords) :4x4))

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[jskeus-commit] SF.net SVN: jskeus:[895] trunk/irteus/demo/walk-motion.l

[<sn...@us...>]

Revision: 895
          http://sourceforge.net/p/jskeus/code/895
Author:   snozawa
Date:     2013-04-21 15:14:14 +0000 (Sun, 21 Apr 2013)
Log Message:
-----------
remove unused resetting

Modified Paths:
--------------
    trunk/irteus/demo/walk-motion.l

Modified: trunk/irteus/demo/walk-motion.l
===================================================================
--- trunk/irteus/demo/walk-motion.l	2013-04-21 15:13:03 UTC (rev 894)
+++ trunk/irteus/demo/walk-motion.l	2013-04-21 15:14:14 UTC (rev 895)
@@ -26,9 +26,6 @@
     )
   ;;
   (warn ";; test2 ;; calc footstep-list from go pos param~%")
-  (send *robot* :reset-pose)
-  (send *robot* :fix-leg-to-coords (make-coords) '(:rleg :lleg))
-  (objects (list *robot*))
   (send *robot* :calc-walk-pattern-from-footstep-list
         (send *robot* :go-pos-params->footstep-list
               500 150 45) ;; x[mm] y[mm] th[rad]

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[jskeus-commit] SF.net SVN: jskeus:[894] trunk/irteus/irtdyna.l

[<sn...@us...>]

Revision: 894
          http://sourceforge.net/p/jskeus/code/894
Author:   snozawa
Date:     2013-04-21 15:13:03 +0000 (Sun, 21 Apr 2013)
Log Message:
-----------
enable to set init-xk from preview-controller

Modified Paths:
--------------
    trunk/irteus/irtdyna.l

Modified: trunk/irteus/irtdyna.l
===================================================================
--- trunk/irteus/irtdyna.l	2013-04-21 13:53:44 UTC (rev 893)
+++ trunk/irteus/irtdyna.l	2013-04-21 15:13:03 UTC (rev 894)
@@ -999,7 +999,7 @@
                   dt zc
                   :A newA :b newb
                   :c (make-matrix 1 4 (list (list 1.0 0.0 0.0 0.0)))
-                  :q q :r r :delay d))
+                  :q q :r r :delay d :init-xk init-xk))
     (when (null xk*)
       (setq xk* (make-matrix 4 dim))
       (setf (matrix-row xk* 0) (subseq init-xk 0 dim)))

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[jskeus-commit] SF.net SVN: jskeus:[893] trunk/irteus

[<sn...@us...>]

Revision: 893
          http://sourceforge.net/p/jskeus/code/893
Author:   snozawa
Date:     2013-04-21 13:53:44 +0000 (Sun, 21 Apr 2013)
Log Message:
-----------
add go-pos param method

Modified Paths:
--------------
    trunk/irteus/demo/walk-motion.l
    trunk/irteus/irtrobot.l

Modified: trunk/irteus/demo/walk-motion.l
===================================================================
--- trunk/irteus/demo/walk-motion.l	2013-04-21 04:36:57 UTC (rev 892)
+++ trunk/irteus/demo/walk-motion.l	2013-04-21 13:53:44 UTC (rev 893)
@@ -20,9 +20,20 @@
     ;; This should have :l/r method or :l/r property.
     (dolist (x footstep-list)
       (send x :put :l/r (if (evenp (position x footstep-list)) :rleg :lleg)))
+    (warn ";; test1 ;; specify footstep-list~%")
     (send *robot* :calc-walk-pattern-from-footstep-list
           footstep-list :debug-view :no-message)
-    ))
+    )
+  ;;
+  (warn ";; test2 ;; calc footstep-list from go pos param~%")
+  (send *robot* :reset-pose)
+  (send *robot* :fix-leg-to-coords (make-coords) '(:rleg :lleg))
+  (objects (list *robot*))
+  (send *robot* :calc-walk-pattern-from-footstep-list
+        (send *robot* :go-pos-params->footstep-list
+              500 150 45) ;; x[mm] y[mm] th[rad]
+        :debug-view :no-message)
+  )
 
 (unless (boundp '*irtviewer*) (make-irtviewer))
 (warn "(walk-motion) for walking motion~%")

Modified: trunk/irteus/irtrobot.l
===================================================================
--- trunk/irteus/irtrobot.l	2013-04-21 04:36:57 UTC (rev 892)
+++ trunk/irteus/irtrobot.l	2013-04-21 13:53:44 UTC (rev 893)
@@ -25,6 +25,7 @@
 (in-package "USER")
 
 (require :irtmodel)
+(require :irtdyna)
 
 (defun make-default-robot-link (len radius axis name &optional extbody)
   (let (bs b0 b1 c a (r/2 (/ radius 2)))
@@ -504,6 +505,105 @@
    (send *viewer* :viewsurface :flush)
    (x::window-main-one)
    )
+  ;; generate footstep parameter
+  ;; currently only default, forward and outside
+  (:gen-footstep-parameter
+   ()
+   (warn ";; generating footstep-parameter...~%")
+   (let ((pav (send self :angle-vector))
+         (pc (send self :copy-worldcoords)))
+     (send self :reset-pose)
+     (send self :fix-leg-to-coords (make-coords) '(:rleg :lleg))
+     (let ((dol (abs (elt (apply #'v- (send self :legs :end-coords :worldpos)) 1))))
+       (labels ((ik-test
+                 (target-coords-func diff-func)
+                 (send self :reset-pose)
+                 (send self :fix-leg-to-coords (make-coords) '(:rleg :lleg))
+                 (let* ((tc (send self :rleg :end-coords :copy-worldcoords))
+                        (init-tc (send tc :copy-worldcoords)))
+                   (while (send self :inverse-kinematics
+                                (funcall target-coords-func tc)
+                                :link-list (send self :link-list (send self :rleg :end-coords :parent))
+                                :move-target (send self :rleg :end-coords) :warnp nil))
+                   (funcall diff-func tc init-tc))))
+         (let ((fol (ik-test #'(lambda (tc) (send tc :translate #f(10 0 0)))
+                             #'(lambda (tc init-tc) (abs (elt (v- (send tc :worldpos) (send init-tc :worldpos)) 0)))))
+               (ool (ik-test #'(lambda (tc) (send tc :translate #f(0 -10 0)))
+                             #'(lambda (tc init-tc) (abs (elt (v- (send tc :worldpos) (send init-tc :worldpos)) 1)))))
+               (frr (ik-test #'(lambda (tc) (send tc :rotate (deg2rad -2.5) :z))
+                             #'(lambda (tc init-tc) (abs (rad2deg (- (caar (send tc :rpy-angle)) (caar (send init-tc :rpy-angle)))))))))
+           (send self :newcoords pc)
+           (send self :angle-vector pav)
+           (warn ";; generating footstep-parameter... done.~%")
+           (send self :put :footstep-parameter
+                 (list :default-half-offset (float-vector 0 (* 0.5 dol) 0)
+                       :forward-offset-length (* fol 0.5)
+                       :outside-offset-length (* ool 0.5)
+                       :rotate-rad (* frr 0.5)))
+           )))
+     ))
+  (:footstep-parameter
+   ()
+   (unless (send self :get :footstep-parameter)
+     (send self :gen-footstep-parameter))
+   (send self :get :footstep-parameter)
+   )
+  ;; simple footstep gen
+  (:go-pos-params->footstep-list
+   (xx yy th ;; [mm] [mm] [deg]
+    &key ((:footstep-parameter prm) (send self :footstep-parameter))
+         ((:default-half-offset defp) (cadr (memq :default-half-offset prm)))
+         ((:forward-offset-length xx-max) (cadr (memq :forward-offset-length prm)))
+         ((:outside-offset-length yy-max) (cadr (memq :outside-offset-length prm)))
+         ((:rotate-rad th-max) (abs (rad2deg (cadr (memq :rotate-rad prm)))))
+         (gen-go-pos-step-node-func
+          #'(lambda
+              (mc leg leg-translate-pos)
+              (let ((cc (send (send mc :copy-worldcoords) :translate
+                              (cadr (assoc leg leg-translate-pos)))))
+                (send cc :put :l/r leg)
+                cc))))
+   (let* ((x-sign (if (> xx 0.0) 1.0 -1.0))
+          (y-sign (if (> yy 0.0) 1.0 -1.0))
+          (th-sign (if (> th 0.0) 1.0 -1.0))
+          (dx 0.0) (dy 0.0) (dth 0.0) (cnt 0)
+          (leg (if (> yy 0.0) :lleg :rleg))
+          (mc (apply #'midcoords 0.5 (send self :legs :end-coords :copy-worldcoords)))
+          ;;(mc (make-coords))
+          (leg-translate-pos
+           (mapcar #'(lambda (l)
+                       (list l (scale (case l (:rleg -1) (:lleg 1)) defp)))
+                   '(:rleg :lleg)))
+          (ret (list (funcall gen-go-pos-step-node-func mc (case leg (:lleg :rleg) (:rleg :lleg)) leg-translate-pos))))
+     (labels ((do-push-steps
+               (max-cnt func)
+               (setq cnt 0)
+               (dotimes (i max-cnt)
+                 (funcall func)
+                 (push (funcall gen-go-pos-step-node-func mc leg leg-translate-pos) ret)
+                 (setq leg (case leg (:lleg :rleg) (:rleg :lleg)))
+                 (incf cnt)
+                 ))
+              (calc-max-count
+               (val val-max)
+               (1+ (round (floor (- (/ (abs val) val-max) 1e-5))))))
+       (do-push-steps (max (calc-max-count xx xx-max)
+                           (calc-max-count yy yy-max)
+                           (calc-max-count th th-max))
+                      #'(lambda ()
+                          (let ((ddx (if (> xx-max (abs (- dx xx))) (- xx dx) (* xx-max x-sign)))
+                                (ddy (cond
+                                      ((oddp cnt) 0.0)
+                                      ((> yy-max (abs (- dy yy))) (- yy dy))
+                                      (t (* yy-max y-sign))))
+                                (ddth (cond
+                                       ((> th-max (abs (- dth th))) (- th dth))
+                                       (t (* th-max th-sign)))))
+                            (send mc :translate (float-vector ddx ddy 0.0))
+                            (send mc :rotate (deg2rad ddth) :z)
+                            (setq dx (+ dx ddx) dy (+ dy ddy) dth (+ dth ddth)))))
+       (push (funcall gen-go-pos-step-node-func mc leg leg-translate-pos) ret)
+       (reverse ret))))
   )
 (in-package "GEOMETRY")
 

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[jskeus-commit] SF.net SVN: jskeus:[892] trunk/irteus

[<sn...@us...>]

Revision: 892
          http://sourceforge.net/p/jskeus/code/892
Author:   snozawa
Date:     2013-04-21 04:36:57 +0000 (Sun, 21 Apr 2013)
Log Message:
-----------
add walk-motion example

Modified Paths:
--------------
    trunk/irteus/irtdyna.l

Added Paths:
-----------
    trunk/irteus/demo/walk-motion.l

Added: trunk/irteus/demo/walk-motion.l
===================================================================
--- trunk/irteus/demo/walk-motion.l	                        (rev 0)
+++ trunk/irteus/demo/walk-motion.l	2013-04-21 04:36:57 UTC (rev 892)
@@ -0,0 +1,28 @@
+(load "sample-robot-model.l")
+
+(defun walk-motion
+  ()
+  "walking motion using preview-control, gait-generator, and fullbody ik"
+  (send *irtviewer* :title "walk-motion")
+  (unless (boundp '*robot*)
+    (setq *robot* (instance sample-robot :init)))
+  (send *robot* :reset-pose)
+  (send *robot* :fix-leg-to-coords (make-coords) '(:rleg :lleg))
+  (objects (list *robot*))
+  (let ((footstep-list
+         (list (send *robot* :rleg :end-coords :copy-worldcoords)
+               (send (send *robot* :lleg :end-coords :copy-worldcoords) :translate #f(50 0 0))
+               (send (send *robot* :rleg :end-coords :copy-worldcoords) :translate #f(100 0 0))
+               (send (send *robot* :lleg :end-coords :copy-worldcoords) :translate #f(150 0 0))
+               (send (send *robot* :rleg :end-coords :copy-worldcoords) :translate #f(200 0 0))
+               (send (send *robot* :lleg :end-coords :copy-worldcoords) :translate #f(200 0 0)))))
+    ;; footstep-list is coordinates list.
+    ;; This should have :l/r method or :l/r property.
+    (dolist (x footstep-list)
+      (send x :put :l/r (if (evenp (position x footstep-list)) :rleg :lleg)))
+    (send *robot* :calc-walk-pattern-from-footstep-list
+          footstep-list :debug-view :no-message)
+    ))
+
+(unless (boundp '*irtviewer*) (make-irtviewer))
+(warn "(walk-motion) for walking motion~%")

Modified: trunk/irteus/irtdyna.l
===================================================================
--- trunk/irteus/irtdyna.l	2013-04-21 03:32:12 UTC (rev 891)
+++ trunk/irteus/irtdyna.l	2013-04-21 04:36:57 UTC (rev 892)
@@ -1142,12 +1142,18 @@
           default-zmp-offsets dzo
           index-count one-step-len
           finalize-p nil)
-    (send self :append-support-leg-list (case (send (car footstep-node-list) :l/r)
-                                          (:rleg :lleg) (:lleg :rleg)))
+    (send self :append-support-leg-list
+          (case (if (find-method (car footstep-node-list) :l/r)
+                    (send (car footstep-node-list) :l/r)
+                  (send (car footstep-node-list) :get :l/r))
+            (:rleg :lleg) (:lleg :rleg)))
     (send self :append-support-leg-coords-list
           (send robot (car support-leg-list) :end-coords :copy-worldcoords))
     (send self :append-swing-leg-dst-coords-list
-          (send robot (send (car footstep-node-list) :l/r) :end-coords :copy-worldcoords))
+          (send robot (if (find-method (car footstep-node-list) :l/r)
+                          (send (car footstep-node-list) :l/r)
+                        (send (car footstep-node-list) :get :l/r))
+                :end-coords :copy-worldcoords))
     (send self :append-refzmp-cur-list
           (midpoint 0.5
                     (v+ (send (car support-leg-coords-list) :worldpos)
@@ -1195,7 +1201,11 @@
   (:make-gait-parameter
     ()
     (let ((fs (pop footstep-node-list)))
-      (send self :append-support-leg-list (case (send fs :l/r) (:rleg :lleg) (:lleg :rleg)))
+      (send self :append-support-leg-list
+            (case (if (find-method fs :l/r)
+                      (send fs :l/r)
+                    (send fs :get :l/r))
+              (:rleg :lleg) (:lleg :rleg)))
       (send self :append-support-leg-coords-list (car (last swing-leg-dst-coords-list)))
       (send self :append-swing-leg-dst-coords-list (send fs :worldcoords))
       (send self :append-refzmp-cur-list

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[jskeus-commit] SF.net SVN: jskeus:[891] trunk/irteus

[<sn...@us...>]

Revision: 891
          http://sourceforge.net/p/jskeus/code/891
Author:   snozawa
Date:     2013-04-21 03:32:12 +0000 (Sun, 21 Apr 2013)
Log Message:
-----------
remove jsk codes and :calc-walk-pattern-from-footstep-list

Modified Paths:
--------------
    trunk/irteus/irtdyna.l
    trunk/irteus/irtrobot.l

Modified: trunk/irteus/irtdyna.l
===================================================================
--- trunk/irteus/irtdyna.l	2013-04-21 03:02:06 UTC (rev 890)
+++ trunk/irteus/irtdyna.l	2013-04-21 03:32:12 UTC (rev 891)
@@ -851,7 +851,8 @@
                                (m* ct (scale-matrix Q c)))
                            (m* (m* (m* At P) b) K))))
             (setq diffP (m- P prevP))
-            (when (matrix-eps= diffP zero-matrix (* *epsilon* 0.01))
+            (when ;;(matrix-eps= diffP zero-matrix (* *epsilon* 0.01))
+                (eps-v= (array-entity diffP) (array-entity zero-matrix) (* *epsilon* 0.01))
               (setq A-bKt (transpose (m- A (m* b K))))
               (return-from :solve (list P K)))
           (setq P prevP)
@@ -974,14 +975,31 @@
                                     (list (* 0.5 dt dt))
                                     (list dt)))
           orgc (make-matrix 1 3 (list (list 1.0 0.0 (- (/ zc (elt *g-vec* 2)))))))
-    (send-super :init
-                dt zc
-                :A (concatenate-matrix-column
-                    (concatenate-matrix-row (make-matrix 1 1 (list (list 1.0))) (m* orgc orgA))
-                    (concatenate-matrix-row (make-matrix 3 1 (list (list 0) (list 0) (list 0))) orgA))
-                :b (concatenate-matrix-column (m* orgc orgb) orgb)
-                :c (make-matrix 1 4 (list (list 1.0 0.0 0.0 0.0)))
-                :q q :r r :delay d)
+    (let* ((tmpAc (m* orgc orgA))
+           (newA (make-matrix
+                  (+ 1 (cadr (array-dimensions tmpAc)))
+                  (+ 3 (car (array-dimensions tmpAc)))))
+           (tmpcb (m* orgc orgb))
+           (newb (make-matrix
+                  (+ 1 (car (array-dimensions orgb))) 1)))
+      (setf (aref newA 0 0) 1.0)
+      (dotimes (i (cadr (array-dimensions tmpAc)))
+        (setf (aref newA 0 (+ 1 i)) (aref tmpAc 0 i)))
+      (dotimes (i (car (array-dimensions orgA)))
+        (dotimes (j (cadr (array-dimensions orgA)))
+          (setf (aref newA (+ 1 i) (+ 1 j)) (aref orgA i j))))
+      (setf (aref newb 0 0) (aref tmpcb 0 0))
+      (dotimes (i (car (array-dimensions orgb)))
+        (setf (aref newb (+ 1 i) 0) (aref orgb i 0)))
+      ;; (concatenate-matrix-column
+      ;;  (concatenate-matrix-row (make-matrix 1 1 (list (list 1.0))) (m* orgc orgA))
+      ;;  (concatenate-matrix-row (make-matrix 3 1 (list (list 0) (list 0) (list 0))) orgA))
+      ;; (concatenate-matrix-column (m* orgc orgb) orgb)
+      (send-super :init
+                  dt zc
+                  :A newA :b newb
+                  :c (make-matrix 1 4 (list (list 1.0 0.0 0.0 0.0)))
+                  :q q :r r :delay d))
     (when (null xk*)
       (setq xk* (make-matrix 4 dim))
       (setf (matrix-row xk* 0) (subseq init-xk 0 dim)))

Modified: trunk/irteus/irtrobot.l
===================================================================
--- trunk/irteus/irtrobot.l	2013-04-21 03:02:06 UTC (rev 890)
+++ trunk/irteus/irtrobot.l	2013-04-21 03:32:12 UTC (rev 891)
@@ -430,6 +430,80 @@
              :target-centroid-pos target-centroid-pos
              args)
       )))
+  (:calc-walk-pattern-from-footstep-list
+   (footstep-list
+    &key (default-step-height 50) (dt 0.1) (default-step-time 1.0)
+         (default-zmp-offsets (list (float-vector 0 0 0) (float-vector 0 0 0)))
+         (solve-angle-vector-args) (debug-view nil))
+   (let* ((res) (ret) (tm 0)
+          (gg (instance gait-generator :init self dt)))
+     ;; initial move centroid on foot
+     (send self :move-centroid-on-foot :both '(:rleg :lleg))
+     (send gg :initialize-gait-parameter
+           footstep-list default-step-time (send (car (send self :links)) :get :c-til)
+           :default-step-height default-step-height :default-double-support-ratio 0.2
+           :default-zmp-offsets default-zmp-offsets)
+
+     (while (null (setq ret (send gg :proc-one-tick :type :cycloid :debug t :solve-angle-vector-args solve-angle-vector-args))))
+     (dotimes (i 2) (send self :calc-zmp)) ;; for zmp initialization
+
+     ;; following are in control loop
+     (while (setq ret (send gg :proc-one-tick :type :cycloid :debug t :solve-angle-vector-args solve-angle-vector-args))
+       ;; only for debug view
+       (let ((czmp (send self :calc-zmp
+                         (send self :angle-vector)
+                         (send (car (send self :links)) :copy-worldcoords)
+                         :dt dt :pZMPz (elt (elt ret 5) 2))))
+         (if debug-view
+             (send self :draw-gg-debug-view
+                   (elt ret 4) ;; swc
+                   (elt ret 3) ;; spc
+                   (elt ret 5) ;; rz
+                   (elt ret 6) ;; cog
+                   (elt ret 7) ;; pz
+                   czmp dt))
+         (push
+          (list :angle-vector (send self :angle-vector)
+                :root-link (send self :copy-worldcoords)
+                :czmp czmp :refzmp (elt ret 5) :cog (elt ret 6)
+                :swing-leg-coords (elt ret 4)
+                :support-leg-coords (elt ret 3)
+                :time tm
+                :pz (elt ret 7)
+                )
+          res)
+         (setq tm (+ tm dt))
+         ))
+     (reverse res)
+     ))
+  (:draw-gg-debug-view
+   (swc spc rz cog pz czmp dt)
+   (send *viewer* :draw-objects :flush nil)
+   (labels ((with-modify-color
+             (col func)
+             (let ((pc (send *viewer* :viewsurface :color)))
+               (send *viewer* :viewsurface :color col)
+               (funcall func)
+               (send *viewer* :viewsurface :color pc))))
+     (send spc :draw-on :flush nil :size 300 :color #f(1 0 0))
+     (send swc :draw-on :flush nil :size 300 :color #f(0 1 0))
+     (send rz :draw-on :flush nil :size 300 :color #f(0 0 1))
+     (send czmp :draw-on :flush nil :size 200 :width 5)
+     (with-modify-color
+      #f(1 0 0)
+      #'(lambda () (send *viewer* :viewsurface :string 20 20 "red = support leg")))
+     (with-modify-color
+      #f(0 1 0)
+      #'(lambda () (send *viewer* :viewsurface :string 20 50 "green = swing leg")))
+     (with-modify-color
+      #f(0 0 1)
+      #'(lambda () (send *viewer* :viewsurface :string 20 80 "blue = refzmp")))
+     (with-modify-color
+      #f(1 1 1)
+      #'(lambda () (send *viewer* :viewsurface :string 20 110 "white = calc zmp"))))
+   (send *viewer* :viewsurface :flush)
+   (x::window-main-one)
+   )
   )
 (in-package "GEOMETRY")
 

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[jskeus-commit] SF.net SVN: jskeus:[890] trunk/irteus/irtdyna.l

[<sn...@us...>]

Revision: 890
          http://sourceforge.net/p/jskeus/code/890
Author:   snozawa
Date:     2013-04-21 03:02:06 +0000 (Sun, 21 Apr 2013)
Log Message:
-----------
add preview control and gait generator class

Modified Paths:
--------------
    trunk/irteus/irtdyna.l

Modified: trunk/irteus/irtdyna.l
===================================================================
--- trunk/irteus/irtdyna.l	2013-04-20 14:51:17 UTC (rev 889)
+++ trunk/irteus/irtdyna.l	2013-04-21 03:02:06 UTC (rev 890)
@@ -818,5 +818,538 @@
    (send (car (send self :links)) :get :c-til))
   )
 
+;;;
+;;; preview control and preview filter class
+;;; written by {nozawa,kanzaki,k-okada}@jsk.t.u-tokyo.ac.jp
+;;;
+
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;;; riccati equation class
+;;;  solve steady solution of riccati equation
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+(defclass riccati-equation
+  :super propertied-object
+  :slots (A b c P Q R K
+            A-bKt R+btPb-1 ;; for buffer
+            ))
+(defmethod riccati-equation
+  (:init (AA bb cc QQ RR) 
+    (setq A AA b BB c CC Q QQ R RR)
+    (setq P (make-matrix (array-dimension c 1) (array-dimension c 1))))
+  (:solve ()
+    (let (diffP
+	  (At (transpose A))
+	  (bt (transpose b))
+	  (ct (transpose c))
+	  (zero-matrix (make-matrix (array-dimension c 1) (array-dimension c 1))))
+      (do ((loop 0 (1+ loop)))
+	  ((>= loop 2000))
+	(let* ((tmp-PA (m* P A)))
+          (setq R+btPb-1 (/ 1.0 (+ R (aref (m* bt (m* P b)) 0 0)))
+                K (scale-matrix R+btPb-1 (m* bt tmp-PA)))
+          (let ((prevP (m- (m+ (m* At tmp-pa)
+                               (m* ct (scale-matrix Q c)))
+                           (m* (m* (m* At P) b) K))))
+            (setq diffP (m- P prevP))
+            (when (matrix-eps= diffP zero-matrix (* *epsilon* 0.01))
+              (setq A-bKt (transpose (m- A (m* b K))))
+              (return-from :solve (list P K)))
+          (setq P prevP)
+          )))
+      (warn ";; ERROR in (reccati (:solve)) : Counld not convergence ~A~%" diffP)
+      ))
+  )
+
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;;; preview-control class to compute reference COG from reference ZMP
+;;;  (refer to "Biped Walking Pattern Generation by using Preview Control of Zero-Moment Point", ICRA 2003, p.1620-1626, Shuuji KAJITA, Fumio KANEHIRO, Kenji KANEKO, Kiyoshi FUJIWARA, Kensuke HARADA, Kazuhito YOKOI and Hirohisa HIRUKAWA
+;;;            "Humanoid Robot (in Japanese)", Ohmsha, 2005, Shuji Kajita, ISBN 4-274-20058-2)
+;;;  A, b, c -> system configuration matrices
+;;;  xk, uk  -> COG() and input for controller at "k"
+;;;             xk -> 3 x 2 matrix, uk -> 1 x 2 matrix (2 represents x and y)
+;;;  delay -> preview step calculated from predictive time (delay = N)
+;;;  p1-n -> reference ZMP queue (time is k, k+1, ... k+N)
+;;;  state equation of this system is
+;;;   xk+1 = A xk + b uk
+;;;   pk   = c xk
+;;;  unit system -> [mm], [s]
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+(defclass preview-control
+  :super riccati-equation
+  :slots (xk uk delay f1-n p1-n dim cog-z zmp-z))
+(defmethod preview-control
+  (:init
+    (dt _zc ;; dt -> sampling time[s], _zc is height of COG[mm]
+     &key (q 1) (r 1e-6)
+          ((:delay d) 1.6)
+          (init-xk (float-vector 0 0 0))
+          ((:A _A) (make-matrix 3 3 (list (list 1 dt (* 0.5 dt dt))
+                                          (list 0 1 dt)
+                                          (list 0 0 1))))
+          ((:B _B) (make-matrix 3 1 (list (list (* (/ 1.0 6.0) dt dt dt))
+                                          (list (* 0.5 dt dt))
+                                          (list dt))))
+          ((:C _C) (make-matrix 1 3 (list (list 1.0 0.0 (- (/ _zc (elt *g-vec* 2))))))))
+    (setq delay (round (/ d dt)) dim 2 cog-z _zc)
+    (send-super :init _A _B _C q r)
+    (when (null xk)
+      (setq xk (make-matrix 3 dim))
+      (setf (matrix-row xk 0) (subseq init-xk 0 dim)))
+    (send self :solve)
+    (send self :calc-f)
+    self)
+  ;; getter methods
+  (:delay () delay)
+  (:refcog () (float-vector (elt (matrix-row xk 0) 0)
+                            (elt (matrix-row xk 0) 1)
+                            cog-z))
+  (:cart-zmp (&optional (_c c)) ;; table-cart zmp as an output variable
+    (let ((p (m* _c xk)))
+      (float-vector (aref p 0 0)
+                    (aref p 0 1)
+                    zmp-z)))
+  (:last-refzmp ()
+    (let ((p (matrix-row p1-n delay))) ;; tail of refzmp queue
+      (float-vector (elt p 0)
+                    (elt p 1)
+                    zmp-z)))
+  (:current-refzmp ()
+    (let ((p (matrix-row p1-n 0))) ;; head of refzmp queue
+      (float-vector (elt p 0)
+                    (elt p 1)
+                    zmp-z)))
+  ;;
+  (:calc-f () ;; calculate preview gain for k+1, ... k+N.
+    (setq f1-n (make-matrix 1 (1+ delay))) ;; (matrix-row f1-n 0) is dummy to being mutiplied by p1-n
+    (let* ((gsi (unit-matrix (array-dimension c 1)))
+	   (bt (transpose b))
+	   (ct (transpose c)))
+      (dotimes (i delay)
+	(let* ((qt (scale-matrix Q ct))
+	       (fa (scale-matrix R+btPb-1 (m* bt (m* gsi qt)))))
+          (setq gsi (m* A-bKt gsi))
+          (setf (aref f1-n 0 (1+ i)) (aref fa 0 0))
+          ))))
+  (:calc-u () (m- (m* f1-n p1-n) (m* K xk)))
+  (:calc-xk () ;; update xk+1
+    (setq xk (m+ (m* A xk) (m* b (send self :calc-u)))))
+  ;;
+  (:update-xk (p)
+    (setq zmp-z (elt p 2))
+    ;; update p1-n
+    (when (null p1-n)
+      (setq p1-n (make-matrix (1+ delay) dim))
+      (dotimes (i (1+ delay)) (setf (matrix-row p1-n i) (subseq p 0 dim))))
+    (dotimes (i delay) (setf (matrix-row p1-n i) (matrix-row p1-n (1+ i))))
+    (setf (matrix-row p1-n delay) (subseq p 0 dim))
+    ;;
+    (send self :calc-xk))
+  (:update-cog-z (zc)
+    (setf (aref c 0 2) (- (/ zc (elt *g-vec* 2))))
+    (send self :solve)
+    (send self :calc-f))
+  )
+
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;;; extended-preview-control class to compute reference COG from reference ZMP
+;;;  this class is error system of preview-control class
+;;;  (refer to "Digital Preview Control (in Japanese)", SangyoToshoKabusikiGaisha, Takeshi Tsuchiya and Tadashi Egami)
+;;;  orgA, orgb, orgc -> system configuration matrices for original table-cart model
+;;;  xk* -> [p^T, dxk^T]^T, (1+3) x 2 matrix
+;;;  state equation of this system is
+;;;   xk+1* = A xk* + b duk
+;;;   pk   = c xk*
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+(defclass extended-preview-control
+  :super preview-control
+  :slots (orgA orgB orgC xk*))
+
+(defmethod extended-preview-control
+  (:init
+    (dt zc &key (q 1.0) (r 1.0e-6) ((:delay d) 1.6) (init-xk (float-vector 0 0 0)))
+    (setq orgA (make-matrix 3 3 (list (list 1 dt (* 0.5 dt dt))
+                                    (list 0 1 dt)
+                                    (list 0 0 1)))
+          orgb (make-matrix 3 1 (list (list (* (/ 1.0 6.0) dt dt dt))
+                                    (list (* 0.5 dt dt))
+                                    (list dt)))
+          orgc (make-matrix 1 3 (list (list 1.0 0.0 (- (/ zc (elt *g-vec* 2)))))))
+    (send-super :init
+                dt zc
+                :A (concatenate-matrix-column
+                    (concatenate-matrix-row (make-matrix 1 1 (list (list 1.0))) (m* orgc orgA))
+                    (concatenate-matrix-row (make-matrix 3 1 (list (list 0) (list 0) (list 0))) orgA))
+                :b (concatenate-matrix-column (m* orgc orgb) orgb)
+                :c (make-matrix 1 4 (list (list 1.0 0.0 0.0 0.0)))
+                :q q :r r :delay d)
+    (when (null xk*)
+      (setq xk* (make-matrix 4 dim))
+      (setf (matrix-row xk* 0) (subseq init-xk 0 dim)))
+    self)
+  ;; getter methods
+  (:cart-zmp () (send-super :cart-zmp orgc))
+  ;;
+  (:calc-f ()
+    (setq f1-n (make-matrix 1 (1+ delay)))
+    (let* ((gsi (unit-matrix (array-dimension c 1)))
+	   (bt (transpose b))
+	   (ct (transpose c))
+	   (R+btPb-1bt (scale-matrix R+btPb-1 bt))
+	   (qt (scale-matrix Q ct)))
+      (dotimes (i delay)
+	(let* ((qt (if (= i (1- delay)) (m* P qt) qt))
+               (fa (scale-matrix R+btPb-1 (m* bt (m* gsi qt)))))
+          (setq gsi (m* A-bKt gsi))
+	  (setf (aref f1-n 0 (1+ i)) (aref fa 0 0))
+          ))))
+  (:calc-u () (m- (m* f1-n p1-n) (m* K xk*)))
+  (:calc-xk ()
+    (setq xk* (m+ (m* A xk*) (m* b (send self :calc-u))))
+    (dotimes (i 3)
+      (setf (matrix-row xk i)
+            (v+ (matrix-row xk i)
+                (matrix-row xk* (1+ i)))))
+    )
+  )
+
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;;; preview-dynamics-filter class to handle variables about preview control
+;;;  avs -> queue of variables for preview control (k, k+1, ..., k+N)
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+(defclass preview-dynamics-filter
+  :super propertied-object
+  :slots (avs counter finishedp preview-controller))
+
+(defmethod preview-dynamics-filter
+  (:init (dt zc &optional (preview-class preview-control)
+                &rest args)
+    (setq counter 0
+          finishedp nil
+          preview-controller (instance* preview-class :init dt zc args)
+          avs (make-list (1+ (send preview-controller :delay))))
+    self)
+  ;;
+  (:finishedp () finishedp)
+  (:av () (car avs)) ;; get parameters at "k"
+  (:cart-zmp () (send preview-controller :cart-zmp))
+  (:refcog () (send preview-controller :refcog))
+  ;;
+  (:update (av p)
+    (let (r)
+      (dotimes (i (send preview-controller :delay)) (setf (elt avs i) (elt avs (1+ i))))
+      (setf (elt avs (send preview-controller :delay)) av)
+      (cond (p
+	     (send preview-controller :update-xk p)
+	     (if (< counter (send preview-controller :delay)) 	     
+		 (incf counter)
+	       (setq r t)))
+	    (t ;; (null p)
+	     (send preview-controller :update-xk
+                   (send preview-controller :last-refzmp))
+	     (if (> counter 0) (setq r (decf counter)))))
+      (if (<= counter 0) (setq finishedp t))
+      (if r (cons (send preview-controller :current-refzmp)
+		  (send preview-controller :refcog)) nil)
+      ))
+  )
+
+;;
+;; gait generator
+;;   currently biped robots are supported
+;; definition
+;;   step  -> one step
+;;   index -> one control loop in one step
+(defclass gait-generator
+  :super propertied-object
+  :slots (robot dt
+          ;; list for parameters (here, call "gait paramters")
+          footstep-node-list ;; list of footstep <- step-node class instance
+          support-leg-list ;; support leg list
+          support-leg-coords-list ;; support leg coords list
+          swing-leg-dst-coords-list ;; destination of swing leg
+          swing-leg-src-coords ;; source of swing leg = previous suppor leg coords
+          refzmp-cur-list ;; current reference zmp
+          refzmp-next ;; next reference zmp
+          refzmp-prev ;; previous reference zmp
+          step-height-list ;; step height list
+          ;; other parameters
+          one-step-len ;; division number for one step
+          index-count ;; counter for one step
+          default-step-height ;; default step height
+          default-double-support-ratio ;; default double support ratio ;; (- 1 default-double-support-ratio) is single support ratio
+          default-zmp-offsets ;; zmp offset list in the legs' end-coords ;; (list rleg-zmp-offset lleg-zmp-offset)
+          finalize-p ;; Are all footstep-node-list executed? finalize flag for make-gait-parameter. Is this necessary?
+          ;; preview controller parameters
+          preview-controller ;; preview controller for ZMP -> COG
+          )
+  )
+
+;; methods
+;; footstep generation process
+;;  footstep (input) -> support-leg-coords, swing-leg-coords -> refzmp -> cog -> angle-vector (output)
+;;  step-node class -> geometrical footstep parameters per one step
+;;  step-height, step-time -> real robot execution per one step sequence
+;;  robot, dt -> robot independent
+(defmethod gait-generator
+  (:init
+    (rb _dt)
+    (setq robot rb dt _dt)
+    ;; gen append methods
+    (dolist (list-name '(footstep-node-list support-leg-list
+                         support-leg-coords-list swing-leg-dst-coords-list
+                         swing-leg-src-coords refzmp-cur-list
+                         step-height-list))
+      (eval `(defmethod gait-generator
+               (,(read-from-string (format nil ":append-~A" list-name))
+                (_args)
+                (setq ,list-name (append ,list-name (list _args)))))))
+    self)
+  ;; initialize parameter and generate first gait parameter
+  (:initialize-gait-parameter
+    (fsl time cog ;; time is [s], cog is [mm]
+     &key ((:default-step-height dsh) 50) ;; height [mm]
+          ((:default-double-support-ratio ddsr) 0.2)
+          ((:default-zmp-offsets dzo) (list (float-vector 0 0 0) (float-vector 0 0 0))) ;; (list rleg lleg), [mm]
+          (delay 1.6) ;; delay [s]
+          (q 1.0) (r 1e-6))
+    (setq footstep-node-list fsl
+          one-step-len (round (/ time dt))
+          support-leg-coords-list nil
+          support-leg-list nil
+          swing-leg-dst-coords-list nil
+          refzmp-cur-list nil
+          step-height-list nil
+          default-step-height dsh
+          default-double-support-ratio ddsr
+          default-zmp-offsets dzo
+          index-count one-step-len
+          finalize-p nil)
+    (send self :append-support-leg-list (case (send (car footstep-node-list) :l/r)
+                                          (:rleg :lleg) (:lleg :rleg)))
+    (send self :append-support-leg-coords-list
+          (send robot (car support-leg-list) :end-coords :copy-worldcoords))
+    (send self :append-swing-leg-dst-coords-list
+          (send robot (send (car footstep-node-list) :l/r) :end-coords :copy-worldcoords))
+    (send self :append-refzmp-cur-list
+          (midpoint 0.5
+                    (v+ (send (car support-leg-coords-list) :worldpos)
+                        (send (car support-leg-coords-list) :rotate-vector
+                              (case (car support-leg-list) (:rleg (car default-zmp-offsets)) (:lleg (cadr default-zmp-offsets)))))
+                    (v+ (send (car swing-leg-dst-coords-list) :worldpos)
+                        (send (car swing-leg-dst-coords-list) :rotate-vector
+                              (case (car support-leg-list) (:lleg (car default-zmp-offsets)) (:rleg (cadr default-zmp-offsets)))))))
+    (send self :append-step-height-list 0.0)
+    (pop footstep-node-list)
+    ;; currently, not error system
+    (setq preview-controller (instance preview-dynamics-filter :init
+                                       dt (- (elt cog 2) (elt (car refzmp-cur-list) 2))
+                                       extended-preview-control
+                                       :delay delay
+                                       :q q :r r
+                                       :init-xk cog
+                                       )
+          swing-leg-src-coords (car swing-leg-dst-coords-list)
+          refzmp-next (v+ (send (car swing-leg-dst-coords-list) :worldpos)
+                          (send (car swing-leg-dst-coords-list) :rotate-vector
+                                (case (car support-leg-list) (:lleg (car default-zmp-offsets)) (:rleg (cadr default-zmp-offsets)))))
+          refzmp-prev (car refzmp-cur-list))
+    (send self :make-gait-parameter)
+    t)
+  ;; append final gait parameters
+  (:finalize-gait-parameter
+    ()
+    (let ((dst-swing-coords (car (last support-leg-coords-list))))
+      (send self :append-support-leg-list (case (car (last support-leg-list)) (:rleg :lleg) (:lleg :rleg)))
+      (send self :append-support-leg-coords-list (car (last swing-leg-dst-coords-list)))
+      (send self :append-swing-leg-dst-coords-list dst-swing-coords)
+      (send self :append-refzmp-cur-list
+            (midpoint 0.5
+                      (v+ (send (car (last support-leg-coords-list)) :worldpos)
+                          (send (car (last support-leg-coords-list)) :rotate-vector
+                                (case (car (last support-leg-list)) (:rleg (car default-zmp-offsets)) (:lleg (cadr default-zmp-offsets)))))
+                      (v+ (send (car (last swing-leg-dst-coords-list)) :worldpos)
+                          (send (car (last swing-leg-dst-coords-list)) :rotate-vector
+                                (case (car (last support-leg-list)) (:lleg (car default-zmp-offsets)) (:rleg (cadr default-zmp-offsets)))))))
+      (send self :append-step-height-list 0.0)
+      (setq refzmp-next (car (last refzmp-cur-list)))
+      t))
+  ;; generate gait parameters
+  (:make-gait-parameter
+    ()
+    (let ((fs (pop footstep-node-list)))
+      (send self :append-support-leg-list (case (send fs :l/r) (:rleg :lleg) (:lleg :rleg)))
+      (send self :append-support-leg-coords-list (car (last swing-leg-dst-coords-list)))
+      (send self :append-swing-leg-dst-coords-list (send fs :worldcoords))
+      (send self :append-refzmp-cur-list
+            (v+ (send (car (last support-leg-coords-list)) :worldpos)
+                (send (car (last support-leg-coords-list)) :rotate-vector
+                      (case (car (last support-leg-list)) (:rleg (car default-zmp-offsets)) (:lleg (cadr default-zmp-offsets))))))
+      (send self :append-step-height-list default-step-height)
+      t))
+  ;; calculate swing leg coords
+  (:calc-current-swing-leg-coords
+    (ratio src dst &key (type :shuffling) (step-height default-step-height))
+    (case type
+      (:shuffling
+        (midcoords ratio src dst))
+      (:cycloid
+        (send self :cycloid-midcoords ratio src dst step-height))
+      )
+    )
+  (:calc-ratio-from-double-support-ratio
+   ()
+   (let* (;; narrowed one-step-len according to double-support-ratio
+          (narrow-one-step-len (* (- 1.0 default-double-support-ratio) one-step-len))
+          ;; ratio = current count / narrow-one-len
+          (tmp-ratio (- 1.0 (/ (- (float index-count) (* 0.5 default-double-support-ratio one-step-len))
+                               narrow-one-step-len))))
+     ;; ratio <- [0.0 1.0]
+     (cond
+      ((< tmp-ratio 0.0) 0.0)
+      ((> tmp-ratio 1.0) 1.0)
+      (t tmp-ratio))))
+  (:calc-current-refzmp
+   (prev cur next)
+   (let* ((cnt (- one-step-len index-count))
+          (margin-count (* 0.5 default-double-support-ratio one-step-len)))
+     (cond
+      ((< cnt margin-count)
+       (midpoint (* (/ -0.5 margin-count) (- cnt margin-count))
+                 cur prev))
+      ((> cnt (- one-step-len margin-count))
+       (midpoint (* (/ 0.5 margin-count) (- cnt (- one-step-len margin-count)))
+                 cur next))
+      (t cur))
+     ))
+  (:calc-one-tick-gait-parameter
+   (type)
+   (list (car support-leg-list)
+         (car support-leg-coords-list)
+         (send self :calc-current-swing-leg-coords
+               (send self :calc-ratio-from-double-support-ratio)
+               swing-leg-src-coords (car swing-leg-dst-coords-list)
+               :type type :step-height (car step-height-list))
+         (send self :calc-current-refzmp
+               refzmp-prev (car refzmp-cur-list) refzmp-next)
+         )
+   )
+  ;; generate one tick parameter
+  ;;  in detail, calculate swing leg coords, cog and angle-vector
+  (:proc-one-tick
+    (&key (type :shuffling) (solve-angle-vector :solve-av-by-move-centroid-on-foot)
+          (solve-angle-vector-args) (debug nil))
+    (let* ((preview-data ;; data to push to preview-controller's que
+            (if support-leg-coords-list
+                (send self :calc-one-tick-gait-parameter type)))
+           (dd (send preview-controller :update ;; return value from preview-controller
+                     preview-data (if preview-data (elt preview-data 3))))
+           (gp (send preview-controller :av)) ;; gait parameter
+           (ret (if (and dd solve-angle-vector)
+                    (append (send self :solve-angle-vector
+                                  (elt gp 0) (elt gp 1) (elt gp 2) (cdr dd)
+                                  :solve-angle-vector solve-angle-vector
+                                  :solve-angle-vector-args solve-angle-vector-args)
+                            (if debug (append gp (list (cdr dd)
+                                                       (send preview-controller :cart-zmp))))))))
+      (when (>= 0 (decf index-count))
+        (send self :update-current-gait-parameter))
+      ret))
+  ;; update gait parameter
+  (:update-current-gait-parameter
+   ()
+   (setq refzmp-prev (car refzmp-cur-list))
+   (cond
+    (footstep-node-list
+     (send self :make-gait-parameter)
+     )
+    ((null finalize-p)
+     (send self :finalize-gait-parameter)
+     (setq finalize-p t)
+     ))
+   (setq index-count one-step-len)
+   (pop support-leg-list)
+   (setq swing-leg-src-coords (pop support-leg-coords-list))
+   (pop swing-leg-dst-coords-list)
+   (pop refzmp-cur-list)
+   (pop step-height-list)
+   (if (cadr refzmp-cur-list)
+       (setq refzmp-next (cadr refzmp-cur-list))
+     (setq refzmp-next (car refzmp-cur-list)))
+   )
+  (:solve-angle-vector
+    (support-leg support-leg-coords swing-leg-coords cog
+     &key (solve-angle-vector :solve-av-by-move-centroid-on-foot)
+          (solve-angle-vector-args))
+    (cond
+     ((functionp solve-angle-vector)
+      (apply solve-angle-vector
+             support-leg support-leg-coords
+             swing-leg-coords cog robot solve-angle-vector-args))
+     ((and (symbolp solve-angle-vector) (find-method self solve-angle-vector))
+      (send* self solve-angle-vector
+             support-leg support-leg-coords
+             swing-leg-coords cog robot solve-angle-vector-args))
+     (t (error ";; in :solve-angle-vector, invalid function or method~%!")))
+    (list (send robot :angle-vector) (send robot :copy-worldcoords)))
+
+  ;; solve-angle-vector methods
+  (:solve-av-by-move-centroid-on-foot
+   (support-leg support-leg-coords swing-leg-coords cog robot
+   &rest args &key (cog-gain 2) (stop 100) &allow-other-keys)
+   (let ((legs (list (case support-leg (:lleg :rleg) (:rleg :lleg)) support-leg)))
+     (send* robot :move-centroid-on-foot
+            :both legs :target-centroid-pos cog
+            :fix-limbs-target-coords (list swing-leg-coords support-leg-coords)
+            :cog-gain cog-gain :stop stop
+            :null-space
+            #'(lambda ()
+                (let ((xvr (send robot :rotate-vector #f(1 0 0)))
+                      (xvf (send (midcoords 0.5 swing-leg-coords support-leg-coords)
+                                 :rotate-vector #f(1 0 0)))
+                      (nv (instantiate float-vector (send robot :calc-target-joint-dimension (mapcar #'(lambda (l) (send robot :link-list (send (send robot l :end-coords) :parent))) legs)))))
+                  (dolist (xv (list xvr xvf)) (setf (elt xv 2) 0.0))
+                  (setf (elt nv 5) (* (if (and (eps= (norm xvf) 0.0) (eps= (norm xvr) 0.0))
+                                          0.0 (acos (v. (normalize-vector xvf) (normalize-vector xvr))))
+                                      (if (> (elt (v* xvf xvr) 2) 0.0) -1.0 1.0)))
+                  nv))
+            args)))
+  ;; calculate midpoint using cycloig orbit
+  ;;   ratio  -> midpoint ratio
+  ;;   start  -> start pos
+  ;;   goal   -> goal pos
+  ;;   height -> max height of step
+  (:cycloid-midpoint
+   (ratio start goal height &key (top-ratio 0.5))
+   (let* ((mc (v+ (float-vector 0 0 height)
+                  (midpoint top-ratio start goal)))
+          (mv (if (> ratio 0.5) (v- goal mc) (v- mc start)))
+          (u (v- goal start))
+          (w (scale (abs (elt mv 2)) (float-vector 0 0 1.0))))
+     (setf (elt mv 2) 0)
+     (setf (elt u 2) 0)
+     (let* ((u (scale (/ (* 2.0 (norm mv)) pi) (normalize-vector u)))
+            (v (normalize-vector (v* w u)))
+            (th (* 2pi ratio))
+            (cycloid-point
+             (float-vector (+ (if (> ratio 0.5) -pi/2 0.0) (* 0.5 (- th (sin th))))
+                           0.0
+                           (+ (if (> ratio 0.5) -1 0.0) (* 0.5 (- 1.0 (cos th))))))
+            (dv (transform cycloid-point
+                           (matrix u v w))))
+       (v+ dv (if (> ratio 0.5) mc start))
+       )))
+  ;; calculate midcoords using cycloig orbit
+  ;;   ratio  -> midpoint ratio
+  ;;   start  -> start pos
+  ;;   goal   -> goal pos
+  ;;   height -> max height of step
+  (:cycloid-midcoords
+   (ratio start goal height &key (top-ratio 0.5))
+   (let ((cp (send self :cycloid-midpoint ratio (send start :worldpos) (send goal :worldpos)
+                   height :top-ratio top-ratio)))
+     (make-coords :pos cp
+                  :rot (send (midcoords ratio start goal) :worldrot))))
+  )
+
 (in-package "GEOMETRY")
 (provide :irtdyna)

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[jskeus-commit] SF.net SVN: jskeus:[889] trunk/irteus/irtrobot.l

[<sn...@us...>]

Revision: 889
          http://sourceforge.net/p/jskeus/code/889
Author:   snozawa
Date:     2013-04-20 14:51:17 +0000 (Sat, 20 Apr 2013)
Log Message:
-----------
enable to set target-coords for move-centroid-on-foot

Modified Paths:
--------------
    trunk/irteus/irtrobot.l

Modified: trunk/irteus/irtrobot.l
===================================================================
--- trunk/irteus/irtrobot.l	2013-04-18 15:36:37 UTC (rev 888)
+++ trunk/irteus/irtrobot.l	2013-04-20 14:51:17 UTC (rev 889)
@@ -415,12 +415,14 @@
                    (send self tmp-leg :end-coords :worldpos))
                (remove-if-not #'(lambda (x) (memq x '(:rleg :lleg))) fix-limbs)))
            (send self leg :end-coords :worldpos)))
+        (fix-limbs-target-coords
+         (mapcar #'(lambda (x) (send self x :end-coords :copy-worldcoords)) fix-limbs))
         &allow-other-keys)
    (with-move-target-link-list
     (mt ll self fix-limbs)
     (let* ((root-link-virtual-joint-weight #f(0.1 0.1 0.0 0.0 0.0 0.5))) ;; use only translation x, y and rotation z
       (send* self :fullbody-inverse-kinematics
-             (mapcar #'(lambda (x) (send self x :end-coords :copy-worldcoords)) fix-limbs)
+             fix-limbs-target-coords
              :move-target mt :link-list ll
              :fix-limbs (remove-if-not #'(lambda (x) (memq x '(:rleg :lleg))) fix-limbs)
              :root-link-virtual-joint-weight root-link-virtual-joint-weight

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[jskeus-commit] Jenkins build is back to normal : jskeus #186

[<je...@js...>]

See <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/186/changes>

[jskeus-commit] Build failed in Jenkins: jskeus #185

[<je...@js...>]

See <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/185/changes>

Changes:

[Kei Okada] expand MAXSTACK from 65536 to 8388608 and KEYWORDPARAMETERLIMIT from 32 to 128

------------------------------------------
[...truncated 1565 lines...]
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMPILER""COMPILER"<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable ttUNIX:CHDIR <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such external symbol "UNIX:CHDIR""UNIX:CHDIR"<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *eusdir**eusdir*UNIX:CHDIR <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such external symbol "UNIX:CHDIR""UNIX:CHDIR""lisp/l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function in-packagein-package<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function setqsetq<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""readmacro.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""common.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""pprint.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""stream.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""loader.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""eusdebug.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""process.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""packsym.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""object.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""string.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""array.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""hashtab.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""eusforeign.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""mathtran.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""toplevel.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""tty.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""history.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""cyclic.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""eushelp.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function in-packagein-package<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""coordinates.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable lisp::*objdir*lisp::*objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function in-packagein-package<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""par.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable lisp::*objdir*lisp::*objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function in-packagein-package<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function printprintUNIX:CHDIR <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such external symbol "UNIX:CHDIR""UNIX:CHDIR"<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *nowdir**nowdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function printprint(echo <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/mathtran;> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp> <tool/compile_l.l)
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/mathtran>
set ARCHDIR to Linux64
set EUSDIR to /home/k-okada/ros/fuerte/jsk-ros-pkg/euslisp/jskeus/eus
$EUSDIR/lib/eus.init.l was not found
failed to initialize.
Entering raweus.
To exit, type (unix::exit)
entering reploop
UNIX:GETENV <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such external symbol "UNIX:GETENV""UNIX:GETENV""PWD"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMPILER""COMPILER"<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable ttUNIX:CHDIR <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such external symbol "UNIX:CHDIR""UNIX:CHDIR"<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *eusdir**eusdir*UNIX:CHDIR <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such external symbol "UNIX:CHDIR""UNIX:CHDIR""lisp/l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function in-packagein-package<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function setqsetq<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""readmacro.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""common.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""pprint.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""stream.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""loader.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""eusdebug.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""process.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""packsym.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""object.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""string.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""array.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""hashtab.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""eusforeign.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""mathtran.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""toplevel.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""tty.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""history.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""cyclic.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""eushelp.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function in-packagein-package<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""coordinates.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable lisp::*objdir*lisp::*objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function in-packagein-package<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""par.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable lisp::*objdir*lisp::*objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function in-packagein-package<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function printprintUNIX:CHDIR <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such external symbol "UNIX:CHDIR""UNIX:CHDIR"<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *nowdir**nowdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function printprint(echo <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/toplevel;> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp> <tool/compile_l.l)
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/toplevel>
set ARCHDIR to Linux64
set EUSDIR to /home/k-okada/ros/fuerte/jsk-ros-pkg/euslisp/jskeus/eus
$EUSDIR/lib/eus.init.l was not found
failed to initialize.
Entering raweus.
To exit, type (unix::exit)
entering reploop
UNIX:GETENV <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such external symbol "UNIX:GETENV""UNIX:GETENV""PWD"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMPILER""COMPILER"<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable ttUNIX:CHDIR <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such external symbol "UNIX:CHDIR""UNIX:CHDIR"<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *eusdir**eusdir*UNIX:CHDIR <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such external symbol "UNIX:CHDIR""UNIX:CHDIR""lisp/l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function in-packagein-package<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function setqsetq<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""readmacro.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""common.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""pprint.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""stream.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""loader.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""eusdebug.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""process.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""packsym.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""object.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""string.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""array.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""hashtab.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""eusforeign.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""mathtran.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""toplevel.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""tty.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""history.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""cyclic.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""eushelp.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function in-packagein-package<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""coordinates.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable lisp::*objdir*lisp::*objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function in-packagein-package<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""par.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable lisp::*objdir*lisp::*objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function in-packagein-package<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function printprintUNIX:CHDIR <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such external symbol "UNIX:CHDIR""UNIX:CHDIR"<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *nowdir**nowdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function printprint(echo <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/tty;> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp> <tool/compile_l.l)
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/tty>
set ARCHDIR to Linux64
set EUSDIR to /home/k-okada/ros/fuerte/jsk-ros-pkg/euslisp/jskeus/eus
$EUSDIR/lib/eus.init.l was not found
failed to initialize.
Entering raweus.
To exit, type (unix::exit)
entering reploop
UNIX:GETENV <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such external symbol "UNIX:GETENV""UNIX:GETENV""PWD"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMPILER""COMPILER"<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable ttUNIX:CHDIR <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such external symbol "UNIX:CHDIR""UNIX:CHDIR"<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *eusdir**eusdir*UNIX:CHDIR <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such external symbol "UNIX:CHDIR""UNIX:CHDIR""lisp/l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function in-packagein-package<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function setqsetq<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""readmacro.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""common.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""pprint.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""stream.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""loader.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""eusdebug.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""process.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""packsym.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""object.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""string.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""array.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""hashtab.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""eusforeign.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""mathtran.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""toplevel.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""tty.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""history.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""cyclic.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""eushelp.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function in-packagein-package<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""coordinates.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable lisp::*objdir*lisp::*objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function in-packagein-package<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""par.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable lisp::*objdir*lisp::*objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function in-packagein-package<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function printprintUNIX:CHDIR <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such external symbol "UNIX:CHDIR""UNIX:CHDIR"<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *nowdir**nowdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function printprint(echo <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/history;> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp> <tool/compile_l.l)
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/history>
set ARCHDIR to Linux64
set EUSDIR to /home/k-okada/ros/fuerte/jsk-ros-pkg/euslisp/jskeus/eus
$EUSDIR/lib/eus.init.l was not found
failed to initialize.
Entering raweus.
To exit, type (unix::exit)
entering reploop
UNIX:GETENV <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such external symbol "UNIX:GETENV""UNIX:GETENV""PWD"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMPILER""COMPILER"<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable ttUNIX:CHDIR <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such external symbol "UNIX:CHDIR""UNIX:CHDIR"<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *eusdir**eusdir*UNIX:CHDIR <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such external symbol "UNIX:CHDIR""UNIX:CHDIR""lisp/l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function in-packagein-package<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function setqsetq<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""readmacro.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""common.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""pprint.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""stream.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""loader.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""eusdebug.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""process.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""packsym.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""object.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""string.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""array.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""hashtab.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""eusforeign.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""mathtran.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""toplevel.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""tty.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""history.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""cyclic.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""eushelp.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function in-packagein-package<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""coordinates.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable lisp::*objdir*lisp::*objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function in-packagein-package<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""par.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable lisp::*objdir*lisp::*objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function in-packagein-package<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function printprintUNIX:CHDIR <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such external symbol "UNIX:CHDIR""UNIX:CHDIR"<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *nowdir**nowdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function printprint(echo <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/eushelp;> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp> <tool/compile_l.l)
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/eushelp>
set ARCHDIR to Linux64
set EUSDIR to /home/k-okada/ros/fuerte/jsk-ros-pkg/euslisp/jskeus/eus
$EUSDIR/lib/eus.init.l was not found
failed to initialize.
Entering raweus.
To exit, type (unix::exit)
entering reploop
UNIX:GETENV <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such external symbol "UNIX:GETENV""UNIX:GETENV""PWD"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMPILER""COMPILER"<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable ttUNIX:CHDIR <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such external symbol "UNIX:CHDIR""UNIX:CHDIR"<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *eusdir**eusdir*UNIX:CHDIR <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such external symbol "UNIX:CHDIR""UNIX:CHDIR""lisp/l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function in-packagein-package<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function setqsetq<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""readmacro.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""common.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""pprint.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""stream.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""loader.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""eusdebug.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""process.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""packsym.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""object.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""string.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""array.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""hashtab.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""eusforeign.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""mathtran.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""toplevel.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""tty.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""history.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""cyclic.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""eushelp.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *objdir**objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function in-packagein-package<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""coordinates.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable lisp::*objdir*lisp::*objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function in-packagein-package<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such package "COMP""COMP""par.l"
<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable lisp::*objdir*lisp::*objdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function in-packagein-package<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function printprintUNIX:CHDIR <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 no such external symbol "UNIX:CHDIR""UNIX:CHDIR"<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 unbound variable *nowdir**nowdir*<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: ERROR th=0 undefined function printprint(gcc -o <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/eus1> -rdynamic -fno-stack-protector -z execstack  \
		<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/fcall.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/memory.o>	<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/makes.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/eval.o>	<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/leo.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/eusstream.o>   <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/reader.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/printer.o> 	<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/intern.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/sequence.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/lists.o>       <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/predicates.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/specials.o>	<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/lispio.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/vectorarray.o>	<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/arith.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/matrix.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/calleus.o>	<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/charstring.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/unixcall.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/sysfunc.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/eusioctl.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/compsub.o>	<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/eus.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/loadelf.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/makedate.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/big.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/fstringdouble.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/helpsub.o>  <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/mthread.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/mthread_posix.o>  \
		<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/readmacro.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/common.o>	<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/pprint.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/stream.o>	<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/loader.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/eusdebug.o>	<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/process.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/packsym.o>	<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/object.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/coordinates.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/string.o>	<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/array.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/hashtab.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/eusforeign.o>	<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/mathtran.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/toplevel.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/tty.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/history.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/eushelp.o>  <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/constants.l.o>  <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/eusstart.l.o>   \
		-ldl -lm -lpthread ; \
	cd <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin;> rm -f euscomp; ln -sf eus1 euscomp)
gcc: error: <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/readmacro.o>: No such file or directory
gcc: error: <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/common.o>: No such file or directory
gcc: error: <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/pprint.o>: No such file or directory
gcc: error: <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/stream.o>: No such file or directory
gcc: error: <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/loader.o>: No such file or directory
gcc: error: <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/eusdebug.o>: No such file or directory
gcc: error: <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/process.o>: No such file or directory
gcc: error: <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/packsym.o>: No such file or directory
gcc: error: <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/object.o>: No such file or directory
gcc: error: <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/coordinates.o>: No such file or directory
gcc: error: <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/string.o>: No such file or directory
gcc: error: <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/array.o>: No such file or directory
gcc: error: <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/hashtab.o>: No such file or directory
gcc: error: <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/eusforeign.o>: No such file or directory
gcc: error: <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/mathtran.o>: No such file or directory
gcc: error: <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/toplevel.o>: No such file or directory
gcc: error: <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/tty.o>: No such file or directory
gcc: error: <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/history.o>: No such file or directory
gcc: error: <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/eushelp.o>: No such file or directory
(<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp> <tool/compile_comp.l ; \
	cd comp; <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/gccls> builtins.l; \
	gcc -c  -fPIC -Dx86_64 -DLinux -D_REENTRANT -DVERSION=\"8.26\" -DLIB6 -falign-functions=8 -g -m64 -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -I/usr/include -I/usr/X11R6/include -I<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/include> -o <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/builtins.l.o> -O builtins.l.c )
/bin/sh: 1: <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: not found
(<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp> <tool/compile_comp.l ; \
	cd comp; <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/gccls> builtins.l; \
	gcc -c  -fPIC -Dx86_64 -DLinux -D_REENTRANT -DVERSION=\"8.26\" -DLIB6 -falign-functions=8 -g -m64 -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -I/usr/include -I/usr/X11R6/include -I<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/include> -o <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/builtins.l.o> -O builtins.l.c )
/bin/sh: 1: <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/euscomp>: not found
(gcc -o <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/bin/eus2> -rdynamic -fno-stack-protector -z execstack  \
		<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/fcall.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/memory.o>	<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/makes.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/eval.o>	<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/leo.o> <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/eus/Linux64/obj/eusstream.o>   <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/...
 
[truncated message content]

[jskeus-commit] SF.net SVN: jskeus:[888] trunk/irteus/irtviewer.l

[<k-...@us...>]

Revision: 888
          http://sourceforge.net/p/jskeus/code/888
Author:   k-okada
Date:     2013-04-18 15:36:37 +0000 (Thu, 18 Apr 2013)
Log Message:
-----------
add :view-name keyword to set :name for viewer

Modified Paths:
--------------
    trunk/irteus/irtviewer.l

Modified: trunk/irteus/irtviewer.l
===================================================================
--- trunk/irteus/irtviewer.l	2013-04-18 14:20:07 UTC (rev 887)
+++ trunk/irteus/irtviewer.l	2013-04-18 15:36:37 UTC (rev 888)
@@ -66,6 +66,7 @@
   (:create
    (&rest args
 	  &key (title "IRT viewer")
+	  (view-name (gensym "title"))
 	  (hither 200.0) (yon 50000.0)
 	  (width 500) (height 500)
 	  &allow-other-keys)
@@ -82,7 +83,7 @@
 			 :x 0 :y 0
 			 :width width :height height 
 			 :title title
-			 :name (gensym "title")
+			 :name view-name
 			 args))
      (setf (get viewer :pickviewer) self)
      (setq user::*viewer* viewer)

This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

[jskeus-commit] SF.net SVN: jskeus:[887] trunk/

[<k-...@us...>]

Revision: 887
          http://sourceforge.net/p/jskeus/code/887
Author:   k-okada
Date:     2013-04-18 14:20:07 +0000 (Thu, 18 Apr 2013)
Log Message:
-----------
update svn:externals use https

Property Changed:
----------------
    trunk/

Index: trunk
===================================================================
--- trunk	2013-04-17 07:13:18 UTC (rev 886)
+++ trunk	2013-04-18 14:20:07 UTC (rev 887)

Property changes on: trunk
___________________________________________________________________
Modified: svn:externals
## -1,3 +1,3 ##
-eus/lisp     http://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/lisp
-eus/lib      http://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/lib
+eus/lisp     https://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/lisp
+eus/lib      https://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/lib
 
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

[jskeus-commit] SF.net SVN: jskeus:[886] trunk/

[<hir...@us...>]

Revision: 886
          http://sourceforge.net/p/jskeus/code/886
Author:   hiroyuki-mikita
Date:     2013-04-17 07:13:18 +0000 (Wed, 17 Apr 2013)
Log Message:
-----------
remove eus/lib/llib from svn:externals

Property Changed:
----------------
    trunk/

Index: trunk
===================================================================
--- trunk	2013-04-12 04:35:06 UTC (rev 885)
+++ trunk	2013-04-17 07:13:18 UTC (rev 886)

Property changes on: trunk
___________________________________________________________________
Modified: svn:externals
## -1,4 +1,3 ##
 eus/lisp     http://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/lisp
 eus/lib      http://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/lib
-eus/lib/llib http://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/lib/llib
 
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

[jskeus-commit] Jenkins build is back to normal : jskeus #179

[<je...@js...>]

See <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/179/>

[jskeus-commit] Build failed in Jenkins: jskeus #178

[<je...@js...>]

See <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/178/>

------------------------------------------
[...truncated 402 lines...]
A         trunk/eus/lisp/l/eusstart.l
A         trunk/eus/lisp/l/hashtab.l
A         trunk/eus/lisp/l/coordinates.l
A         trunk/eus/lisp/l/constants.l
A         trunk/eus/lisp/l/pprint.l
A         trunk/eus/lisp/l/async.l
A         trunk/eus/lisp/l/array.l
A         trunk/eus/lisp/l/mathtran.l
A         trunk/eus/lisp/l/process.l
A         trunk/eus/lisp/l/extnum.l
A         trunk/eus/lisp/l/tty.l
A         trunk/eus/lisp/l/compfiles.l
A         trunk/eus/lisp/l/par.l
A         trunk/eus/lisp/README
A         trunk/eus/lisp/comp
A         trunk/eus/lisp/comp/trans.l
A         trunk/eus/lisp/comp/builtins.l
A         trunk/eus/lisp/comp/comp.l
A         trunk/eus/lisp/Makefile.SunOS4.sub
A         trunk/eus/lisp/Makefile.Alpha
AU        trunk/eus/lisp/README.rgc
A         trunk/eus/lisp/Makefile.IRIX5
A         trunk/eus/lisp/Makefile.IRIX6
At revision 603
Fetching 'http://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/lib' at -1 into '<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/trunk/eus/lib'>
A         trunk/eus/lib/bitmaps
A         trunk/eus/lib/bitmaps/selectarrow.xbm
A         trunk/eus/lib/bitmaps/circle.xbm
A         trunk/eus/lib/bitmaps/keysqrt.xbm
A         trunk/eus/lib/bitmaps/translucent.xbm
A         trunk/eus/lib/bitmaps/rectangle.xbm
A         trunk/eus/lib/bitmaps/leftarrow.xbm
A         trunk/eus/lib/bitmaps/play.xbm
A         trunk/eus/lib/bitmaps/gray25.xbm
A         trunk/eus/lib/bitmaps/zoomin.xbm
A         trunk/eus/lib/bitmaps/prev.xbm
A         trunk/eus/lib/bitmaps/few.xbm
A         trunk/eus/lib/bitmaps/downarrow.xbm
A         trunk/eus/lib/bitmaps/fill.xbm
A         trunk/eus/lib/bitmaps/line.xbm
A         trunk/eus/lib/bitmaps/polygon.xbm
A         trunk/eus/lib/bitmaps/key.xbm
A         trunk/eus/lib/bitmaps/opaque.xbm
A         trunk/eus/lib/bitmaps/keydiv.xbm
A         trunk/eus/lib/bitmaps/rew.xbm
A         trunk/eus/lib/bitmaps/uparrow.xbm
A         trunk/eus/lib/bitmaps/keydot.xbm
A         trunk/eus/lib/bitmaps/key+.xbm
A         trunk/eus/lib/bitmaps/key-.xbm
A         trunk/eus/lib/bitmaps/gray30.xbm
A         trunk/eus/lib/bitmaps/end.xbm
A         trunk/eus/lib/bitmaps/gray50.xbm
A         trunk/eus/lib/bitmaps/key0.xbm
A         trunk/eus/lib/bitmaps/star.xbm
A         trunk/eus/lib/bitmaps/key1.xbm
A         trunk/eus/lib/bitmaps/key2.xbm
A         trunk/eus/lib/bitmaps/key3.xbm
A         trunk/eus/lib/bitmaps/key4.xbm
A         trunk/eus/lib/bitmaps/zoomout.xbm
A         trunk/eus/lib/bitmaps/key5.xbm
A         trunk/eus/lib/bitmaps/key6.xbm
A         trunk/eus/lib/bitmaps/next.xbm
A         trunk/eus/lib/bitmaps/keyend.xbm
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A         trunk/eus/lib/bitmaps/rightarrow.xbm
A         trunk/eus/lib/bitmaps/keyclr.xbm
A         trunk/eus/lib/eusglrt.l
A         trunk/eus/lib/EUSRC
A         trunk/eus/lib/llib
A         trunk/eus/lib/llib/pgsql.l
A         trunk/eus/lib/llib/LM78.l
A         trunk/eus/lib/llib/fibbuddy.l
A         trunk/eus/lib/llib/regexp.l
A         trunk/eus/lib/llib/misc.l
A         trunk/eus/lib/llib/kanji.l
A         trunk/eus/lib/llib/histogram.l
A         trunk/eus/lib/llib/gifcat.l
A         trunk/eus/lib/llib/vmedb.l
A         trunk/eus/lib/llib/vrmlParser.l
A         trunk/eus/lib/llib/inet.l
A         trunk/eus/lib/llib/md.l
A         trunk/eus/lib/llib/winston.l
A         trunk/eus/lib/llib/crypt.l
A         trunk/eus/lib/llib/rms.l
A         trunk/eus/lib/llib/vrmlNodeSpec.l
A         trunk/eus/lib/llib/vxweus.l
A         trunk/eus/lib/llib/eusjpeg.l
A         trunk/eus/lib/llib/kana_sjis.l
A         trunk/eus/lib/llib/perm.l
A         trunk/eus/lib/llib/popper.l
A         trunk/eus/lib/llib/httpfcgi.l
A         trunk/eus/lib/llib/kdraw.l
A         trunk/eus/lib/llib/webnews.l
A         trunk/eus/lib/llib/eusdraw.l
A         trunk/eus/lib/llib/disttrans.l
A         trunk/eus/lib/llib/animation.l
A         trunk/eus/lib/llib/http.l
A         trunk/eus/lib/llib/gobj.l
A         trunk/eus/lib/llib/dict.l
A         trunk/eus/lib/llib/fibbudy.l
A         trunk/eus/lib/llib/html-readtable.l
A         trunk/eus/lib/llib/quaternion.l
A         trunk/eus/lib/llib/makehelp.l
A         trunk/eus/lib/llib/bargraph.l
A         trunk/eus/lib/llib/sound.l
A         trunk/eus/lib/llib/keyedobj.l
A         trunk/eus/lib/llib/WFobjloader.l
A         trunk/eus/lib/llib/nomad.l
A         trunk/eus/lib/llib/time.l
A         trunk/eus/lib/llib/raster.l
A         trunk/eus/lib/llib/utyo.l
A         trunk/eus/lib/llib/etalisp.l
A         trunk/eus/lib/llib/httpcgi.l
A         trunk/eus/lib/llib/defsystem.l
A         trunk/eus/lib/llib/sweep1.l
A         trunk/eus/lib/llib/search.l
A         trunk/eus/lib/llib/kana_euc.l
A         trunk/eus/lib/llib/server.l
A         trunk/eus/lib/llib/qsort.l
A         trunk/eus/lib/llib/loop.l
A         trunk/eus/lib/llib/pictdraw.l
A         trunk/eus/lib/llib/utyoclasses.l
A         trunk/eus/lib/llib/unittest.l
A         trunk/eus/lib/llib/random.l
A         trunk/eus/lib/llib/linpack.l
A         trunk/eus/lib/llib/base64.l
A         trunk/eus/lib/demo
A         trunk/eus/lib/demo/eusjack.l
A         trunk/eus/lib/demo/mouse.l
A         trunk/eus/lib/demo/animdemo.l
A         trunk/eus/lib/demo/view2.l
A         trunk/eus/lib/demo/monthrep.l
A         trunk/eus/lib/demo/traffic-update.l
A         trunk/eus/lib/demo/xout.l
A         trunk/eus/lib/demo/gosper.l
A         trunk/eus/lib/demo/tennis.l
A         trunk/eus/lib/demo/buslocation-update.l
A         trunk/eus/lib/demo/Xplot.l
A         trunk/eus/lib/demo/fusuma.wrl
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A         trunk/eus/lib/demo/tss96gl.l
A         trunk/eus/lib/demo/points.l
A         trunk/eus/lib/demo/async.l
A         trunk/eus/lib/demo/cview.l
A         trunk/eus/lib/demo/webcounter-cgi.l
A         trunk/eus/lib/demo/weather-update.l
A         trunk/eus/lib/demo/vrmlserv.l
A         trunk/eus/lib/demo/rsj-list-euc.l
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A         trunk/eus/lib/demo/address-book.euc.l
A         trunk/eus/lib/demo/weather_cleaner.l
A         trunk/eus/lib/demo/bboard.l
A         trunk/eus/lib/demo/meteor.l
A         trunk/eus/lib/demo/fcgi-httpdb.l
A         trunk/eus/lib/demo/circle.l
A         trunk/eus/lib/demo/hello-cgi.l
A         trunk/eus/lib/demo/rose.l
A         trunk/eus/lib/demo/edgedemo.l
A         trunk/eus/lib/demo/eucfname.l
A         trunk/eus/lib/demo/tek.l
A         trunk/eus/lib/demo/renderdemo.l
A         trunk/eus/lib/demo/hiroki.l
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A         trunk/eus/lib/demo/monitor.l
A         trunk/eus/lib/demo/table.l
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A         trunk/eus/lib/demo/kogi.l
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A         trunk/eus/lib/demo/remote.l
A         trunk/eus/lib/demo/xv.l
A         trunk/eus/lib/demo/weather.l
A         trunk/eus/lib/demo/parser.norvig.l
A         trunk/eus/lib/demo/bcons.l
A         trunk/eus/lib/demo/dispose.l
A         trunk/eus/lib/demo/x.l
A         trunk/eus/lib/demo/prime.l
A         trunk/eus/lib/demo/fcgi-x.l
A         trunk/eus/lib/demo/animation.l
A         trunk/eus/lib/demo/classdef.l
A         trunk/eus/lib/demo/box.Brep
A         trunk/eus/lib/demo/cfunc.c
A         trunk/eus/lib/demo/httpdb.l
A         trunk/eus/lib/demo/tss96.l
A         trunk/eus/lib/demo/buslocation.sjis.l
A         trunk/eus/lib/demo/fcgi-demo.l
A         trunk/eus/lib/demo/example.l
A         trunk/eus/lib/demo/geotools.l
A         trunk/eus/lib/demo/coordview.l
A         trunk/eus/lib/demo/xview.l
A         trunk/eus/lib/demo/csunview.l
A         trunk/eus/lib/demo/cxview.l
A         trunk/eus/lib/demo/pass.l
A         trunk/eus/lib/demo/rsj-list.l
A         trunk/eus/lib/demo/notify.l
A         trunk/eus/lib/demo/hello-fcgi.l
A         trunk/eus/lib/demo/rsj-list-choku2-euc.l
A         trunk/eus/lib/demo/view.l
A         trunk/eus/lib/demo/pickview.l
A         trunk/eus/lib/demo/buslocation-cgi.l
A         trunk/eus/lib/demo/address-book.sjis.l
A         trunk/eus/lib/eus.init.l
A         trunk/eus/lib/clib
A         trunk/eus/lib/clib/floatdouble.c
A         trunk/eus/lib/clib/rfft.c
A         trunk/eus/lib/clib/posix.c
A         trunk/eus/lib/clib/charconv.c
A         trunk/eus/lib/clib/getpw_r.c
A         trunk/eus/lib/clib/linux_lowio.c
A         trunk/eus/lib/clib/euslocal.h
A         trunk/eus/lib/clib/sync.c
A         trunk/eus/lib/clib/vxw_proto.h
A         trunk/eus/lib/clib/bessel.c
A         trunk/eus/lib/clib/linpackref.c
A         trunk/eus/lib/clib/ndbm.c
A         trunk/eus/lib/clib/ssvdc.c
A         trunk/eus/lib/clib/vxwcom.c
A         trunk/eus/lib/clib/vxwserv.c
A         trunk/eus/lib/clib/sigmoid.c
A         trunk/eus/lib/eusrt.l
 U        trunk/eus/lib
At revision 603
Fetching 'http://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/lib/llib' at -1 into '<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/trunk/eus/lib/llib'>
At revision 603
At revision 885
no change for http://svn.code.sf.net/p/jskeus/code since the previous build
no change for http://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/lisp since the previous build
no change for http://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/lib since the previous build
no change for http://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/lib/llib since the previous build
[workspace] $ /bin/sh -xe /tmp/hudson6135338982970819038.sh
+ cd jskeus
+ make
make: *** No targets specified and no makefile found.  Stop.
Build step 'Execute shell' marked build as failure

[jskeus-commit] Build failed in Jenkins: jskeus #177

[<je...@js...>]

See <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/177/>

------------------------------------------
[...truncated 402 lines...]
A         trunk/eus/lisp/l/eusstart.l
A         trunk/eus/lisp/l/hashtab.l
A         trunk/eus/lisp/l/coordinates.l
A         trunk/eus/lisp/l/constants.l
A         trunk/eus/lisp/l/pprint.l
A         trunk/eus/lisp/l/async.l
A         trunk/eus/lisp/l/array.l
A         trunk/eus/lisp/l/mathtran.l
A         trunk/eus/lisp/l/process.l
A         trunk/eus/lisp/l/extnum.l
A         trunk/eus/lisp/l/tty.l
A         trunk/eus/lisp/l/compfiles.l
A         trunk/eus/lisp/l/par.l
A         trunk/eus/lisp/README
A         trunk/eus/lisp/comp
A         trunk/eus/lisp/comp/trans.l
A         trunk/eus/lisp/comp/builtins.l
A         trunk/eus/lisp/comp/comp.l
A         trunk/eus/lisp/Makefile.SunOS4.sub
A         trunk/eus/lisp/Makefile.Alpha
AU        trunk/eus/lisp/README.rgc
A         trunk/eus/lisp/Makefile.IRIX5
A         trunk/eus/lisp/Makefile.IRIX6
At revision 603
Fetching 'http://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/lib' at -1 into '<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/trunk/eus/lib'>
A         trunk/eus/lib/bitmaps
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A         trunk/eus/lib/bitmaps/circle.xbm
A         trunk/eus/lib/bitmaps/keysqrt.xbm
A         trunk/eus/lib/bitmaps/translucent.xbm
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A         trunk/eus/lib/bitmaps/leftarrow.xbm
A         trunk/eus/lib/bitmaps/play.xbm
A         trunk/eus/lib/bitmaps/gray25.xbm
A         trunk/eus/lib/bitmaps/zoomin.xbm
A         trunk/eus/lib/bitmaps/prev.xbm
A         trunk/eus/lib/bitmaps/few.xbm
A         trunk/eus/lib/bitmaps/downarrow.xbm
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A         trunk/eus/lib/bitmaps/end.xbm
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A         trunk/eus/lib/bitmaps/next.xbm
A         trunk/eus/lib/bitmaps/keyend.xbm
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A         trunk/eus/lib/bitmaps/key=.xbm
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A         trunk/eus/lib/bitmaps/playback.xbm
A         trunk/eus/lib/bitmaps/blank.xbm
A         trunk/eus/lib/bitmaps/home.xbm
A         trunk/eus/lib/bitmaps/rightarrow.xbm
A         trunk/eus/lib/bitmaps/keyclr.xbm
A         trunk/eus/lib/eusglrt.l
A         trunk/eus/lib/EUSRC
A         trunk/eus/lib/llib
A         trunk/eus/lib/llib/pgsql.l
A         trunk/eus/lib/llib/LM78.l
A         trunk/eus/lib/llib/fibbuddy.l
A         trunk/eus/lib/llib/regexp.l
A         trunk/eus/lib/llib/misc.l
A         trunk/eus/lib/llib/kanji.l
A         trunk/eus/lib/llib/histogram.l
A         trunk/eus/lib/llib/gifcat.l
A         trunk/eus/lib/llib/vmedb.l
A         trunk/eus/lib/llib/vrmlParser.l
A         trunk/eus/lib/llib/inet.l
A         trunk/eus/lib/llib/md.l
A         trunk/eus/lib/llib/winston.l
A         trunk/eus/lib/llib/crypt.l
A         trunk/eus/lib/llib/rms.l
A         trunk/eus/lib/llib/vrmlNodeSpec.l
A         trunk/eus/lib/llib/vxweus.l
A         trunk/eus/lib/llib/eusjpeg.l
A         trunk/eus/lib/llib/kana_sjis.l
A         trunk/eus/lib/llib/perm.l
A         trunk/eus/lib/llib/popper.l
A         trunk/eus/lib/llib/httpfcgi.l
A         trunk/eus/lib/llib/kdraw.l
A         trunk/eus/lib/llib/webnews.l
A         trunk/eus/lib/llib/eusdraw.l
A         trunk/eus/lib/llib/disttrans.l
A         trunk/eus/lib/llib/animation.l
A         trunk/eus/lib/llib/http.l
A         trunk/eus/lib/llib/gobj.l
A         trunk/eus/lib/llib/dict.l
A         trunk/eus/lib/llib/fibbudy.l
A         trunk/eus/lib/llib/html-readtable.l
A         trunk/eus/lib/llib/quaternion.l
A         trunk/eus/lib/llib/makehelp.l
A         trunk/eus/lib/llib/bargraph.l
A         trunk/eus/lib/llib/sound.l
A         trunk/eus/lib/llib/keyedobj.l
A         trunk/eus/lib/llib/WFobjloader.l
A         trunk/eus/lib/llib/nomad.l
A         trunk/eus/lib/llib/time.l
A         trunk/eus/lib/llib/raster.l
A         trunk/eus/lib/llib/utyo.l
A         trunk/eus/lib/llib/etalisp.l
A         trunk/eus/lib/llib/httpcgi.l
A         trunk/eus/lib/llib/defsystem.l
A         trunk/eus/lib/llib/sweep1.l
A         trunk/eus/lib/llib/search.l
A         trunk/eus/lib/llib/kana_euc.l
A         trunk/eus/lib/llib/server.l
A         trunk/eus/lib/llib/qsort.l
A         trunk/eus/lib/llib/loop.l
A         trunk/eus/lib/llib/pictdraw.l
A         trunk/eus/lib/llib/utyoclasses.l
A         trunk/eus/lib/llib/unittest.l
A         trunk/eus/lib/llib/random.l
A         trunk/eus/lib/llib/linpack.l
A         trunk/eus/lib/llib/base64.l
A         trunk/eus/lib/demo
A         trunk/eus/lib/demo/eusjack.l
A         trunk/eus/lib/demo/mouse.l
A         trunk/eus/lib/demo/animdemo.l
A         trunk/eus/lib/demo/view2.l
A         trunk/eus/lib/demo/monthrep.l
A         trunk/eus/lib/demo/traffic-update.l
A         trunk/eus/lib/demo/xout.l
A         trunk/eus/lib/demo/gosper.l
A         trunk/eus/lib/demo/tennis.l
A         trunk/eus/lib/demo/buslocation-update.l
A         trunk/eus/lib/demo/Xplot.l
A         trunk/eus/lib/demo/fusuma.wrl
A         trunk/eus/lib/demo/amedas-update.l
A         trunk/eus/lib/demo/tss96gl.l
A         trunk/eus/lib/demo/points.l
A         trunk/eus/lib/demo/async.l
A         trunk/eus/lib/demo/cview.l
A         trunk/eus/lib/demo/webcounter-cgi.l
A         trunk/eus/lib/demo/weather-update.l
A         trunk/eus/lib/demo/vrmlserv.l
A         trunk/eus/lib/demo/rsj-list-euc.l
A         trunk/eus/lib/demo/sierp.l
A         trunk/eus/lib/demo/buslocation.l
A         trunk/eus/lib/demo/joint.l
A         trunk/eus/lib/demo/webcounter-fcgi.l
A         trunk/eus/lib/demo/buslocation-fcgi.l
A         trunk/eus/lib/demo/address-book.euc.l
A         trunk/eus/lib/demo/weather_cleaner.l
A         trunk/eus/lib/demo/bboard.l
A         trunk/eus/lib/demo/meteor.l
A         trunk/eus/lib/demo/fcgi-httpdb.l
A         trunk/eus/lib/demo/circle.l
A         trunk/eus/lib/demo/hello-cgi.l
A         trunk/eus/lib/demo/rose.l
A         trunk/eus/lib/demo/edgedemo.l
A         trunk/eus/lib/demo/eucfname.l
A         trunk/eus/lib/demo/tek.l
A         trunk/eus/lib/demo/renderdemo.l
A         trunk/eus/lib/demo/hiroki.l
A         trunk/eus/lib/demo/httpdb-cgi.l
A         trunk/eus/lib/demo/hehehe.l
A         trunk/eus/lib/demo/monitor.l
A         trunk/eus/lib/demo/table.l
A         trunk/eus/lib/demo/xcolors.l
A         trunk/eus/lib/demo/kogi.l
A         trunk/eus/lib/demo/web-counter.l
A         trunk/eus/lib/demo/remote.l
A         trunk/eus/lib/demo/xv.l
A         trunk/eus/lib/demo/weather.l
A         trunk/eus/lib/demo/parser.norvig.l
A         trunk/eus/lib/demo/bcons.l
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A         trunk/eus/lib/demo/x.l
A         trunk/eus/lib/demo/prime.l
A         trunk/eus/lib/demo/fcgi-x.l
A         trunk/eus/lib/demo/animation.l
A         trunk/eus/lib/demo/classdef.l
A         trunk/eus/lib/demo/box.Brep
A         trunk/eus/lib/demo/cfunc.c
A         trunk/eus/lib/demo/httpdb.l
A         trunk/eus/lib/demo/tss96.l
A         trunk/eus/lib/demo/buslocation.sjis.l
A         trunk/eus/lib/demo/fcgi-demo.l
A         trunk/eus/lib/demo/example.l
A         trunk/eus/lib/demo/geotools.l
A         trunk/eus/lib/demo/coordview.l
A         trunk/eus/lib/demo/xview.l
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A         trunk/eus/lib/demo/cxview.l
A         trunk/eus/lib/demo/pass.l
A         trunk/eus/lib/demo/rsj-list.l
A         trunk/eus/lib/demo/notify.l
A         trunk/eus/lib/demo/hello-fcgi.l
A         trunk/eus/lib/demo/rsj-list-choku2-euc.l
A         trunk/eus/lib/demo/view.l
A         trunk/eus/lib/demo/pickview.l
A         trunk/eus/lib/demo/buslocation-cgi.l
A         trunk/eus/lib/demo/address-book.sjis.l
A         trunk/eus/lib/eus.init.l
A         trunk/eus/lib/clib
A         trunk/eus/lib/clib/floatdouble.c
A         trunk/eus/lib/clib/rfft.c
A         trunk/eus/lib/clib/posix.c
A         trunk/eus/lib/clib/charconv.c
A         trunk/eus/lib/clib/getpw_r.c
A         trunk/eus/lib/clib/linux_lowio.c
A         trunk/eus/lib/clib/euslocal.h
A         trunk/eus/lib/clib/sync.c
A         trunk/eus/lib/clib/vxw_proto.h
A         trunk/eus/lib/clib/bessel.c
A         trunk/eus/lib/clib/linpackref.c
A         trunk/eus/lib/clib/ndbm.c
A         trunk/eus/lib/clib/ssvdc.c
A         trunk/eus/lib/clib/vxwcom.c
A         trunk/eus/lib/clib/vxwserv.c
A         trunk/eus/lib/clib/sigmoid.c
A         trunk/eus/lib/eusrt.l
 U        trunk/eus/lib
At revision 603
Fetching 'http://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/lib/llib' at -1 into '<http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/jskeus/trunk/eus/lib/llib'>
At revision 603
At revision 885
no revision recorded for http://svn.code.sf.net/p/jskeus/code in the previous build
no revision recorded for http://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/lisp in the previous build
no revision recorded for http://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/lib in the previous build
no revision recorded for http://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/lib/llib in the previous build
[workspace] $ /bin/sh -xe /tmp/hudson8998499297055109346.sh
+ cd jskeus
+ make
make: *** No targets specified and no makefile found.  Stop.
Build step 'Execute shell' marked build as failure

[jskeus-commit] Build failed in Jenkins: jskeus #176

[<je...@js...>]

See <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/176/>

------------------------------------------
Started by user Kei Okada
Building on master in workspace <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/>
Location 'http://jskeus.svn.sourceforge.net/svnroot/jskeus/trunk' does not exist
Cleaning local Directory jskeus
Checking out http://jskeus.svn.sourceforge.net/svnroot/jskeus/trunk
ERROR: Failed to check out http://jskeus.svn.sourceforge.net/svnroot/jskeus/trunk
org.tmatesoft.svn.core.SVNException: svn: E170000: URL 'http://jskeus.svn.sourceforge.net/svnroot/jskeus/trunk' doesn't exist
	at org.tmatesoft.svn.core.internal.wc.SVNErrorManager.error(SVNErrorManager.java:64)
	at org.tmatesoft.svn.core.internal.wc.SVNErrorManager.error(SVNErrorManager.java:51)
	at org.tmatesoft.svn.core.internal.wc16.SVNUpdateClient16.doCheckout(SVNUpdateClient16.java:934)
	at org.tmatesoft.svn.core.internal.wc2.old.SvnOldCheckout.run(SvnOldCheckout.java:19)
	at org.tmatesoft.svn.core.internal.wc2.old.SvnOldCheckout.run(SvnOldCheckout.java:8)
	at org.tmatesoft.svn.core.internal.wc2.SvnOperationRunner.run(SvnOperationRunner.java:20)
	at org.tmatesoft.svn.core.wc2.SvnOperationFactory.run(SvnOperationFactory.java:1221)
	at org.tmatesoft.svn.core.wc2.SvnOperation.run(SvnOperation.java:292)
	at org.tmatesoft.svn.core.wc.SVNUpdateClient.doCheckout(SVNUpdateClient.java:781)
	at hudson.scm.subversion.CheckoutUpdater$1.perform(CheckoutUpdater.java:85)
	at hudson.scm.subversion.WorkspaceUpdater$UpdateTask.delegateTo(WorkspaceUpdater.java:144)
	at hudson.scm.SubversionSCM$CheckOutTask.perform(SubversionSCM.java:789)
	at hudson.scm.SubversionSCM$CheckOutTask.invoke(SubversionSCM.java:770)
	at hudson.scm.SubversionSCM$CheckOutTask.invoke(SubversionSCM.java:753)
	at hudson.FilePath.act(FilePath.java:904)
	at hudson.FilePath.act(FilePath.java:877)
	at hudson.scm.SubversionSCM.checkout(SubversionSCM.java:743)
	at hudson.scm.SubversionSCM.checkout(SubversionSCM.java:685)
	at hudson.model.AbstractProject.checkout(AbstractProject.java:1364)
	at hudson.model.AbstractBuild$AbstractBuildExecution.defaultCheckout(AbstractBuild.java:670)
	at jenkins.scm.SCMCheckoutStrategy.checkout(SCMCheckoutStrategy.java:88)
	at hudson.model.AbstractBuild$AbstractBuildExecution.run(AbstractBuild.java:575)
	at hudson.model.Run.execute(Run.java:1575)
	at hudson.model.FreeStyleBuild.run(FreeStyleBuild.java:46)
	at hudson.model.ResourceController.execute(ResourceController.java:88)
	at hudson.model.Executor.run(Executor.java:237)
Caused by: svn: E170000: URL 'http://jskeus.svn.sourceforge.net/svnroot/jskeus/trunk' doesn't exist
	at org.tmatesoft.svn.core.SVNErrorMessage.create(SVNErrorMessage.java:171)
	at org.tmatesoft.svn.core.SVNErrorMessage.create(SVNErrorMessage.java:126)
	at org.tmatesoft.svn.core.internal.wc16.SVNUpdateClient16.doCheckout(SVNUpdateClient16.java:933)
	... 23 more
FATAL: null
java.lang.NullPointerException
	at java.util.ArrayList.addAll(ArrayList.java:472)
	at hudson.scm.SubversionSCM.checkout(SubversionSCM.java:743)
	at hudson.scm.SubversionSCM.checkout(SubversionSCM.java:685)
	at hudson.model.AbstractProject.checkout(AbstractProject.java:1364)
	at hudson.model.AbstractBuild$AbstractBuildExecution.defaultCheckout(AbstractBuild.java:670)
	at jenkins.scm.SCMCheckoutStrategy.checkout(SCMCheckoutStrategy.java:88)
	at hudson.model.AbstractBuild$AbstractBuildExecution.run(AbstractBuild.java:575)
	at hudson.model.Run.execute(Run.java:1575)
	at hudson.model.FreeStyleBuild.run(FreeStyleBuild.java:46)
	at hudson.model.ResourceController.execute(ResourceController.java:88)
	at hudson.model.Executor.run(Executor.java:237)

[jskeus-commit] SF.net SVN: jskeus:[885] trunk

[<k-...@us...>]

Revision: 885
          http://sourceforge.net/p/jskeus/code/885
Author:   k-okada
Date:     2013-04-12 04:35:06 +0000 (Fri, 12 Apr 2013)
Log Message:
-----------
upgrade sourceforge

Modified Paths:
--------------
    trunk/Makefile

Property Changed:
----------------
    trunk/

Index: trunk
===================================================================
--- trunk	2013-04-12 03:19:35 UTC (rev 884)
+++ trunk	2013-04-12 04:35:06 UTC (rev 885)

Property changes on: trunk
___________________________________________________________________
Modified: svn:externals
## -1,4 +1,4 ##
-eus/lisp     https://euslisp.svn.sourceforge.net/svnroot/euslisp/trunk/EusLisp/lisp
-eus/lib      https://euslisp.svn.sourceforge.net/svnroot/euslisp/trunk/EusLisp/lib
-eus/lib/llib https://euslisp.svn.sourceforge.net/svnroot/euslisp/trunk/EusLisp/lib/llib
+eus/lisp     http://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/lisp
+eus/lib      http://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/lib
+eus/lib/llib http://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/lib/llib
 
Modified: trunk/Makefile
===================================================================
--- trunk/Makefile	2013-04-12 03:19:35 UTC (rev 884)
+++ trunk/Makefile	2013-04-12 04:35:06 UTC (rev 885)
@@ -1,7 +1,7 @@
 all: eus-installed irteus-installed manuals bashrc.eus
 
 SVN_EUSURL=http://svn.code.sf.net/p/euslisp/code/trunk/EusLisp
-SVN_IRTEUSURL=https://jskeus.svn.sourceforge.net/svnroot/jskeus/trunk/irteus
+SVN_IRTEUSURL=http://svn.code.sf.net/p/jskeus/code/trunk/irteus
 
 EUSC_PATCH=eus.c_CUSTUM_EUSDIR.patch
 

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[jskeus-commit] SourceForge Project Upgrade - Code Repo Complete

[SourceForge.net <nor...@in...>]

Your code repository in upgraded project jskeus is now ready for use.

Old repository url: http://jskeus.svn.sourceforge.net/svnroot/jskeus 

New repository checkout command: svn checkout --username=jskeus-testing svn+ssh://jsk...@sv.../p/jskeus/code/trunk jskeus-code 

You should do a checkout using the new repository location.  The old repository is read-only now.

For more detailed instructions on migrating to your new repo, please see https://sourceforge.net/p/forge/community-docs/Repository%20Upgrade%20FAQ/

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