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From: SourceForge.net <nor...@in...> - 2013-04-12 03:20:28
|
Your project, jskeus, has been upgraded. Your source code repositories are currently being migrated to the new setup. You will receive another email when that import is complete. That means that you and any other developers should do a fresh checkout using the new repository location when it is ready (see the "code" tab). Please be aware that large repositories may take a long time. Please report any issues to us at https://sourceforge.net/p/forge/site-support/new/ Thanks! |
|
From: <k-...@us...> - 2013-04-12 03:19:42
|
Revision: 884
http://jskeus.svn.sourceforge.net/jskeus/?rev=884&view=rev
Author: k-okada
Date: 2013-04-12 03:19:35 +0000 (Fri, 12 Apr 2013)
Log Message:
-----------
upgrade euslisp repository
Modified Paths:
--------------
trunk/Makefile
Modified: trunk/Makefile
===================================================================
--- trunk/Makefile 2013-04-05 15:53:47 UTC (rev 883)
+++ trunk/Makefile 2013-04-12 03:19:35 UTC (rev 884)
@@ -1,6 +1,6 @@
all: eus-installed irteus-installed manuals bashrc.eus
-SVN_EUSURL=https://euslisp.svn.sourceforge.net/svnroot/euslisp/trunk/EusLisp
+SVN_EUSURL=http://svn.code.sf.net/p/euslisp/code/trunk/EusLisp
SVN_IRTEUSURL=https://jskeus.svn.sourceforge.net/svnroot/jskeus/trunk/irteus
EUSC_PATCH=eus.c_CUSTUM_EUSDIR.patch
@@ -29,10 +29,10 @@
manuals: manual.pdf jmanual.pdf
manual.pdf:
- wget http://euslisp.svn.sourceforge.net/svnroot/euslisp/trunk/EusLisp/doc/latex/manual.pdf -O manual.pdf
+ wget http://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/doc/latex/manual.pdf -O manual.pdf
jmanual.pdf:
- wget http://euslisp.svn.sourceforge.net/svnroot/euslisp/trunk/EusLisp/doc/jlatex/jmanual.pdf -O jmanual.pdf
+ wget http://svn.code.sf.net/p/euslisp/code/trunk/EusLisp/doc/jlatex/jmanual.pdf -O jmanual.pdf
bashrc.eus:
@bash -c 'echo -e "#\n\
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From: SourceForge.net <no...@so...> - 2013-04-11 05:15:00
|
Bugs item #3610523, was opened at 2013-04-10 22:15 Message generated for change (Tracker Item Submitted) made by nobody You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=1415198&aid=3610523&group_id=337851 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: Interface (example) Group: None Status: Open Resolution: None Priority: 5 Private: No Submitted By: Nobody/Anonymous (nobody) Assigned to: Nobody/Anonymous (nobody) Summary: o0Vlu5 <a href="http://nwzjvvciynft.com/">nwzjvvciynft</a>, Initial Comment: o0Vlu5 <a href="http://nwzjvvciynft.com/">nwzjvvciynft</a>, [url=http://ijucergqqaus.com/]ijucergqqaus[/url], [link=http://jtaxcmqxffuz.com/]jtaxcmqxffuz[/link], http://urmixdavwrqb.com/ ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=1415198&aid=3610523&group_id=337851 |
|
From: SourceForge.net <no...@so...> - 2013-04-09 17:45:32
|
Bugs item #3610397, was opened at 2013-04-09 10:31 Message generated for change (Comment added) made by snozawa You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=1415198&aid=3610397&group_id=337851 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: None Group: None Status: Open Resolution: None Priority: 5 Private: No Submitted By: Kei Okada (k-okada) Assigned to: Shunichi Nozawa (snozawa) Summary: send *robot* :larm :inverse-kinematics ... :use-torso t Initial Comment: send *robot* :larm :inverse-kinematics ... :use-torso t を使いたいのですが，以下のパッチで出来る気がします． がこれでいいでしょうか？いままではどうしていましたか？ k-okada@kokada-t430s:~/ros/fuerte/jsk-ros-pkg/euslisp$ svn diff jskeus Index: jskeus/irteus/irtrobot.l =================================================================== --- jskeus/irteus/irtrobot.l (リビジョン 883) +++ jskeus/irteus/irtrobot.l (作業コピー) @@ -101,11 +101,15 @@ (coerce (mapcar #'(lambda (l) (send l :joint :joint-angle)) (send self limb)) float-vector))) (:inverse-kinematics - (let* ((link-list (if (memq :link-list args) - (cadr (memq :link-list args)) - (send self :link-list - (send self limb :end-coords :parent) - (send self limb :root-link)))) + (let* ((link-list (cond ((memq :link-list args) + (cadr (memq :link-list args))) + ((memq :use-torso args) + (send self :link-list + (send self limb :end-coords :parent))) + (t + (send self :link-list + (send self limb :end-coords :parent) + (send self limb :root-link))))) ---------------------------------------------------------------------- >Comment By: Shunichi Nozawa (snozawa) Date: 2013-04-09 10:45 Message: そうですね。これでいいように思います。 今までは、２足ヒューマノイドの場合はfull-bodyなIKを使っていたのでuse-torsoする機会がそもそも少なかったように思います。 また、pr2はpr2-utils.lでuse-torsoを定義していますね。 ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=1415198&aid=3610397&group_id=337851 |
|
From: SourceForge.net <no...@so...> - 2013-04-09 17:32:00
|
Bugs item #3610397, was opened at 2013-04-09 10:31 Message generated for change (Tracker Item Submitted) made by k-okada You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=1415198&aid=3610397&group_id=337851 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: None Group: None Status: Open Resolution: None Priority: 5 Private: No Submitted By: Kei Okada (k-okada) Assigned to: Shunichi Nozawa (snozawa) Summary: send *robot* :larm :inverse-kinematics ... :use-torso t Initial Comment: send *robot* :larm :inverse-kinematics ... :use-torso t を使いたいのですが，以下のパッチで出来る気がします． がこれでいいでしょうか？いままではどうしていましたか？ k-okada@kokada-t430s:~/ros/fuerte/jsk-ros-pkg/euslisp$ svn diff jskeus Index: jskeus/irteus/irtrobot.l =================================================================== --- jskeus/irteus/irtrobot.l (リビジョン 883) +++ jskeus/irteus/irtrobot.l (作業コピー) @@ -101,11 +101,15 @@ (coerce (mapcar #'(lambda (l) (send l :joint :joint-angle)) (send self limb)) float-vector))) (:inverse-kinematics - (let* ((link-list (if (memq :link-list args) - (cadr (memq :link-list args)) - (send self :link-list - (send self limb :end-coords :parent) - (send self limb :root-link)))) + (let* ((link-list (cond ((memq :link-list args) + (cadr (memq :link-list args))) + ((memq :use-torso args) + (send self :link-list + (send self limb :end-coords :parent))) + (t + (send self :link-list + (send self limb :end-coords :parent) + (send self limb :root-link))))) ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=1415198&aid=3610397&group_id=337851 |
|
From: <ky...@us...> - 2013-04-05 15:53:58
|
Revision: 883
http://jskeus.svn.sourceforge.net/jskeus/?rev=883&view=rev
Author: kyouhei
Date: 2013-04-05 15:53:47 +0000 (Fri, 05 Apr 2013)
Log Message:
-----------
fix pixel format for texture image
Modified Paths:
--------------
trunk/irteus/irtgl.l
Modified: trunk/irteus/irtgl.l
===================================================================
--- trunk/irteus/irtgl.l 2013-04-01 14:41:34 UTC (rev 882)
+++ trunk/irteus/irtgl.l 2013-04-05 15:53:47 UTC (rev 883)
@@ -773,32 +773,33 @@
;; override transparent ...
;;(if (and stransparent trans) (setq stransparent trans))
(when col
- (glMaterialfv GL_FRONT_AND_BACK GL_AMBIENT_AND_DIFFUSE
+ (glColor3fv col)
+ (glMaterialfv GL_BACK GL_AMBIENT_AND_DIFFUSE
(if stransparent
(concatenate float-vector col (float-vector stransparent))
col)))
(when amb
(if stransparent
(setf (elt amb 3) (float-vector stransparent)))
- (glMaterialfv GL_FRONT_AND_BACK GL_AMBIENT amb))
+ (glMaterialfv GL_FRONT GL_AMBIENT amb))
(when diff
(if stransparent
(setf (elt diff 3) (float-vector stransparent)))
- (glMaterialfv GL_FRONT_AND_BACK GL_DIFFUSE diff))
+ (glMaterialfv GL_FRONT GL_DIFFUSE diff))
(when spec
(if stransparent
(setf (elt spec 3) (float-vector stransparent)))
- (glMaterialfv GL_FRONT_AND_BACK GL_SPECULAR spec))
+ (glMaterialfv GL_FRONT GL_SPECULAR spec))
(when emi
(if stransparent
(setf (elt emi 3) (float-vector stransparent)))
- (glMaterialfv GL_FRONT_AND_BACK GL_EMISSION emi))
+ (glMaterialfv GL_FRONT GL_EMISSION emi))
(cond
(shin
- (glMaterialf GL_FRONT_AND_BACK GL_SHININESS shin))
+ (glMaterialf GL_FRONT GL_SHININESS shin))
(t
- (glMaterialf GL_FRONT_AND_BACK GL_SHININESS 0.0)
- (glMaterialfv GL_FRONT_AND_BACK GL_SPECULAR (float-vector 0 0 0 0))
+ (glMaterialf GL_FRONT GL_SHININESS 0.0)
+ (glMaterialfv GL_FRONT GL_SPECULAR (float-vector 0 0 0 0))
))
(when (and teximg texcoords)
(let ((im_width (send teximg :width))
@@ -806,8 +807,16 @@
(im_buf (send teximg :entity)))
(glPixelStorei GL_UNPACK_ALIGNMENT 1)
;;
- (glTexImage2D GL_TEXTURE_2D 0 GL_RGB im_width im_height
- 0 GL_RGB GL_UNSIGNED_BYTE im_buf)
+ (cond
+ ((derivedp teximg image::grayscale-image)
+ (glTexImage2D GL_TEXTURE_2D 0 GL_RGB im_width im_height
+ 0 GL_LUMINANCE GL_UNSIGNED_BYTE im_buf))
+ ((derivedp teximg image::color-image24)
+ (glTexImage2D GL_TEXTURE_2D 0 GL_RGB im_width im_height
+ 0 GL_RGB GL_UNSIGNED_BYTE im_buf))
+ ((derivedp teximg image::color-image32)
+ (glTexImage2D GL_TEXTURE_2D 0 GL_RGBA im_width im_height
+ 0 GL_RGBA GL_UNSIGNED_BYTE im_buf)))
;;(gluBuild2DMipmaps GL_TEXTURE_2D GL_RGB im_width im_height GL_RGB GL_UNSIGNED_BYTE imbuf) ;; case 2
;;
(glTexParameteri GL_TEXTURE_2D GL_TEXTURE_WRAP_S GL_REPEAT)
@@ -817,14 +826,20 @@
(glTexParameteri GL_TEXTURE_2D GL_TEXTURE_MAG_FILTER GL_NEAREST)
;;(glTexParameteri GL_TEXTURE_2D GL_TEXTURE_MAG_FILTER GL_LINEAR) ;; case 2
;;(glTexParameteri GL_TEXTURE_2D GL_TEXTURE_MIN_FILTER GL_LINEAR_MIPMAP_LINEAR) ;; case 2
- ;;
- (glTexEnvi GL_TEXTURE_ENV GL_TEXTURE_ENV_MODE GL_DECAL)
+
+ ;;(glTexEnvi GL_TEXTURE_ENV GL_TEXTURE_ENV_MODE GL_DECAL) ;; flat color
+ (glTexEnvi GL_TEXTURE_ENV GL_TEXTURE_ENV_MODE GL_MODULATE)
(glEnable GL_TEXTURE_2D)
))
))
(unless (and teximg texcoords) (setq texcoords nil))
-
+ ;;
(glEnableClientState GL_VERTEX_ARRAY)
+#+:x86_64
+ (glVertexPointer 3 GL_DOUBLE 0 (array-entity vertices))
+#-:x86_64
+ (glVertexPointer 3 GL_FLOAT 0 (array-entity vertices))
+ ;;
(when normals
(glEnableClientState GL_NORMAL_ARRAY)
#+:x86_64
@@ -832,6 +847,7 @@
#-:x86_64
(glNormalPointer GL_FLOAT 0 (array-entity normals))
)
+ ;;
(when texcoords
(glEnableClientState GL_TEXTURE_COORD_ARRAY)
#+:x86_64
@@ -839,10 +855,6 @@
#-:x86_64
(glTexCoordPointer 2 GL_FLOAT 0 texcoords)
)
-#+:x86_64
- (glVertexPointer 3 GL_DOUBLE 0 (array-entity vertices))
-#-:x86_64
- (glVertexPointer 3 GL_FLOAT 0 (array-entity vertices))
(let (tp)
(case mesh-type
@@ -860,10 +872,10 @@
(glDrawArrays tp 0 (array-dimension vertices 0)))
)))
- (when normals (glDisableClientState GL_NORMAL_ARRAY))
(when texcoords
(glDisable GL_TEXTURE_2D)
(glDisableClientState GL_TEXTURE_COORD_ARRAY))
+ (when normals (glDisableClientState GL_NORMAL_ARRAY))
(glDisableClientState GL_VERTEX_ARRAY)
))
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|
|
From: <ky...@us...> - 2013-04-01 14:41:46
|
Revision: 882
http://jskeus.svn.sourceforge.net/jskeus/?rev=882&view=rev
Author: kyouhei
Date: 2013-04-01 14:41:34 +0000 (Mon, 01 Apr 2013)
Log Message:
-----------
add code for drawing texture on glvertices
Modified Paths:
--------------
trunk/irteus/irtgl.l
Modified: trunk/irteus/irtgl.l
===================================================================
--- trunk/irteus/irtgl.l 2013-03-30 09:11:40 UTC (rev 881)
+++ trunk/irteus/irtgl.l 2013-04-01 14:41:34 UTC (rev 882)
@@ -60,6 +60,7 @@
(defforeign glVertexPointer gl-lib "glVertexPointer" () :integer)
(defforeign glColorPointer gl-lib "glColorPointer" () :integer)
(defforeign glNormalPointer gl-lib "glNormalPointer" () :integer)
+ (defforeign glTexCoordPointer gl-lib "glTexCoordPointer" () :integer)
(defforeign glDrawElements gl-lib "glDrawElements" () :integer)
(defforeign glArrayElement gl-lib "glArrayElement" () :integer)
(defforeign glDrawArrays gl-lib "glDrawArrays" () :integer)
@@ -756,16 +757,19 @@
(material-info (cadr (assoc :material minfo)))
(vertices (cadr (assoc :vertices minfo)))
(normals (cadr (assoc :normals minfo)))
- (indices (cadr (assoc :indices minfo))))
-
+ (indices (cadr (assoc :indices minfo)))
+ (texcoords (cadr (assoc :texcoords minfo)))
+ teximg)
(when material-info
- (let ((col (cadr (assoc :color material-info)))
+ (let (;;(fnm (cadr (assoc :filename material-info)))
+ (col (cadr (assoc :color material-info)))
(amb (cadr (assoc :ambient material-info)))
(diff (cadr (assoc :diffuse material-info)))
(spec (cadr (assoc :specular material-info)))
(emi (cadr (assoc :emission material-info)))
(shin (cadr (assoc :shininess material-info)))
(trans (cadr (assoc :transparency material-info))))
+ (setq teximg (cadr (assoc :teximage material-info)))
;; override transparent ...
;;(if (and stransparent trans) (setq stransparent trans))
(when col
@@ -789,7 +793,36 @@
(if stransparent
(setf (elt emi 3) (float-vector stransparent)))
(glMaterialfv GL_FRONT_AND_BACK GL_EMISSION emi))
+ (cond
+ (shin
+ (glMaterialf GL_FRONT_AND_BACK GL_SHININESS shin))
+ (t
+ (glMaterialf GL_FRONT_AND_BACK GL_SHININESS 0.0)
+ (glMaterialfv GL_FRONT_AND_BACK GL_SPECULAR (float-vector 0 0 0 0))
+ ))
+ (when (and teximg texcoords)
+ (let ((im_width (send teximg :width))
+ (im_height (send teximg :height))
+ (im_buf (send teximg :entity)))
+ (glPixelStorei GL_UNPACK_ALIGNMENT 1)
+ ;;
+ (glTexImage2D GL_TEXTURE_2D 0 GL_RGB im_width im_height
+ 0 GL_RGB GL_UNSIGNED_BYTE im_buf)
+ ;;(gluBuild2DMipmaps GL_TEXTURE_2D GL_RGB im_width im_height GL_RGB GL_UNSIGNED_BYTE imbuf) ;; case 2
+ ;;
+ (glTexParameteri GL_TEXTURE_2D GL_TEXTURE_WRAP_S GL_REPEAT)
+ (glTexParameteri GL_TEXTURE_2D GL_TEXTURE_WRAP_T GL_REPEAT)
+ ;;
+ (glTexParameteri GL_TEXTURE_2D GL_TEXTURE_MIN_FILTER GL_NEAREST)
+ (glTexParameteri GL_TEXTURE_2D GL_TEXTURE_MAG_FILTER GL_NEAREST)
+ ;;(glTexParameteri GL_TEXTURE_2D GL_TEXTURE_MAG_FILTER GL_LINEAR) ;; case 2
+ ;;(glTexParameteri GL_TEXTURE_2D GL_TEXTURE_MIN_FILTER GL_LINEAR_MIPMAP_LINEAR) ;; case 2
+ ;;
+ (glTexEnvi GL_TEXTURE_ENV GL_TEXTURE_ENV_MODE GL_DECAL)
+ (glEnable GL_TEXTURE_2D)
+ ))
))
+ (unless (and teximg texcoords) (setq texcoords nil))
(glEnableClientState GL_VERTEX_ARRAY)
(when normals
@@ -799,8 +832,14 @@
#-:x86_64
(glNormalPointer GL_FLOAT 0 (array-entity normals))
)
-
+ (when texcoords
+ (glEnableClientState GL_TEXTURE_COORD_ARRAY)
#+:x86_64
+ (glTexCoordPointer 2 GL_DOUBLE 0 texcoords)
+#-:x86_64
+ (glTexCoordPointer 2 GL_FLOAT 0 texcoords)
+ )
+#+:x86_64
(glVertexPointer 3 GL_DOUBLE 0 (array-entity vertices))
#-:x86_64
(glVertexPointer 3 GL_FLOAT 0 (array-entity vertices))
@@ -822,6 +861,9 @@
)))
(when normals (glDisableClientState GL_NORMAL_ARRAY))
+ (when texcoords
+ (glDisable GL_TEXTURE_2D)
+ (glDisableClientState GL_TEXTURE_COORD_ARRAY))
(glDisableClientState GL_VERTEX_ARRAY)
))
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|
From: <ky...@us...> - 2013-03-30 09:11:50
|
Revision: 881
http://jskeus.svn.sourceforge.net/jskeus/?rev=881&view=rev
Author: kyouhei
Date: 2013-03-30 09:11:40 +0000 (Sat, 30 Mar 2013)
Log Message:
-----------
add implementation for :calc-normals on glvertices
Modified Paths:
--------------
trunk/irteus/irtgl.l
Modified: trunk/irteus/irtgl.l
===================================================================
--- trunk/irteus/irtgl.l 2013-03-29 01:51:49 UTC (rev 880)
+++ trunk/irteus/irtgl.l 2013-03-30 09:11:40 UTC (rev 881)
@@ -600,17 +600,51 @@
(send self :set-offset cds)
(send self :rest-coords))
self)
- (:calc-normal (&optional (force nil))
+ (:calc-normals (&optional (force nil))
(dolist (minfo mesh-list)
(let ((nmat (cadr (assoc :normals minfo)))
- (vmat (cadr (assoc :vertices minfo))))
+ (tp (cadr (assoc :type minfo)))
+ (idxs (cadr (assoc :indices minfo)))
+ (vmat (cadr (assoc :vertices minfo)))
+ (a0 (instantiate float-vector 3))
+ (a1 (instantiate float-vector 3))
+ (a2 (instantiate float-vector 3))
+ (va (instantiate float-vector 3))
+ (vb (instantiate float-vector 3))
+ (nn (instantiate float-vector 3)))
+ (case tp
+ (:triangles (setq tp 3))
+ (:quads (setq tp 4))
+ (:lines (setq tp 2))
+ (nil (setq tp 3) (warn ";; keyword :type not found (processing as :triangles)~%"))
+ (t (warn ";; mesh-type not found ~A~%") (return-from :calc-normals)))
(unless (and nmat (null force))
- (unless nmat
- (let ((len))
- (setq nmat (make-matrix len 3))
- ;; add nmat to minfo
- ))
- ))))
+ (let ((len (array-dimension vmat 0)))
+ (setq nmat (make-matrix len 3))
+ (cond
+ (idxs
+ (dotimes (i (/ (length idxs) tp))
+ (user::c-matrix-row vmat (elt idxs (+ (* tp i) 0)) a0)
+ (user::c-matrix-row vmat (elt idxs (+ (* tp i) 1)) a1)
+ (user::c-matrix-row vmat (elt idxs (+ (* tp i) 2)) a2)
+ (v* (v- a1 a0 va) (v- a2 a0 vb) nn)
+ (normalize-vector nn nn)
+ (user::c-matrix-row nmat (elt idxs (+ (* tp i) 0)) nn t)
+ (user::c-matrix-row nmat (elt idxs (+ (* tp i) 1)) nn t)
+ (user::c-matrix-row nmat (elt idxs (+ (* tp i) 2)) nn t)))
+ (t
+ (dotimes (i (/ len tp))
+ (user::c-matrix-row vmat (+ (* tp i) 0) a0)
+ (user::c-matrix-row vmat (+ (* tp i) 1) a1)
+ (user::c-matrix-row vmat (+ (* tp i) 2) a2)
+ (v* (v- a1 a0 va) (v- a2 a0 vb) nn)
+ (normalize-vector nn nn)
+ (user::c-matrix-row nmat (elt idxs (+ (* tp i) 0)) nn t)
+ (user::c-matrix-row nmat (elt idxs (+ (* tp i) 1)) nn t)
+ (user::c-matrix-row nmat (elt idxs (+ (* tp i) 2)) nn t))))
+ (nconc minfo (list (list :normals nmat)))
+ ))
+ )))
(:convert-to-faces (&rest args) ;; check-normal <-> check-vertices-order, add face-color
(let (ret)
(dolist (mesh mesh-list)
@@ -776,6 +810,7 @@
(:triangles (setq tp GL_TRIANGLES))
(:quads (setq tp GL_QUADS))
(:lines (setq tp GL_LINES))
+ (nil (setq tp GL_TRIANGLES) (warn ";; keyword :type not found (processing as :triangles)~%"))
(t (warn ";; mesh-type not found ~A~%") mesh-type))
(when tp
(cond
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|
|
From: SourceForge.net <no...@so...> - 2013-03-30 06:36:32
|
Bugs item #3609538, was opened at 2013-03-29 23:36 Message generated for change (Tracker Item Submitted) made by kyouhei You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=1415198&aid=3609538&group_id=337851 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: None Group: None Status: Open Resolution: None Priority: 5 Private: No Submitted By: Yohei Kakiuchi (kyouhei) Assigned to: Yohei Kakiuchi (kyouhei) Summary: ロードしたhash-tableが使えない Initial Comment: 以下のような話があります。 (setq ht (make-hash-table)) (setf (gethash :test ht) '(1 2 3)) ;; (1 2 3) (gethash :hoge ht) ;; 登録されてないキーに対してはnilが返る ;; nil (dump-loadable-structure "test.l" ht) ;; 一度ファイルに保存 (load "test.") ;; 再度ロード (gethash :test ht) ;; 登録されているキーの値は読み出せる ;; (1 2 3) (gethash :hoge ht) ;; 登録されていないキーの値を取得しようとすると処理が返ってこない 原因はhash-tableの持っている、empty, deletedのシンボルがgensymされたパッケージを持たないシンボルで readする度に作られてポインタが変わってしまうためです。 hrp2のmin-max-tableでは、emptyをnilにして対応しています。 作戦としては、以下があるでしょうか。 1) 標準で empty -> nil / deleted -> t にする （この場合、hashのkeyにnil,tが使えない） 2) 標準でempy/deletedにどこかのパッケージに属する、read毎に変わらないシンボルを設定する 3) hash-table 用の dump/load 関数を作る 2)かなと思います。 ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=1415198&aid=3609538&group_id=337851 |
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From: SourceForge.net <no...@so...> - 2013-03-30 06:25:22
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Bugs item #3575213, was opened at 2012-10-07 00:07 Message generated for change (Settings changed) made by kyouhei You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=1415198&aid=3575213&group_id=337851 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: None Group: None >Status: Closed Resolution: Fixed Priority: 5 Private: No Submitted By: Nobody/Anonymous (nobody) Assigned to: Nobody/Anonymous (nobody) Summary: Macでのコンパイル失敗（ljpeg6bがない） Initial Comment: 自分のMacを用いてソフトウェア第三の授業の作業をしたいので、 http://sourceforge.net/apps/mediawiki/jskeus/index.php?title=Main_Page を参考に依存環境をインストールしようとしました。 ですが、ここに書いてある方法では、jpeg6bをインストールできませんでした。 なので、 http://slashdot.jp/~Cube/journal/363553 をなどを参考にjpeg6bをインストールしようとしたのですが、 このURLの中の4.で書き換えるところで、/usr/bin/の中にglibtoolは入っておらずlibtoolが入っているので、 s%@LIBTOOL@%/usr/bin/libtool%g と書き換えて、 6.でmakeしたのですが、以下のようなエラーが出ました： /usr/bin/libtool --mode=compile gcc -O2 -I. -c ./jcapimin.c /usr/bin/libtool: unknown option character `-' in: --mode=compile Usage: /usr/bin/libtool -static [-] file [...] [-filelist listfile[,dirname]] [-arch_only arch] [-sacLT] Usage: /usr/bin/libtool -dynamic [-] file [...] [-filelist listfile[,dirname]] [-arch_only arch] [-o output] [-install_name name] [-compatibility_version #] [-current_version #] [-seg1addr 0x#] [-segs_read_only_addr 0x#] [-segs_read_write_addr 0x#] [-seg_addr_table <filename>] [-seg_addr_table_filename <file_system_path>] [-all_load] [-noall_load] make: *** [jcapimin.lo] Error 1 この方針では、自力ではインストールできないような気がしてきたので、Macにjpeg6bをインストールする方法を教えていただけないでしょうか？ ちなみにOSは最新の10.8.2です。 また、MacPortからjpeg @8d_0 はインストールできたので、それを用いてjskeusをコンパイルする方法を教えていただいても事足りるかもしれません。 ---------------------------------------------------------------------- Comment By: Kei Okada (k-okada) Date: 2012-10-08 23:04 Message: r580で対応しました． ---------------------------------------------------------------------- Comment By: KazutoMurase (kattyo-kaccho) Date: 2012-10-08 23:01 Message: 以下の変更が必要そうです = murase-no-MacBook-Pro:lisp kattyo$ svn diff Index: image/jpeg/makefile =================================================================== --- image/jpeg/makefile (revision 579) +++ image/jpeg/makefile (working copy) @@ -30,8 +30,8 @@ endif endif ifeq ($(ARCHDIR), Darwin) -CC += -I/opt/local/lib/jpeg6b/include -LD += -L/opt/local/lib/jpeg6b/lib +CC += -I/opt/local/lib/jpeg6b/include -I/opt/local/include +LD += -L/opt/local/lib/jpeg6b/lib -L/opt/local/lib endif ARCH=$(ARCHDIR) LIBDIR=$(EUSDIR)/$(ARCH)/lib ---------------------------------------------------------------------- Comment By: KazutoMurase (kattyo-kaccho) Date: 2012-10-08 22:33 Message: その後、makeしたところ (cd /prog/jskeus/eus/lisp/image/jpeg/;make) cc -fPIC -I/opt/local/lib/jpeg6b/include -c -o /prog/jskeus/eus/Darwin/obj/jpegmemcd.o jpegmemcd.c jpegmemcd.c:12:10: fatal error: 'jpeglib.h' file not found #include "jpeglib.h" ^ 1 error generated. と出る場合ですが、 /opt/local/include/jpeglib.h というファイルがあるか確認して下さい。 ---------------------------------------------------------------------- Comment By: https://www.google.com/accounts () Date: 2012-10-08 21:01 Message: jpegを入れて実行しましたが以下のようなエラーがでました。 svn up Fetching external item into 'eus/lisp' External at revision 579. Fetching external item into 'eus/lib' External at revision 579. Fetching external item into 'eus/lib/llib' External at revision 579. At revision 861. makeすると # remove unsupported directories cd eus/lisp && ln -sf Makefile.Darwin Makefile && make eus0 eus1 eus2 eusg eusx eusgl eus make[1]: Nothing to be done for `eus0'. make[1]: Nothing to be done for `eus1'. make[1]: Nothing to be done for `eus2'. make[1]: Nothing to be done for `eusg'. make[1]: Nothing to be done for `eusx'. make[1]: Nothing to be done for `eusgl'. make[1]: Nothing to be done for `eus'. cd irteus; make (cd /Users/kodai/jskeus/eus/lisp/image/jpeg/;make) gcc -dynamiclib -L/opt/local/lib/jpeg6b/lib -o jpegmemcd.so /Users/kodai/jskeus/eus/Darwin/obj/jpegmemcd.o /Users/kodai/jskeus/eus/Darwin/obj/jmemsrc.o /Users/kodai/jskeus/eus/Darwin/obj/jmemdst.o -ljpeg ld: warning: directory not found for option '-L/opt/local/lib/jpeg6b/lib' ld: library not found for -ljpeg collect2: ld returned 1 exit status make[2]: *** [/Users/kodai/jskeus/eus/Darwin/lib/jpegmemcd.so] Error 1 make[1]: *** [/Users/kodai/jskeus/eus/Darwin/lib/jpegmemcd.so] Error 2 make: *** [irteus-installed] Error 2 ---------------------------------------------------------------------- Comment By: Kei Okada (k-okada) Date: 2012-10-08 19:11 Message: wikiに sudo port install jpeg を書くのを忘れていました．jpeg はインストールしてありますか？ ---------------------------------------------------------------------- Comment By: Nobody/Anonymous (nobody) Date: 2012-10-08 19:10 Message: まず、/prog/jskeusでsvn upを実行したところ、 svn: warning: W200000: Error handling externals definition for 'eus/lib/llib': svn: warning: W155007: '/prog/jskeus/eus/lib/llib' is not a working copy root リビジョン 861 です。 svn: E205011: Failure occurred processing one or more externals definitions という表示がでました。 その後、makeしたところ (cd /prog/jskeus/eus/lisp/image/jpeg/;make) cc -fPIC -I/opt/local/lib/jpeg6b/include -c -o /prog/jskeus/eus/Darwin/obj/jpegmemcd.o jpegmemcd.c jpegmemcd.c:12:10: fatal error: 'jpeglib.h' file not found #include "jpeglib.h" ^ 1 error generated. make[2]: *** [/prog/jskeus/eus/Darwin/obj/jpegmemcd.o] Error 1 make[1]: *** [/prog/jskeus/eus/Darwin/lib/jpegmemcd.so] Error 2 make: *** [irteus-installed] Error 2 と表示され、コンパイル失敗しました。 ---------------------------------------------------------------------- Comment By: Kei Okada (k-okada) Date: 2012-10-07 00:55 Message: jpeg @8d_0 でも動くことを確認しました． また，pngのバージョンも上がっているので，euspng.c を更新しました． cd prog/jskeus/; svn upとして，jskeusがr861以上であることを確認してmakeしてください． ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=1415198&aid=3575213&group_id=337851 |
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From: SourceForge.net <no...@so...> - 2013-03-30 06:24:21
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Bugs item #3574024, was opened at 2012-10-02 20:16 Message generated for change (Settings changed) made by kyouhei You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=1415198&aid=3574024&group_id=337851 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: None Group: None >Status: Closed >Resolution: Fixed Priority: 5 Private: No Submitted By: Nobody/Anonymous (nobody) Assigned to: Yohei Kakiuchi (kyouhei) Summary: コンパイル失敗対処法 Initial Comment: sudo apt-get install subversion gcc g++ libjpeg62-dev libxext-dev libx11-dev libgl1-mesa-dev libglu1-mesa-dev libpq-dev libpng12-dev xfonts-100dpi xfonts-75dpi msttcorefonts lsb_release -a sudo apt-get install libjpeg62-dev sudo apt-get remove libjpeg-turbo8-dev libjpeg-dev sudo apt-get remove libjpeg-turbo8-ddev sudo apt-get remove libjpeg8-dev sudo apt-get install ubuntu-restricted-extras ---------------------------------------------------------------------- Comment By: Kei Okada (k-okada) Date: 2012-10-04 18:11 Message: 了解． https://sourceforge.net/apps/mediawiki/jskeus/index.php?title=Main_Page を修正しておきました． ---------------------------------------------------------------------- Comment By: Yohei Kakiuchi (kyouhei) Date: 2012-10-04 06:14 Message: libjpeg-dev のインストールで、libjpeg62-devがインストールされます。10.04で確認しました。 いまのところ、libjpeg8-devで動いています。エラー報告は来ていません。 ---------------------------------------------------------------------- Comment By: Kei Okada (k-okada) Date: 2012-10-04 05:10 Message: https://sourceforge.net/apps/mediawiki/jskeus/index.php?title=Main_Page の記述でlibjpeg64-devをlibjpeg-dev にしても大丈夫かな？10.04とか． また，libjpeg8-devでも動いているのかな？ ---------------------------------------------------------------------- Comment By: Yohei Kakiuchi (kyouhei) Date: 2012-10-04 05:05 Message: 32bit環境でも問題ないと思います。 問題は、xのフォントをインストールした後に、xをリブートしないとフォントが使えるようにならないことではないかと思います。 ---------------------------------------------------------------------- Comment By: Yohei Kakiuchi (kyouhei) Date: 2012-10-04 04:25 Message: 手元の12.04 64bit環境では、始めのapt-get の libjpeg62-dev -> libjpeg-dev にするだけでコンパイルできています。(libjpeg8-devを使っている) また、ubuntu-restricted-extrasもインストールされていません。 問題は32bit環境ですかね？ eusと直接関係はないんですが、libjpeg62-dev をインストールしようとするとros-fuerteの多くのパッケージをリムーブしようとします。12.04でlibjpeg62-devつかっていくのは現実的ではないと思います。 ---------------------------------------------------------------------- Comment By: Kei Okada (k-okada) Date: 2012-10-03 23:36 Message: 12.04での話のようです． jpegまわりはaptの失敗に見えるけど， 最後の， sudo apt-get install ubuntu-restricted-extras は必要かな？フォントまわりらしい． ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=1415198&aid=3574024&group_id=337851 |
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From: SourceForge.net <no...@so...> - 2013-03-30 06:23:31
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Bugs item #3574015, was opened at 2012-10-02 20:05 Message generated for change (Settings changed) made by kyouhei You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=1415198&aid=3574015&group_id=337851 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: None Group: None >Status: Closed Resolution: Fixed Priority: 5 Private: No Submitted By: Nobody/Anonymous (nobody) Assigned to: Kei Okada (k-okada) Summary: to execute demo program Initial Comment: if u execute a demo program, go to the directory:"~/prog/jskeus/irteus/" ---------------------------------------------------------------------- Comment By: Kei Okada (k-okada) Date: 2012-10-03 23:17 Message: 内容は，https://sourceforge.net/apps/mediawiki/jskeus/index.php?title=Main_Page のwikiのページをみてデモを実行しようとすると {{{ 1.irteusgl$ load "demo/demo.l" irteusgl 0 error: file #P"demo/demo.l" not found in (load "demo/demo.l") }}} と，エラーになるという物かと思いますが， {{{ 3.irteusgl$ load "irteus/demo/demo.l" }}} が正しいです．wikiのページを直して置きました． ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=1415198&aid=3574015&group_id=337851 |
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From: SourceForge.net <no...@so...> - 2013-03-30 06:22:53
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Bugs item #3575881, was opened at 2012-10-09 18:59 Message generated for change (Settings changed) made by kyouhei You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=1415198&aid=3575881&group_id=337851 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: None Group: None >Status: Closed Resolution: None Priority: 5 Private: No Submitted By: Nobody/Anonymous (nobody) Assigned to: Nobody/Anonymous (nobody) Summary: デモプログラムが実行できない Initial Comment: http://sourceforge.net/tracker/?func=detail&aid=3575213&group_id=337851&atid=1415198 を見て、makeし、Macにインストールするところまではいったのですが、デモプログラムを実行すると irteus/demo/demo.l configuring by "/Users/kodai/jskeus/eus/lib/eusrt.l" ;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin connected to Xserver DISPLAY=/tmp/launch-GHhqWQ/org.x:0 X events are being asynchronously monitored. ;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtpointcloud irtx eusjpeg euspng png irtimage irtglrgb ;; extending gcstack 0x1069cd000[16374] --> 0x106daa000[32748] top=36ae irtgl irtviewer EusLisp 8.26(r580 861) for Darwin created on Kodai-Mac.local(Tue Oct 9 17:28:02 JST 2012) とターミナル上で表示され、X Window Systemが起動するのですが白い画面のままで何も表示されず、X Window Systemが応答しなくなります。 Lisp言語は動かせます。 OSのバージョンはMacOS X 10.7.5です ---------------------------------------------------------------------- Comment By: Nobody/Anonymous (nobody) Date: 2012-10-24 08:43 Message: 書かれているようにXQuartzを2.7.4にバージョンアップすると動作しました。 ありがとうございます ---------------------------------------------------------------------- Comment By: furushchev (furushchev1990) Date: 2012-10-11 19:21 Message: OSX 10.8.2 Build 12C54, XQuartz 2.7.2にて同様のエラーが再現されました。 XQuartzのバージョンを2.7.4にアップデートしたところエラー無く動作しました。 Release Logをみたところ 2.7.3 -> 2.7.4 Fix an issue with GLX pixmaps (#536) plaguing wine (http://xquartz.macosforge.org/trac/ticket/536) が原因でしょうか。 ---------------------------------------------------------------------- Comment By: KazutoMurase (kattyo-kaccho) Date: 2012-10-09 22:21 Message: OSは同じMac OS X 10.7.4で、 x11は標準のに代わってXQuartz 2.7.1 (xorg-server 1.11.4) xorg-libX11は1.4.99.901_0がアクティブ gccは4.2.1 で動いてます。 x11、xorg-libX11、gccの情報を送って下さい。 ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=1415198&aid=3575881&group_id=337851 |
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From: <ky...@us...> - 2013-03-29 01:51:57
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Revision: 880
http://jskeus.svn.sourceforge.net/jskeus/?rev=880&view=rev
Author: kyouhei
Date: 2013-03-29 01:51:49 +0000 (Fri, 29 Mar 2013)
Log Message:
-----------
add methods for creating faces to glvertices
Modified Paths:
--------------
trunk/irteus/irtgl.l
Modified: trunk/irteus/irtgl.l
===================================================================
--- trunk/irteus/irtgl.l 2013-03-20 05:50:25 UTC (rev 879)
+++ trunk/irteus/irtgl.l 2013-03-29 01:51:49 UTC (rev 880)
@@ -600,8 +600,7 @@
(send self :set-offset cds)
(send self :rest-coords))
self)
- (:calc-normal
- (&optional (force nil))
+ (:calc-normal (&optional (force nil))
(dolist (minfo mesh-list)
(let ((nmat (cadr (assoc :normals minfo)))
(vmat (cadr (assoc :vertices minfo))))
@@ -612,7 +611,54 @@
;; add nmat to minfo
))
))))
- (:convert-to-faceset ()) ;;; not implemented yet
+ (:convert-to-faces (&rest args) ;; check-normal <-> check-vertices-order, add face-color
+ (let (ret)
+ (dolist (mesh mesh-list)
+ (let ((vlst (cadr (assoc :vertices mesh)))
+ (nlst (cadr (assoc :normals mesh)))
+ (idces (cadr (assoc :indices mesh)))
+ (tp (cadr (assoc :type mesh)))
+ mesh-size lst)
+ (case tp
+ (:triangles (setq mesh-size 3))
+ (:quads (setq mesh-size 4))
+ (t (warn ";; not supported mesh type -> ~A" tp)
+ (return-from :convert-to-faces)))
+ (cond
+ (idces
+ (do ((i 0 (+ i 1))
+ (v 0 (+ v mesh-size)))
+ ((>= v (length idces)))
+ (let (vs ns)
+ (dotimes (j mesh-size)
+ (push (user::c-matrix-row vlst (elt idces (+ v j))) vs)
+ (if nlst (push (user::c-matrix-row nlst (elt idces (+ v j))) ns)))
+ (push
+ (cond
+ ;;((and ns check-vertices-order) )
+ ;;(ns (instance face :init :vertices (nreverse vs) :normal ns))
+ (t (instance face :init :vertices (nreverse vs))))
+ lst))))
+ (t
+ (do ((i 0 (+ i 1))
+ (v 0 (+ v mesh-size)))
+ ((>= v (array-dimension vlst 0)))
+ (let (vs ns)
+ (dotimes (j mesh-size)
+ (push (user::c-matrix-row vlst (+ v j)) vs)
+ (if nlst (push (user::c-matrix-row nlst (+ v j)) ns)))
+ (push
+ (if ns
+ (instance face :init :vertices (nreverse vs) :normal ns)
+ (instance face :init :vertices (nreverse vs)))
+ lst))))
+ ) ;; /cond
+ (push (nreverse lst) ret)))
+ (nreverse ret)))
+ (:faces () (flatten (send self :convert-to-faces)))
+ (:convert-to-faceset (&rest args)
+ (instance faceset :init :faces
+ (flatten (send* self :convert-to-faces args))))
(:set-offset (cds) ;; not checked
(let* ((zero (float-vector 0 0 0))
(wpos (send cds :worldpos))
@@ -626,8 +672,8 @@
(c-coords-transform-vector
zero wrot nmat nmat))))
self))
- (:append-glvertices ;; not checked
- (glv-lst)
+ (:devide-glvertices ()) ;; not implemented yet
+ (:append-glvertices (glv-lst) ;; not checked
(if (atom glv-lst) (setq glv-lst (list glv-lst)))
(let (ret (sw (send self :worldcoords)))
(dolist (glv glv-lst)
@@ -639,8 +685,7 @@
(setq mesh-list (append mesh-list ret))
(send self :calc-bounding-box)
self))
- (:draw
- (vwr &rest args)
+ (:draw (vwr &rest args)
(let* (newlis
(mat (send (send self :worldcoords) :4x4))
(stransparent (get self :transparent))
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
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From: SourceForge.net <no...@so...> - 2013-03-28 13:25:43
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Bugs item #3581563, was opened at 2012-10-29 01:40 Message generated for change (Comment added) made by k-okada You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=1415198&aid=3581563&group_id=337851 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: None Group: None Status: Open Resolution: None Priority: 5 Private: No Submitted By: Nobody/Anonymous (nobody) Assigned to: Nobody/Anonymous (nobody) Summary: rotation-angleでnanが返る Initial Comment: euslispのrotation-angleでnanが返ってくることがあります。 具体的には下のようになります。 56.E15-irteusgl$ (setq rot (make-coords :rpy #f(-1.220e-08 -5.195e-09 1.333e-09))) #<coordinates #X6de2b18 0.0 0.0 0.0 / -1.220e-08 -5.195e-09 1.333e-09> 57.E15-irteusgl$ rotation-angle (send rotbag :rot) (1.332685e-08 #f(-nan -nan 0.0)) ---------------------------------------------------------------------- >Comment By: Kei Okada (k-okada) Date: 2013-03-28 06:25 Message: lisp/c/matrix.cのr602で直しました． ---------------------------------------------------------------------- Comment By: Kei Okada (k-okada) Date: 2013-03-28 06:18 Message: 32bitで通らない例があるようです．r3994でテストに追加しました． ---------------------------------------------------------------------- Comment By: Kei Okada (k-okada) Date: 2013-03-09 10:45 Message: r601でコミットしました． ---------------------------------------------------------------------- Comment By: Kei Okada (k-okada) Date: 2013-03-04 03:48 Message: もうちょっと見てみると，versが0になってnanになっていますね． th<1e-10 || ver<1e-10というてもあるだろうか？（fabs(vars)<1e-10が正しい？ ---------------------------------------------------------------------- Comment By: Yohei Kakiuchi (kyouhei) Date: 2012-10-29 09:47 Message: jskeus/eus/lisp/c/matrix.c の 1040行め ROTANGLE が関数の定義ですね。 それで、1075行 の if ( th<1e-10 ) return(NIL); で角度が小さい場合はnilが返るようにしているが、 バグレポートの例では、 th = 1.33..e-8 なので通過している。 そのあとで ゼロ割 してnanが入る。 1e-10を1e-7ぐらいにするといいかもしれないですね。 ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=1415198&aid=3581563&group_id=337851 |
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From: SourceForge.net <no...@so...> - 2013-03-28 13:18:01
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Bugs item #3581563, was opened at 2012-10-29 01:40 Message generated for change (Comment added) made by k-okada You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=1415198&aid=3581563&group_id=337851 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: None Group: None Status: Open Resolution: None Priority: 5 Private: No Submitted By: Nobody/Anonymous (nobody) Assigned to: Nobody/Anonymous (nobody) Summary: rotation-angleでnanが返る Initial Comment: euslispのrotation-angleでnanが返ってくることがあります。 具体的には下のようになります。 56.E15-irteusgl$ (setq rot (make-coords :rpy #f(-1.220e-08 -5.195e-09 1.333e-09))) #<coordinates #X6de2b18 0.0 0.0 0.0 / -1.220e-08 -5.195e-09 1.333e-09> 57.E15-irteusgl$ rotation-angle (send rotbag :rot) (1.332685e-08 #f(-nan -nan 0.0)) ---------------------------------------------------------------------- >Comment By: Kei Okada (k-okada) Date: 2013-03-28 06:18 Message: 32bitで通らない例があるようです．r3994でテストに追加しました． ---------------------------------------------------------------------- Comment By: Kei Okada (k-okada) Date: 2013-03-09 10:45 Message: r601でコミットしました． ---------------------------------------------------------------------- Comment By: Kei Okada (k-okada) Date: 2013-03-04 03:48 Message: もうちょっと見てみると，versが0になってnanになっていますね． th<1e-10 || ver<1e-10というてもあるだろうか？（fabs(vars)<1e-10が正しい？ ---------------------------------------------------------------------- Comment By: Yohei Kakiuchi (kyouhei) Date: 2012-10-29 09:47 Message: jskeus/eus/lisp/c/matrix.c の 1040行め ROTANGLE が関数の定義ですね。 それで、1075行 の if ( th<1e-10 ) return(NIL); で角度が小さい場合はnilが返るようにしているが、 バグレポートの例では、 th = 1.33..e-8 なので通過している。 そのあとで ゼロ割 してnanが入る。 1e-10を1e-7ぐらいにするといいかもしれないですね。 ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=1415198&aid=3581563&group_id=337851 |
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From: <ky...@us...> - 2013-03-20 05:50:32
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Revision: 879
http://jskeus.svn.sourceforge.net/jskeus/?rev=879&view=rev
Author: kyouhei
Date: 2013-03-20 05:50:25 +0000 (Wed, 20 Mar 2013)
Log Message:
-----------
add method :change-background for changing background color
Modified Paths:
--------------
trunk/irteus/irtviewer.l
Modified: trunk/irteus/irtviewer.l
===================================================================
--- trunk/irteus/irtviewer.l 2013-03-15 07:17:45 UTC (rev 878)
+++ trunk/irteus/irtviewer.l 2013-03-20 05:50:25 UTC (rev 879)
@@ -271,6 +271,10 @@
(setq drawmode mode)
drawmode)
(:flush () (if viewer (send viewer :viewsurface :glflush)))
+ (:change-background (col)
+ (let ((vs (send self :viewer :viewsurface)))
+ (setq (vs . x::bg-color) col)
+ (gl::glClearColorfv col)))
)
(defun draw-things (objs)
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From: <ky...@us...> - 2013-03-15 07:17:53
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Revision: 878
http://jskeus.svn.sourceforge.net/jskeus/?rev=878&view=rev
Author: kyouhei
Date: 2013-03-15 07:17:45 +0000 (Fri, 15 Mar 2013)
Log Message:
-----------
:foot-midcoords moved from irt_proposals and add comments
Modified Paths:
--------------
trunk/irteus/irtrobot.l
Modified: trunk/irteus/irtrobot.l
===================================================================
--- trunk/irteus/irtrobot.l 2013-03-13 01:53:16 UTC (rev 877)
+++ trunk/irteus/irtrobot.l 2013-03-15 07:17:45 UTC (rev 878)
@@ -363,8 +363,24 @@
;;; moved from rbrarin libraries
(defmethod robot-model
+ ;; :foot-midcoords
+ ;; purpose : to calculate midcoords of :rleg and :lleg
+ ;; relevant euslib codes : defined in and copied from rbrain/basicape.l
+ ;; objection : in the following codes, leged robot is assumed.
+ ;; is this correct?
+ (:foot-midcoords
+ (&optional (mid 0.5))
+ (apply #'midcoords mid (send self :legs :end-coords))
+ )
+ ;; :fix-leg-to-coords
+ ;; purpose : to fix robot's legs to a coords
+ ;; relevant euslib codes : defined in and copied from rbrain/basicmodel.l
+ ;; objection : in the following codes, leged robot is assumed.
+ ;; is this correct?
(:fix-leg-to-coords
(fix-coords &optional (l/r :both) &key (mid 0.5) &allow-other-keys) ;; support-leg
+ (unless (not (some #'null (send self :legs :links)))
+ (return-from :fix-leg-to-coords nil))
(let (support-coords tmp-coords move-coords pos rot ra)
(cond
((or (eq l/r :left) (eq l/r :lleg))
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From: <ky...@us...> - 2013-03-13 01:53:24
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Revision: 877
http://jskeus.svn.sourceforge.net/jskeus/?rev=877&view=rev
Author: kyouhei
Date: 2013-03-13 01:53:16 +0000 (Wed, 13 Mar 2013)
Log Message:
-----------
add some filters for pointcloud
Modified Paths:
--------------
trunk/irteus/irtpointcloud.l
Modified: trunk/irteus/irtpointcloud.l
===================================================================
--- trunk/irteus/irtpointcloud.l 2013-03-05 14:11:04 UTC (rev 876)
+++ trunk/irteus/irtpointcloud.l 2013-03-13 01:53:16 UTC (rev 877)
@@ -327,8 +327,73 @@
(if negative (push i ret-lst))))
(nreverse ret-lst)
))
-
- (:viewangle-inlier () (warn ";; this method has not been implemented !!!"))
+ (:viewangle-inlier
+ (&key (min-z 0.0) (hangle 44.0) (vangle 35.0))
+ (let ((hlim (tan (deg2rad (/ hangle 2.0))))
+ (vlim (tan (deg2rad (/ vangle 2.0))))
+ (pos (float-vector 0 0 0))
+ (size (send self :size))
+ (mat parray)
+ ret)
+ (dotimes (i size)
+ (c-matrix-row mat i pos)
+ (if (and (> (elt pos 2) min-z)
+ (< (abs (/ (elt pos 0) (elt pos 2))) hlim)
+ (< (abs (/ (elt pos 1) (elt pos 2))) vlim))
+ (push i ret)))
+ (nreverse ret)))
+ (:image-position-inlier
+ (&key (ipkey) (height 144) (width 176)
+ (cy (/ (float (- height 1)) 2))
+ (cx (/ (float (- width 1)) 2))
+ negative)
+ ;; size check ???
+ (let (lst)
+ (dotimes (y height)
+ (dotimes (x width)
+ (if (and ipkey
+ (funcall ipkey x y))
+ (unless negative (push (+ (* y width) x) lst))
+ (if negative (push (+ (* y width) x) lst)))))
+ (nreverse lst)))
+ (:image-circle-filter
+ (dist &key (height 144) (width 176)
+ (cy (/ (float (- height 1)) 2))
+ (cx (/ (float (- width 1)) 2))
+ create negative)
+ (send self :filter-with-indices
+ (send self :image-position-inlier
+ :ipkey #'(lambda (x y)
+ (< (norm (float-vector (- x cx) (- y cy))) dist))
+ :height height :width width :negative negative)
+ :create create))
+ (:step-inlier (step offx offy)
+ (let (ret ptr)
+ (do ((j offy (+ j step)))
+ ((>= j height))
+ (setq ptr (* width j))
+ (do ((i offx (+ i step)))
+ ((>= i width))
+ (push (+ i ptr) ret)))
+ (nreverse ret)
+ ))
+ (:step
+ (step &key (fixsize) (create))
+ (let* ((offx (floor (/ (mod (1- width) step) 2.0)))
+ (offy (floor (/ (mod (1- height) step) 2.0)))
+ (nw (/ (1+ (- width offx)) step))
+ (nh (/ (1+ (- height offy)) step)))
+ (let ((step-idx (send self :step-inlier step offx offy)))
+ (cond
+ (fixsize
+ ;; not implimented
+ )
+ (t
+ (let ((ret (send self :filter-with-indices step-idx :create create)))
+ (send ret :size)
+ (send ret :size-change nw nh)
+ ret)))
+ )))
;;(:remove-outlier ())
(:copy-from (pc)
(send self :points (send pc :points))
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From: SourceForge.net <no...@so...> - 2013-03-09 18:45:20
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Bugs item #3581563, was opened at 2012-10-29 01:40 Message generated for change (Comment added) made by k-okada You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=1415198&aid=3581563&group_id=337851 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: None Group: None Status: Open Resolution: None Priority: 5 Private: No Submitted By: Nobody/Anonymous (nobody) Assigned to: Nobody/Anonymous (nobody) Summary: rotation-angleでnanが返る Initial Comment: euslispのrotation-angleでnanが返ってくることがあります。 具体的には下のようになります。 56.E15-irteusgl$ (setq rot (make-coords :rpy #f(-1.220e-08 -5.195e-09 1.333e-09))) #<coordinates #X6de2b18 0.0 0.0 0.0 / -1.220e-08 -5.195e-09 1.333e-09> 57.E15-irteusgl$ rotation-angle (send rotbag :rot) (1.332685e-08 #f(-nan -nan 0.0)) ---------------------------------------------------------------------- >Comment By: Kei Okada (k-okada) Date: 2013-03-09 10:45 Message: r601でコミットしました． ---------------------------------------------------------------------- Comment By: Kei Okada (k-okada) Date: 2013-03-04 03:48 Message: もうちょっと見てみると，versが0になってnanになっていますね． th<1e-10 || ver<1e-10というてもあるだろうか？（fabs(vars)<1e-10が正しい？ ---------------------------------------------------------------------- Comment By: Yohei Kakiuchi (kyouhei) Date: 2012-10-29 09:47 Message: jskeus/eus/lisp/c/matrix.c の 1040行め ROTANGLE が関数の定義ですね。 それで、1075行 の if ( th<1e-10 ) return(NIL); で角度が小さい場合はnilが返るようにしているが、 バグレポートの例では、 th = 1.33..e-8 なので通過している。 そのあとで ゼロ割 してnanが入る。 1e-10を1e-7ぐらいにするといいかもしれないですね。 ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=1415198&aid=3581563&group_id=337851 |
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From: <ky...@us...> - 2013-03-05 14:11:12
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Revision: 876
http://jskeus.svn.sourceforge.net/jskeus/?rev=876&view=rev
Author: kyouhei
Date: 2013-03-05 14:11:04 +0000 (Tue, 05 Mar 2013)
Log Message:
-----------
add fix-leg-to-coords and move-centroid-on-foot to robot-model
Modified Paths:
--------------
trunk/irteus/irtrobot.l
Modified: trunk/irteus/irtrobot.l
===================================================================
--- trunk/irteus/irtrobot.l 2013-03-01 23:42:28 UTC (rev 875)
+++ trunk/irteus/irtrobot.l 2013-03-05 14:11:04 UTC (rev 876)
@@ -361,6 +361,58 @@
(nreverse result)))
)
+;;; moved from rbrarin libraries
+(defmethod robot-model
+ (:fix-leg-to-coords
+ (fix-coords &optional (l/r :both) &key (mid 0.5) &allow-other-keys) ;; support-leg
+ (let (support-coords tmp-coords move-coords pos rot ra)
+ (cond
+ ((or (eq l/r :left) (eq l/r :lleg))
+ (setq support-coords
+ (send self :lleg :end-coords :copy-worldcoords)))
+ ((or (eq l/r :right) (eq l/r :rleg))
+ (setq support-coords
+ (send self :rleg :end-coords :copy-worldcoords)))
+ (t
+ (setq support-coords
+ (midcoords mid
+ (send self :lleg :end-coords :copy-worldcoords)
+ (send self :rleg :end-coords :copy-worldcoords)))))
+ (setq tmp-coords (send fix-coords :copy-worldcoords))
+ (setq move-coords (send support-coords :transformation self))
+ (send tmp-coords :transform move-coords :local)
+ (send self :newcoords tmp-coords)
+ (send self :worldcoords)
+ tmp-coords))
+ (:move-centroid-on-foot
+ (leg fix-limbs
+ &rest args
+ &key (thre (mapcar #'(lambda (x) (if (memq x '(:rleg :lleg)) 1 5)) fix-limbs))
+ (rthre (mapcar #'(lambda (x) (deg2rad (if (memq x '(:rleg :lleg)) 1 5))) fix-limbs))
+ (mid 0.5)
+ (target-centroid-pos
+ (if (eq leg :both)
+ (apply
+ #'midpoint mid
+ (mapcar
+ #'(lambda (tmp-leg)
+ (send self tmp-leg :end-coords :worldpos))
+ (remove-if-not #'(lambda (x) (memq x '(:rleg :lleg))) fix-limbs)))
+ (send self leg :end-coords :worldpos)))
+ &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)
+ :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
+ :thre thre :rthre rthre
+ :target-centroid-pos target-centroid-pos
+ args)
+ )))
+ )
(in-package "GEOMETRY")
(provide :irtrobot "$Id$")
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From: SourceForge.net <no...@so...> - 2013-03-04 11:48:06
|
Bugs item #3581563, was opened at 2012-10-29 01:40 Message generated for change (Comment added) made by k-okada You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=1415198&aid=3581563&group_id=337851 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: None Group: None Status: Open Resolution: None Priority: 5 Private: No Submitted By: Nobody/Anonymous (nobody) Assigned to: Nobody/Anonymous (nobody) Summary: rotation-angleでnanが返る Initial Comment: euslispのrotation-angleでnanが返ってくることがあります。 具体的には下のようになります。 56.E15-irteusgl$ (setq rot (make-coords :rpy #f(-1.220e-08 -5.195e-09 1.333e-09))) #<coordinates #X6de2b18 0.0 0.0 0.0 / -1.220e-08 -5.195e-09 1.333e-09> 57.E15-irteusgl$ rotation-angle (send rotbag :rot) (1.332685e-08 #f(-nan -nan 0.0)) ---------------------------------------------------------------------- >Comment By: Kei Okada (k-okada) Date: 2013-03-04 03:48 Message: もうちょっと見てみると，versが0になってnanになっていますね． th<1e-10 || ver<1e-10というてもあるだろうか？（fabs(vars)<1e-10が正しい？ ---------------------------------------------------------------------- Comment By: Yohei Kakiuchi (kyouhei) Date: 2012-10-29 09:47 Message: jskeus/eus/lisp/c/matrix.c の 1040行め ROTANGLE が関数の定義ですね。 それで、1075行 の if ( th<1e-10 ) return(NIL); で角度が小さい場合はnilが返るようにしているが、 バグレポートの例では、 th = 1.33..e-8 なので通過している。 そのあとで ゼロ割 してnanが入る。 1e-10を1e-7ぐらいにするといいかもしれないですね。 ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=1415198&aid=3581563&group_id=337851 |
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From: <k-...@us...> - 2013-03-01 23:42:35
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Revision: 875
http://jskeus.svn.sourceforge.net/jskeus/?rev=875&view=rev
Author: k-okada
Date: 2013-03-01 23:42:28 +0000 (Fri, 01 Mar 2013)
Log Message:
-----------
push (:sphere r) to :csg slot
Modified Paths:
--------------
trunk/irteus/irtgeo.l
Modified: trunk/irteus/irtgeo.l
===================================================================
--- trunk/irteus/irtgeo.l 2013-03-01 10:45:01 UTC (rev 874)
+++ trunk/irteus/irtgeo.l 2013-03-01 23:42:28 UTC (rev 875)
@@ -512,7 +512,7 @@
(let ((obj (make-gdome (make-icosahedron r))))
(send obj :newcoords (apply #'make-coords args))
(send obj :worldpos)
- (send obj :csg `((:sphere ,r)))
+ (nconc (send obj :csg) `((:sphere ,r)))
obj))
(defun make-ring (ring-radius pipe-radius &rest args &key (segments 16))
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From: <sn...@us...> - 2013-03-01 10:45:10
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Revision: 874
http://jskeus.svn.sourceforge.net/jskeus/?rev=874&view=rev
Author: snozawa
Date: 2013-03-01 10:45:01 +0000 (Fri, 01 Mar 2013)
Log Message:
-----------
add documentation string for joint-angle methods
Modified Paths:
--------------
trunk/irteus/irtmodel.l
Modified: trunk/irteus/irtmodel.l
===================================================================
--- trunk/irteus/irtmodel.l 2013-02-14 17:46:32 UTC (rev 873)
+++ trunk/irteus/irtmodel.l 2013-03-01 10:45:01 UTC (rev 874)
@@ -152,6 +152,7 @@
self)
(:joint-angle
(&optional v &key relative &allow-other-keys)
+ "(self class &optional v &key relative &allow-other-keys) ;; v and return value are joint-angle scalar ;; scalar is rotational value[deg]"
(let ()
(when v
(if relative (setq v (+ v joint-angle)))
@@ -208,6 +209,7 @@
self)
(:joint-angle
(&optional v &key relative &allow-other-keys)
+ "(self class &optional v &key relative &allow-other-keys) ;; v and return value are joint-angle scalar ;; scalar is linear value[mm]"
(let ()
(when v
(if relative (setq v (+ v joint-angle)))
@@ -253,6 +255,7 @@
self)
(:joint-angle
(&optional v &key relative &allow-other-keys)
+ "(self class &optional v &key relative &allow-other-keys) ;; v and return value are joint-angle vector ;; vector is (float-vector translation-x[mm] rotation-z[deg])"
(let (relvel relang)
(unless relative
(if v (warn "wheel-joint does not support non-relative mode??~%"))
@@ -312,6 +315,7 @@
self)
(:joint-angle
(&optional v &key relative &allow-other-keys)
+ "(self class &optional v &key relative &allow-other-keys) ;; v and return value are joint-angle vector ;; vector is (float-vector translation-x[mm] translation-y[mm] rotation-z[deg])"
(when v
(if relative (setq v (v+ v joint-angle)))
(setq joint-angle (vmin (vmax v min-angle) max-angle))
@@ -374,6 +378,7 @@
self)
(:joint-angle
(&optional v &key relative &allow-other-keys)
+ "(self class &optional v &key relative &allow-other-keys) ;; v and return value are joint-angle vector by axis-angle representation ;; vector is (scale rotation-angle-from-default-coords[deg] axis-unit-vector)"
;; v is anguler velocity [deg]
(when v
;; if relative nil
@@ -396,6 +401,7 @@
joint-angle)
(:joint-angle-rpy ;; v and return-value -> [deg] and (float-vector yaw roll pitch)
(&optional v &key relative)
+ "(self class &optional v &key relative) ;; v and return value are joint-angle vector by RPY representation ;; vector is (float-vector yaw[deg] roll[deg] pitch[deg])"
(when v
(let ((ja (if relative
(v+ (map float-vector #'deg2rad v)
@@ -500,6 +506,7 @@
self)
(:joint-angle
(&optional v &key relative &allow-other-keys) ;; v [mm] [deg]
+ "(self class &optional v &key relative &allow-other-keys) ;; v and return value are joint-angle vector ;; vector is 6D vector of 3D translation[mm] and 3D rotation[deg] ;; for rotation, please see (find-if #'(lambda (x) (eq (send (car x) :name) 'sphere-joint)) (documentation :joint-angle))"
(when v
(let (dp drot)
;; translation
@@ -527,6 +534,7 @@
joint-angle)
(:joint-angle-rpy ;; v and return-value -> [deg] and (float-vector yaw roll pitch)
(&optional v &key relative)
+ "(self class &optional v &key relative) ;; v and return value are joint-angle vector ;; vector is 6D vector of 3D translation[mm] and 3D rotation[deg] ;; for rotation, please see (find-if #'(lambda (x) (eq (send (car x) :name) 'sphere-joint)) (documentation :joint-angle-rpy))"
(when v
(let ((ja (if relative
(v+ (map float-vector #'deg2rad (subseq v 3 6))
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From: <ky...@us...> - 2013-02-14 17:46:43
|
Revision: 873
http://jskeus.svn.sourceforge.net/jskeus/?rev=873&view=rev
Author: kyouhei
Date: 2013-02-14 17:46:32 +0000 (Thu, 14 Feb 2013)
Log Message:
-----------
remove global variable
Modified Paths:
--------------
trunk/irteus/irtpointcloud.l
Modified: trunk/irteus/irtpointcloud.l
===================================================================
--- trunk/irteus/irtpointcloud.l 2013-02-14 17:43:23 UTC (rev 872)
+++ trunk/irteus/irtpointcloud.l 2013-02-14 17:46:32 UTC (rev 873)
@@ -230,12 +230,11 @@
(:filter-with-indices
(idx-lst &key (create) (negative))
(let* ((size (send self :size))
- new-mat new-col new-nom
+ new-mat new-col new-nom new-cvt
(p (float-vector 0 0 0))
(c (if carray (float-vector 0 0 0)))
(n (if narray (float-vector 0 0 0)))
- cv
- (cntr 0))
+ cv (cntr 0))
(when negative
(let (tmp)
(dotimes (i size) (push (- size i 1) tmp))
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