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From: <k-...@us...> - 2012-03-28 10:20:34
|
Revision: 782
http://jskeus.svn.sourceforge.net/jskeus/?rev=782&view=rev
Author: k-okada
Date: 2012-03-28 10:20:23 +0000 (Wed, 28 Mar 2012)
Log Message:
-----------
print s-expresion that re-produce failed ik commmand #666
Modified Paths:
--------------
trunk/irteus/irtmodel.l
Modified: trunk/irteus/irtmodel.l
===================================================================
--- trunk/irteus/irtmodel.l 2012-03-28 10:15:34 UTC (rev 781)
+++ trunk/irteus/irtmodel.l 2012-03-28 10:20:23 UTC (rev 782)
@@ -1795,6 +1795,30 @@
(send (let ((p self)) (while (send p :parent) (setq p (send p :parent))) p) :worldcoords))
(warn ";; angles : ~a~%" av0)
(warn ";; args : ~a~%" (append (list target-coords) args))
+ (let (i)
+ (dotimes (j (count :link-list args))
+ (if (setq i (position :link-list args :count (1+ j)))
+ (cond ((atom (car (elt args (+ i 1))))
+ (setf (elt args (+ i 1)) (append '(list) (mapcar #'(lambda (x) `(send r ,(send x :name))) (elt args (+ i 1))))))
+ (t
+ (setf (elt args (+ i 1))
+ (append '(list)
+ (mapcar #'(lambda (y)
+ (append '(list) (mapcar #'(lambda (x) `(send r ,(send x :name))) y)))
+ (elt args (+ i 1)))))))))
+ (dotimes (j (count :move-target args))
+ (if (setq i (position :move-target args :count (1+ j)))
+ (cond ((atom (elt args (+ i 1)))
+ (let ((x (elt args (+ i 1))))
+ (setf (elt args (+ i 1)) `(let* ((p (send r ,(send (send x :parent) :name))) (c (make-cascoords :coords (send (send p :copy-worldcoords) :transform (make-cascoords :4x4 ,(send x :4x4))) :parent p))) c))))
+ (t
+ (setf (elt args (+ i 1))
+ (append '(list)
+ (mapcar #'(lambda (x)
+ `(let* ((p (send r ,(send (send x :parent) :name))) (c (make-cascoords :coords (send (send p :copy-worldcoords) :transform (make-cascoords :4x4 ,(send x :4x4))) :parent p))) c))
+ (elt args (+ i 1)))))))))
+ (warn ";; command : ~a~%" `(let ((r (instance ,(send (class self) :name) :init))) (send r :newcoords (make-coords :4x4 ,(send self :4x4))) (mapc #'(lambda (j a) (send* j :joint-angle a ,joint-args)) ,(append '(list) (mapcar #'(lambda (x) `(send r ,(intern (string-upcase x) *keyword-package*))) (send-all (remove-duplicates (append (send-all union-link-list :joint) joint-list)) :name))) ,(append '(list) av0)) (objects (list r)) (send* r :inverse-kinematics ,(append '(list) (mapcar #'(lambda (x) `(make-coords :pos ,(send x :worldpos) :rot ,(send x :worldrot))) target-coords)) ,(append '(list) args))))
+ )
)
(mapc #'(lambda (j a) (send* j :joint-angle a joint-args))
(remove-duplicates
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|
From: <k-...@us...> - 2012-03-28 10:15:41
|
Revision: 781
http://jskeus.svn.sourceforge.net/jskeus/?rev=781&view=rev
Author: k-okada
Date: 2012-03-28 10:15:34 +0000 (Wed, 28 Mar 2012)
Log Message:
-----------
back to r777, no need to set target-coord
Revision Links:
--------------
http://jskeus.svn.sourceforge.net/jskeus/?rev=777&view=rev
Modified Paths:
--------------
trunk/irteus/irtmodel.l
Modified: trunk/irteus/irtmodel.l
===================================================================
--- trunk/irteus/irtmodel.l 2012-03-28 08:17:54 UTC (rev 780)
+++ trunk/irteus/irtmodel.l 2012-03-28 10:15:34 UTC (rev 781)
@@ -1665,7 +1665,7 @@
)
:ik-continues))
(:inverse-kinematics
- (target-coord &rest args
+ (target-coords &rest args
&key (stop 50)
(link-list)
(move-target)
@@ -1686,7 +1686,7 @@
(union-link-list)
(centroid-thre 1.0) (target-centroid-pos) (centroid-offset-func)
&allow-other-keys)
- ;; target-coord, move-target, rotation-axis, translation-axis, link-list
+ ;; target-coords, move-target, rotation-axis, translation-axis, link-list
;; -> both list and atom OK.
(let* ((loop 0)
(union-link-list (if (functionp union-link-list) (funcall union-link-list link-list) (send self :calc-union-link-list link-list)))
@@ -1698,7 +1698,6 @@
;;
(success t)
(old-analysis-level (send-all union-link-list :analysis-level))
- target-coords ;; target-coord it list/atom, target-coords is list, keep input arguments in target-coord and args
ik-args)
(send-all union-link-list :analysis-level :coords)
;; argument check
@@ -1716,7 +1715,7 @@
(push :no-flush debug-view)))
(if (atom (car link-list)) (setq link-list (list link-list)))
(if (atom move-target) (setq move-target (list move-target)))
- (if (atom target-coord) (setq target-coords (list target-coord)) (setq target-coords target-coord))
+ (if (atom target-coords) (setq target-coords (list target-coords)))
(if (atom rotation-axis) (setq rotation-axis (list rotation-axis)))
(if (atom translation-axis) (setq translation-axis (list translation-axis)))
(if (atom thre) (setq thre (list thre)))
@@ -1795,7 +1794,7 @@
(warn ";; coords : ~a~%"
(send (let ((p self)) (while (send p :parent) (setq p (send p :parent))) p) :worldcoords))
(warn ";; angles : ~a~%" av0)
- (warn ";; args : ~a~%" (append (list target-coord) args))
+ (warn ";; args : ~a~%" (append (list target-coords) args))
)
(mapc #'(lambda (j a) (send* j :joint-angle a joint-args))
(remove-duplicates
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|
From: <k-...@us...> - 2012-03-28 08:18:05
|
Revision: 780
http://jskeus.svn.sourceforge.net/jskeus/?rev=780&view=rev
Author: k-okada
Date: 2012-03-28 08:17:54 +0000 (Wed, 28 Mar 2012)
Log Message:
-----------
fxo typo ans->and
Modified Paths:
--------------
trunk/irteus/irtmodel.l
Modified: trunk/irteus/irtmodel.l
===================================================================
--- trunk/irteus/irtmodel.l 2012-03-28 08:15:35 UTC (rev 779)
+++ trunk/irteus/irtmodel.l 2012-03-28 08:17:54 UTC (rev 780)
@@ -1698,7 +1698,7 @@
;;
(success t)
(old-analysis-level (send-all union-link-list :analysis-level))
- target-coords ;; target-coord it list/atom, target-coords is list, keep input arguments in target-coord ans args
+ target-coords ;; target-coord it list/atom, target-coords is list, keep input arguments in target-coord and args
ik-args)
(send-all union-link-list :analysis-level :coords)
;; argument check
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From: <k-...@us...> - 2012-03-28 08:15:45
|
Revision: 779
http://jskeus.svn.sourceforge.net/jskeus/?rev=779&view=rev
Author: k-okada
Date: 2012-03-28 08:15:35 +0000 (Wed, 28 Mar 2012)
Log Message:
-----------
do not overwrite target-coords arguments inside the methods
Modified Paths:
--------------
trunk/irteus/irtmodel.l
Modified: trunk/irteus/irtmodel.l
===================================================================
--- trunk/irteus/irtmodel.l 2012-03-28 08:10:07 UTC (rev 778)
+++ trunk/irteus/irtmodel.l 2012-03-28 08:15:35 UTC (rev 779)
@@ -1686,7 +1686,7 @@
(union-link-list)
(centroid-thre 1.0) (target-centroid-pos) (centroid-offset-func)
&allow-other-keys)
- ;; target-coords, move-target, rotation-axis, translation-axis, link-list
+ ;; target-coord, move-target, rotation-axis, translation-axis, link-list
;; -> both list and atom OK.
(let* ((loop 0)
(union-link-list (if (functionp union-link-list) (funcall union-link-list link-list) (send self :calc-union-link-list link-list)))
@@ -1698,7 +1698,8 @@
;;
(success t)
(old-analysis-level (send-all union-link-list :analysis-level))
- ik-args target-coords)
+ target-coords ;; target-coord it list/atom, target-coords is list, keep input arguments in target-coord ans args
+ ik-args)
(send-all union-link-list :analysis-level :coords)
;; argument check
(when (or (null link-list) (null move-target))
@@ -1794,7 +1795,7 @@
(warn ";; coords : ~a~%"
(send (let ((p self)) (while (send p :parent) (setq p (send p :parent))) p) :worldcoords))
(warn ";; angles : ~a~%" av0)
- (warn ";; args : ~a~%" (append (list target-coords) args))
+ (warn ";; args : ~a~%" (append (list target-coord) args))
)
(mapc #'(lambda (j a) (send* j :joint-angle a joint-args))
(remove-duplicates
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|
From: <k-...@us...> - 2012-03-28 08:10:18
|
Revision: 778
http://jskeus.svn.sourceforge.net/jskeus/?rev=778&view=rev
Author: k-okada
Date: 2012-03-28 08:10:07 +0000 (Wed, 28 Mar 2012)
Log Message:
-----------
do not overwrite target-coords arguments inside the methods
Modified Paths:
--------------
trunk/irteus/irtmodel.l
Modified: trunk/irteus/irtmodel.l
===================================================================
--- trunk/irteus/irtmodel.l 2012-03-28 07:46:28 UTC (rev 777)
+++ trunk/irteus/irtmodel.l 2012-03-28 08:10:07 UTC (rev 778)
@@ -1665,7 +1665,7 @@
)
:ik-continues))
(:inverse-kinematics
- (target-coords &rest args
+ (target-coord &rest args
&key (stop 50)
(link-list)
(move-target)
@@ -1698,7 +1698,7 @@
;;
(success t)
(old-analysis-level (send-all union-link-list :analysis-level))
- ik-args)
+ ik-args target-coords)
(send-all union-link-list :analysis-level :coords)
;; argument check
(when (or (null link-list) (null move-target))
@@ -1715,7 +1715,7 @@
(push :no-flush debug-view)))
(if (atom (car link-list)) (setq link-list (list link-list)))
(if (atom move-target) (setq move-target (list move-target)))
- (if (atom target-coords) (setq target-coords (list target-coords)))
+ (if (atom target-coord) (setq target-coords (list target-coord)) (setq target-coords target-coord))
(if (atom rotation-axis) (setq rotation-axis (list rotation-axis)))
(if (atom translation-axis) (setq translation-axis (list translation-axis)))
(if (atom thre) (setq thre (list thre)))
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From: <k-...@us...> - 2012-03-28 07:46:38
|
Revision: 777
http://jskeus.svn.sourceforge.net/jskeus/?rev=777&view=rev
Author: k-okada
Date: 2012-03-28 07:46:28 +0000 (Wed, 28 Mar 2012)
Log Message:
-----------
fix bvh2eus to use load-mcd
Modified Paths:
--------------
trunk/irteus/irtbvh.l
Modified: trunk/irteus/irtbvh.l
===================================================================
--- trunk/irteus/irtbvh.l 2012-03-28 05:32:32 UTC (rev 776)
+++ trunk/irteus/irtbvh.l 2012-03-28 07:46:28 UTC (rev 777)
@@ -367,9 +367,9 @@
;;
) ; motion-capture-data
-(defun bvh2eus (fname &key (coords) (scale))
+(defun bvh2eus (fname &rest args)
(let (b)
- (setq b (instance motion-capture-data :init fname :coords coords :scale scale))
+ (setq b (apply #'load-mcd fname args))
(objects (list (send b :model)))
(send b :animate)
b))
@@ -545,9 +545,9 @@
self) ;; init
) ;defmethod cmu-bvh-robot-model
-(defun load-mcd (fname &key (scale) (bvh-robot-model-class bvh-robot-model))
+(defun load-mcd (fname &key (scale) (coords) (bvh-robot-model-class bvh-robot-model))
(let ((bvh-robot-model bvh-robot-model-class))
- (instance motion-capture-data :init fname :scale scale)
+ (instance motion-capture-data :init fname :coords coords :scale scale)
))
(in-package "GEOMETRY")
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From: <k-...@us...> - 2012-03-28 05:32:38
|
Revision: 776
http://jskeus.svn.sourceforge.net/jskeus/?rev=776&view=rev
Author: k-okada
Date: 2012-03-28 05:32:32 +0000 (Wed, 28 Mar 2012)
Log Message:
-----------
remove mis commit (r->self) for add :joint-order for irtbvh
Modified Paths:
--------------
trunk/irteus/irtrobot.l
Modified: trunk/irteus/irtrobot.l
===================================================================
--- trunk/irteus/irtrobot.l 2012-03-28 05:31:01 UTC (rev 775)
+++ trunk/irteus/irtrobot.l 2012-03-28 05:32:32 UTC (rev 776)
@@ -365,7 +365,7 @@
))
(:joint-order
(limb &optional jname-list)
- (let ((joint-list (mapcar #'(lambda (x) (cons x (find-if #'(lambda (y) (eq y (send r x))) (send self limb :joint-list)))) (mapcan #'(lambda (x) (if (substringp (format nil "~A-" (symbol-name limb)) (string x)) (list x)))(send self :methods))))
+ (let ((joint-list (mapcar #'(lambda (x) (cons x (find-if #'(lambda (y) (eq y (send self x))) (send self limb :joint-list)))) (mapcan #'(lambda (x) (if (substringp (format nil "~A-" (symbol-name limb)) (string x)) (list x)))(send self :methods))))
j (result) name)
(unless jname-list
(setq jname-list
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From: <k-...@us...> - 2012-03-28 05:31:07
|
Revision: 775
http://jskeus.svn.sourceforge.net/jskeus/?rev=775&view=rev
Author: k-okada
Date: 2012-03-28 05:31:01 +0000 (Wed, 28 Mar 2012)
Log Message:
-----------
add :joint-order for irtbvh
Modified Paths:
--------------
trunk/irteus/irtrobot.l
Modified: trunk/irteus/irtrobot.l
===================================================================
--- trunk/irteus/irtrobot.l 2012-03-28 02:31:37 UTC (rev 774)
+++ trunk/irteus/irtrobot.l 2012-03-28 05:31:01 UTC (rev 775)
@@ -183,6 +183,7 @@
(:links (send self :limb limb nil))
(:joint-list (send-all (send self :limb limb :links) :joint))
(:gripper (send* self :gripper limb args))
+ (:joint-order (send self :joint-order limb))
(t
(cond
((or (null method) (send bodyset-link :method method))
@@ -362,6 +363,28 @@
tmp-weight))
args)
))
+ (:joint-order
+ (limb &optional jname-list)
+ (let ((joint-list (mapcar #'(lambda (x) (cons x (find-if #'(lambda (y) (eq y (send r x))) (send self limb :joint-list)))) (mapcan #'(lambda (x) (if (substringp (format nil "~A-" (symbol-name limb)) (string x)) (list x)))(send self :methods))))
+ j (result) name)
+ (unless jname-list
+ (setq jname-list
+ (case limb
+ ((:larm :rarm) '("collar" "shoulder" "elbow" "wrist"))
+ ((:lleg :rleg) '("crotch" "knee" "ankle"))
+ ((:torso) '("chest" "weist"))
+ ((:head) '("neck" "head")))))
+ (dolist (jname jname-list) ;; look for joint corresponds to jname
+ (while (substringp (string-upcase jname) (setq name (symbol-name (caar joint-list))))
+ (push
+ (read-from-string
+ (format nil ":~A" (subseq name (1- (length name)))))
+ j)
+ (pop joint-list))
+ (nreverse j)
+ (push j result)
+ (setq j nil))
+ (nreverse result)))
)
(in-package "GEOMETRY")
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From: <k-...@us...> - 2012-03-28 02:31:44
|
Revision: 774
http://jskeus.svn.sourceforge.net/jskeus/?rev=774&view=rev
Author: k-okada
Date: 2012-03-28 02:31:37 +0000 (Wed, 28 Mar 2012)
Log Message:
-----------
all-descendants is now changed to all-child-links, as irtrobot is cascaded-links that contains only bodyset-link (or cascaded-coords i.e end-coords)
Modified Paths:
--------------
trunk/irteus/irtmodel.l
trunk/irteus/irtrobot.l
Modified: trunk/irteus/irtmodel.l
===================================================================
--- trunk/irteus/irtmodel.l 2012-03-27 07:00:25 UTC (rev 773)
+++ trunk/irteus/irtmodel.l 2012-03-28 02:31:37 UTC (rev 774)
@@ -1850,10 +1850,10 @@
vel-r))
)
-(defun all-descendants (s &optional (pred #'identity))
+(defun all-child-links (s &optional (pred #'identity))
(append (mapcan #'(lambda (x)
- (if (funcall pred x) (list x))) (send s :descendants))
- (mapcan #'(lambda (x) (all-descendants x pred)) (send s :descendants))))
+ (if (funcall pred x) (list x))) (send s :child-links))
+ (mapcan #'(lambda (x) (all-child-links x pred)) (send s :child-links))))
(defun calc-dif-with-axis (dif axis &optional tmp-v0 tmp-v1 tmp-v2)
(case axis
Modified: trunk/irteus/irtrobot.l
===================================================================
--- trunk/irteus/irtrobot.l 2012-03-27 07:00:25 UTC (rev 773)
+++ trunk/irteus/irtrobot.l 2012-03-28 02:31:37 UTC (rev 774)
@@ -202,9 +202,9 @@
(limb &rest args)
(cond
((memq :links args)
- (all-descendants (send self limb :end-coords :parent) #'(lambda (x) (derivedp x bodyset-link))))
+ (sort (all-child-links (send self limb :end-coords :parent)) #'(lambda (a b) (string< (string (send a :name)) (string (send b :name))))))
((memq :joint-list args)
- (send-all (cdr (send self :gripper limb :links)) :joint))
+ (send-all (send self :gripper limb :links) :joint))
((memq :angle-vector args)
(if (null (cdr args))
(send-all (send self :gripper limb :joint-list) :joint-angle)
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|
From: <je...@js...> - 2012-03-27 07:04:56
|
See <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/59/> |
|
From: <k-...@us...> - 2012-03-27 07:00:36
|
Revision: 773
http://jskeus.svn.sourceforge.net/jskeus/?rev=773&view=rev
Author: k-okada
Date: 2012-03-27 07:00:25 +0000 (Tue, 27 Mar 2012)
Log Message:
-----------
add default :gripper method to irtrobot
Modified Paths:
--------------
trunk/irteus/irtrobot.l
Modified: trunk/irteus/irtrobot.l
===================================================================
--- trunk/irteus/irtrobot.l 2012-03-27 06:59:56 UTC (rev 772)
+++ trunk/irteus/irtrobot.l 2012-03-27 07:00:25 UTC (rev 773)
@@ -182,6 +182,7 @@
args))
(:links (send self :limb limb nil))
(:joint-list (send-all (send self :limb limb :links) :joint))
+ (:gripper (send* self :gripper limb args))
(t
(cond
((or (null method) (send bodyset-link :method method))
@@ -197,6 +198,19 @@
))))
) ;; case method
)) ;; defmethod
+ (:gripper
+ (limb &rest args)
+ (cond
+ ((memq :links args)
+ (all-descendants (send self limb :end-coords :parent) #'(lambda (x) (derivedp x bodyset-link))))
+ ((memq :joint-list args)
+ (send-all (cdr (send self :gripper limb :links)) :joint))
+ ((memq :angle-vector args)
+ (if (null (cdr args))
+ (send-all (send self :gripper limb :joint-list) :joint-angle)
+ (map float-vector #'(lambda (x y) (send x :joint-angle y))
+ (send self :gripper limb :joint-list) (cadr args))))))
+ ;;
(:larm (&rest args)
(unless args (setq args (list nil))) (send* self :limb :larm args))
(:rarm (&rest args)
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From: <k-...@us...> - 2012-03-27 07:00:06
|
Revision: 772
http://jskeus.svn.sourceforge.net/jskeus/?rev=772&view=rev
Author: k-okada
Date: 2012-03-27 06:59:56 +0000 (Tue, 27 Mar 2012)
Log Message:
-----------
add all-descendants
Modified Paths:
--------------
trunk/irteus/irtmodel.l
Modified: trunk/irteus/irtmodel.l
===================================================================
--- trunk/irteus/irtmodel.l 2012-03-26 16:02:36 UTC (rev 771)
+++ trunk/irteus/irtmodel.l 2012-03-27 06:59:56 UTC (rev 772)
@@ -1850,6 +1850,11 @@
vel-r))
)
+(defun all-descendants (s &optional (pred #'identity))
+ (append (mapcan #'(lambda (x)
+ (if (funcall pred x) (list x))) (send s :descendants))
+ (mapcan #'(lambda (x) (all-descendants x pred)) (send s :descendants))))
+
(defun calc-dif-with-axis (dif axis &optional tmp-v0 tmp-v1 tmp-v2)
(case axis
((:x :xx)
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From: <je...@js...> - 2012-03-27 03:51:10
|
See <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/58/> ------------------------------------------ Started by an SCM change Building on master in workspace <http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/jskeus/ws/> Cleaning local Directory jskeus Checking out http://jskeus.svn.sourceforge.net/svnroot/jskeus/trunk A irteus AU irteus/irtx.l A irteus/irtsensor.l A irteus/demo A irteus/demo/hand-grasp-ik.l A irteus/demo/sample-hand-model.l A irteus/demo/dual-manip-ik.l A irteus/demo/hanoi-arm.l A irteus/demo/sample-arm-model.l A irteus/demo/full-body-ik.l A irteus/demo/hanoi.l A irteus/demo/crank-motion.l A irteus/demo/sample-robot-model.l A irteus/demo/dual-arm-ik.l A irteus/demo/particle.l AU irteus/demo/demo.l A irteus/Makefile.Linux64 AU irteus/compile_irtx.l A irteus/irtbvh.l AU irteus/pqp.l AU irteus/irtimage.l AU irteus/euspqp.c A irteus/Makefile.Darwin A irteus/PQP A irteus/PQP/Linux AU irteus/PQP/Linux/.keepme AU irteus/PQP/Linux/.cvsignore A irteus/PQP/Cygwin AU irteus/PQP/Cygwin/.keepme AU irteus/PQP/Cygwin/.cvsignore A irteus/PQP/Makefile.Darwin A irteus/PQP/Darwin A irteus/PQP/Makefile.Linux64 A irteus/PQP/src AU irteus/PQP/src/Build.cpp AU irteus/PQP/src/PQP.cpp AU irteus/PQP/src/PQP_Internal.h AU irteus/PQP/src/GetTime.h AU irteus/PQP/src/Tri.h AU irteus/PQP/src/Build.h AU irteus/PQP/src/PQP.h AU irteus/PQP/src/BV.cpp AU irteus/PQP/src/OBB_Disjoint.h AU irteus/PQP/src/BV.h AU irteus/PQP/src/PQP_Compile.h AU irteus/PQP/src/BVTQ.h AU irteus/PQP/src/TriDist.cpp AU irteus/PQP/src/MatVec.h AU irteus/PQP/src/RectDist.h AU irteus/PQP/src/TriDist.h A irteus/PQP/Linux64 AU irteus/PQP/Makefile.Linux AU irteus/PQP/README.txt AU irteus/PQP/Makefile.Cygwin AU irteus/PQP/Makefile AU irteus/irtdyna.l AU irteus/irtmodel.l AU irteus/irtext.l A irteus/irtgraph.l AU irteus/Makefile.Linux AU irteus/irtgl.l AU irteus/Makefile.Cygwin AU irteus/Makefile AU irteus/png.lERROR: Failed to check out http://jskeus.svn.sourceforge.net/svnroot/jskeus/trunk org.tmatesoft.svn.core.SVNException: svn: REPORT /svnroot/jskeus/!svn/vcc/default failed at org.tmatesoft.svn.core.internal.io.dav.http.HTTPConnection.request(HTTPConnection.java:298) at org.tmatesoft.svn.core.internal.io.dav.http.HTTPConnection.request(HTTPConnection.java:283) at org.tmatesoft.svn.core.internal.io.dav.http.HTTPConnection.request(HTTPConnection.java:271) at org.tmatesoft.svn.core.internal.io.dav.DAVConnection.doReport(DAVConnection.java:283) at org.tmatesoft.svn.core.internal.io.dav.DAVRepository.runReport(DAVRepository.java:1282) at org.tmatesoft.svn.core.internal.io.dav.DAVRepository.update(DAVRepository.java:830) at org.tmatesoft.svn.core.wc.SVNUpdateClient.update(SVNUpdateClient.java:564) at org.tmatesoft.svn.core.wc.SVNUpdateClient.doCheckout(SVNUpdateClient.java:942) at hudson.scm.subversion.CheckoutUpdater$1.perform(CheckoutUpdater.java:84) at hudson.scm.subversion.WorkspaceUpdater$UpdateTask.delegateTo(WorkspaceUpdater.java:136) at hudson.scm.SubversionSCM$CheckOutTask.perform(SubversionSCM.java:787) at hudson.scm.SubversionSCM$CheckOutTask.invoke(SubversionSCM.java:768) at hudson.scm.SubversionSCM$CheckOutTask.invoke(SubversionSCM.java:752) at hudson.FilePath.act(FilePath.java:788) at hudson.FilePath.act(FilePath.java:770) at hudson.scm.SubversionSCM.checkout(SubversionSCM.java:742) at hudson.scm.SubversionSCM.checkout(SubversionSCM.java:684) at hudson.model.AbstractProject.checkout(AbstractProject.java:1195) at hudson.model.AbstractBuild$AbstractRunner.checkout(AbstractBuild.java:576) at hudson.model.AbstractBuild$AbstractRunner.run(AbstractBuild.java:465) at hudson.model.Run.run(Run.java:1409) at hudson.model.FreeStyleBuild.run(FreeStyleBuild.java:46) at hudson.model.ResourceController.execute(ResourceController.java:88) at hudson.model.Executor.run(Executor.java:238) Caused by: org.tmatesoft.svn.core.SVNErrorMessage: svn: REPORT /svnroot/jskeus/!svn/vcc/default failed at org.tmatesoft.svn.core.SVNErrorMessage.create(SVNErrorMessage.java:200) at org.tmatesoft.svn.core.SVNErrorMessage.create(SVNErrorMessage.java:146) at org.tmatesoft.svn.core.SVNErrorMessage.create(SVNErrorMessage.java:89) ... 24 more Caused by: org.tmatesoft.svn.core.SVNException: svn: REPORT request failed on '/svnroot/jskeus/!svn/vcc/default' svn: Connection reset 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.io.dav.http.HTTPConnection._request(HTTPConnection.java:662) at org.tmatesoft.svn.core.internal.io.dav.http.HTTPConnection.request(HTTPConnection.java:292) ... 23 more Caused by: org.tmatesoft.svn.core.SVNErrorMessage: svn: REPORT request failed on '/svnroot/jskeus/!svn/vcc/default' at org.tmatesoft.svn.core.SVNErrorMessage.create(SVNErrorMessage.java:200) at org.tmatesoft.svn.core.internal.io.dav.http.HTTPConnection._request(HTTPConnection.java:660) ... 24 more Caused by: org.tmatesoft.svn.core.SVNErrorMessage: svn: Connection reset at org.tmatesoft.svn.core.SVNErrorMessage.create(SVNErrorMessage.java:101) at org.tmatesoft.svn.core.internal.io.dav.http.HTTPConnection._request(HTTPConnection.java:426) ... 24 more Caused by: java.net.SocketException: Connection reset at java.net.SocketInputStream.read(SocketInputStream.java:168) at java.io.BufferedInputStream.read1(BufferedInputStream.java:256) at java.io.BufferedInputStream.read(BufferedInputStream.java:317) at org.tmatesoft.svn.core.internal.util.ChunkedInputStream.read(ChunkedInputStream.java:70) at sun.nio.cs.StreamDecoder.readBytes(StreamDecoder.java:264) at sun.nio.cs.StreamDecoder.implRead(StreamDecoder.java:306) at sun.nio.cs.StreamDecoder.read(StreamDecoder.java:158) at java.io.InputStreamReader.read(InputStreamReader.java:167) at org.tmatesoft.svn.core.internal.io.dav.http.XMLReader.read(XMLReader.java:39) at com.sun.org.apache.xerces.internal.impl.XMLEntityScanner.load(XMLEntityScanner.java:1742) at com.sun.org.apache.xerces.internal.impl.XMLEntityScanner.peekChar(XMLEntityScanner.java:487) at com.sun.org.apache.xerces.internal.impl.XMLDocumentFragmentScannerImpl$FragmentContentDriver.next(XMLDocumentFragmentScannerImpl.java:2687) at com.sun.org.apache.xerces.internal.impl.XMLDocumentScannerImpl.next(XMLDocumentScannerImpl.java:648) at com.sun.org.apache.xerces.internal.impl.XMLNSDocumentScannerImpl.next(XMLNSDocumentScannerImpl.java:140) at com.sun.org.apache.xerces.internal.impl.XMLDocumentFragmentScannerImpl.scanDocument(XMLDocumentFragmentScannerImpl.java:511) at com.sun.org.apache.xerces.internal.parsers.XML11Configuration.parse(XML11Configuration.java:808) at com.sun.org.apache.xerces.internal.parsers.XML11Configuration.parse(XML11Configuration.java:737) at com.sun.org.apache.xerces.internal.parsers.XMLParser.parse(XMLParser.java:119) at com.sun.org.apache.xerces.internal.parsers.AbstractSAXParser.parse(AbstractSAXParser.java:1205) at com.sun.org.apache.xerces.internal.jaxp.SAXParserImpl$JAXPSAXParser.parse(SAXParserImpl.java:522) at org.tmatesoft.svn.core.internal.io.dav.http.HTTPConnection.readData(HTTPConnection.java:776) at org.tmatesoft.svn.core.internal.io.dav.http.HTTPConnection.readData(HTTPConnection.java:741) at org.tmatesoft.svn.core.internal.io.dav.http.HTTPRequest.dispatch(HTTPRequest.java:218) at org.tmatesoft.svn.core.internal.io.dav.http.HTTPConnection._request(HTTPConnection.java:379) ... 24 more A irteus/euspng.c AU irteus/irtc.c AU irteus/compile_irtgl.l AU irteus/irtgeo.l AU irteus/CPQP.C AU irteus/irtutil.l AU irteus/compile_irtimg.l AU irteus/irtrobot.l AU irteus/nr.c AU irteus/compile_irt.l AU irteus/irtmath.l AU irteus/nr.h A irteus/irtscene.l FATAL: null java.lang.NullPointerException at java.util.ArrayList.addAll(ArrayList.java:472) at hudson.scm.SubversionSCM.checkout(SubversionSCM.java:742) at hudson.scm.SubversionSCM.checkout(SubversionSCM.java:684) at hudson.model.AbstractProject.checkout(AbstractProject.java:1195) at hudson.model.AbstractBuild$AbstractRunner.checkout(AbstractBuild.java:576) at hudson.model.AbstractBuild$AbstractRunner.run(AbstractBuild.java:465) at hudson.model.Run.run(Run.java:1409) at hudson.model.FreeStyleBuild.run(FreeStyleBuild.java:46) at hudson.model.ResourceController.execute(ResourceController.java:88) at hudson.model.Executor.run(Executor.java:238) |
|
From: <k-...@us...> - 2012-03-26 16:02:45
|
Revision: 771
http://jskeus.svn.sourceforge.net/jskeus/?rev=771&view=rev
Author: k-okada
Date: 2012-03-26 16:02:36 +0000 (Mon, 26 Mar 2012)
Log Message:
-----------
update eusbvh.l
- send bvh-model :angle-vector (rbrain like reset-pose)
- send bvh-joint :bvh-offset-rotate (bvh parameters)
- send bvh-joint :bvh-offset-rotate-offset (bvh parameters in rbrain-linke reset-pose coordinates)
Modified Paths:
--------------
trunk/irteus/irtbvh.l
Modified: trunk/irteus/irtbvh.l
===================================================================
--- trunk/irteus/irtbvh.l 2012-03-26 15:59:21 UTC (rev 770)
+++ trunk/irteus/irtbvh.l 2012-03-26 16:02:36 UTC (rev 771)
@@ -35,7 +35,7 @@
:slots (type offset channels neutral))
(defmethod bvh-link
- (:init (name typ coords offst chs parent children rot)
+ (:init (name typ offst chs parent children)
(let ((s 30) bs)
(setq type typ offset offst channels chs)
@@ -44,22 +44,25 @@
(make-cylinder (* 0.5 s) (* 0.60 s))))
(dolist (b (cdr bs)) (send (car bs) :assoc b))
(dolist (child children)
- (setq child (send coords :rotate-vector child))
(let* ((v (v- (normalize-vector child)))
(c (make-cylinder (/ s 3.0) (norm child)))
- (a (normalize-vector (v* v #f(0 0 1)))))
+ (a (normalize-vector (v* v #f(0 0 1)))) m r)
(if (eps= (norm a) 0.0) (setq a #f(1 0 0)))
- (send c :rotate (acos (v. v #f(0 0 -1))) a)
+ (setq m (send (send (make-coords) :rotate (acos (v. v #f(0 0 -1))) a) :rot))
+ (dotimes (i 12)
+ (push (transform m
+ (float-vector (* (/ s 3) (sin (* -2pi (/ i 12.0))))
+ (* (/ s 3) (cos (* -2pi (/ i 12.0))))
+ 0)) r))
+ (setq c (make-prism r child))
(send (car bs) :assoc c)
(setq bs (nconc bs (list c)))))
- (send-super :init (make-cascoords :rot rot)
- :bodies bs :name name)
+ (send-super :init (make-cascoords) :bodies bs :name name)
(case type
('end (send self :bodies :set-color :red))
('root (send self :bodies :set-color :darkgreen))
(t (send self :bodies :set-color :green)))
- (setq offset (send coords :rotate-vector offset))
(send self :locate
(if parent (v+ (send parent :worldpos) offset) offset) :world)
(if parent (send parent :assoc self))
@@ -72,37 +75,46 @@
(defclass bvh-sphere-joint
:super sphere-joint
- :slots (axis-order bvh-default-rotation))
+ :slots (axis-order bvh-offset-rotation))
(defmethod bvh-sphere-joint
- (:init (&rest args &key (order (list :z :x :y)) ((:bvh-default-rotation bvh-rotation) (unit-matrix 3)) ((:bvh-offset-rotation bvh-offset) (unit-matrix 3)) &allow-other-keys)
- (setq axis-order order)
- (setq bvh-default-rotation (m* (transpose bvh-offset) bvh-rotation))
+ (:init (&rest args &key (order (list :z :x :y)) ((:bvh-offset-rotation bvh-rotation) (unit-matrix 3)) &allow-other-keys)
+ (setq axis-order order
+ bvh-offset-rotation bvh-rotation)
(send-super* :init args))
- (:joint-angle-bvh
- (&optional v)
+ (:joint-angle-bvh (&optional v)
+ (send self :joint-angle-bvh-impl v (unit-matrix 3)))
+ (:joint-angle-bvh-offset (&optional v)
+ (send self :joint-angle-bvh-impl v bvh-offset-rotation))
+ (:joint-angle-bvh-impl
+ (v bvh-offset)
(let (ja m)
(when v
(setq ja (map float-vector #'deg2rad v))
(setq m (rotation-matrix (elt ja 2) (elt axis-order 2)))
(rotate-matrix m (elt ja 1) (elt axis-order 1) t m)
(rotate-matrix m (elt ja 0) (elt axis-order 0) t m)
- (send self :joint-angle (map float-vector #'rad2deg (transform bvh-default-rotation (matrix-log m))))
+ (send self :joint-angle (map float-vector #'rad2deg (matrix-log (m* bvh-offset m))))
)
- (map cons #'rad2deg (matrix-to-euler-angle (matrix-exponent (transform (transpose bvh-default-rotation) (matrix-log (send child-link :rot)))) axis-order))))
+ (map cons #'rad2deg (matrix-to-euler-angle (m* (transpose bvh-offset) (send child-link :rot)) axis-order))))
(:axis-order () axis-order)
+ (:bvh-offset-rotation () bvh-offset-rotation)
)
(defclass bvh-6dof-joint
:super 6dof-joint
- :slots (scale axis-order bvh-default-rotation))
+ :slots (scale axis-order bvh-offset-rotation))
(defmethod bvh-6dof-joint
- (:init (&rest args &key ((:scale scl)) (order (list :x :y :z :z :x :y)) ((:bvh-default-rotation bvh-rotation) (unit-matrix)) ((:bvh-offset-rotation bvh-offset) (unit-matrix 3)) &allow-other-keys)
- (setq scale (if scl scl 1.0)
- axis-order order
- bvh-default-rotation (m* (transpose bvh-offset) bvh-rotation))
+ (:init (&rest args &key (order (list :x :y :z :z :x :y)) ((:scale scl)) ((:bvh-offset-rotation bvh-rotation) (unit-matrix 3)) &allow-other-keys)
+ (setq axis-order order
+ scale (if scl scl 1.0)
+ bvh-offset-rotation bvh-rotation)
(send-super* :init args))
- (:joint-angle-bvh
- (&optional v)
+ (:joint-angle-bvh (&optional v)
+ (send self :joint-angle-bvh-impl v (unit-matrix 3)))
+ (:joint-angle-bvh-offset (&optional v)
+ (send self :joint-angle-bvh-impl v bvh-offset-rotation))
+ (:joint-angle-bvh-impl
+ (v bvh-offset)
(let (m r p)
(when v
(setq r (map float-vector #'deg2rad (subseq v 3 6))
@@ -112,12 +124,14 @@
(rotate-matrix m (elt r 0) (elt axis-order 3) t m)
(send self :joint-angle
(concatenate float-vector
- (transform bvh-default-rotation p)
- (map cons #'rad2deg (transform bvh-default-rotation (matrix-log m))))))
+ (transform bvh-offset p)
+ (map cons #'rad2deg (matrix-log (m* bvh-offset-rotation m))))))
(concatenate cons
- (transform (transpose bvh-default-rotation) (scale 0.001 (send child-link :pos)))
- (map cons #'rad2deg (matrix-to-euler-angle (matrix-exponent (transform (transpose bvh-default-rotation) (matrix-log (send child-link :rot)))) (subseq axis-order 3 6))))))
- (:axis-order () axis-order))
+ (transform (transpose bvh-offset) (scale 0.001 (send child-link :pos)))
+ (map cons #'rad2deg (matrix-to-euler-angle (m* (transpose bvh-offset) (send child-link :rot)) (subseq axis-order 3 6))))))
+ (:axis-order () axis-order)
+ (:bvh-offset-rotation () bvh-offset-rotation)
+ )
(defclass bvh-robot-model
:super robot-model
@@ -125,15 +139,16 @@
(defmethod bvh-robot-model
(:init
- (&rest args &key tree (coords (make-coords)) ((:scale scl)))
+ (&rest args &key tree coords ((:scale scl)))
(send-super* :init :coords (make-cascoords) args) ;; to avoid pass :coords keyword to upper-class
- (send self :make-bvh-link tree :coords coords :scale scl)
+ (send self :make-bvh-link tree :scale scl)
+ (if coords (send self :transform coords))
(setq links (reverse links)
joint-list (reverse joint-list))
(send self :init-ending)
self)
(:make-bvh-link
- (tree &key parent (coords) ((:scale scl)))
+ (tree &key parent ((:scale scl)))
(let (joint-type joint-name offset channels alink ajoint)
(setq joint-type (caar tree)
joint-name (cadr (pop tree))
@@ -141,12 +156,10 @@
channels (cdr (pop tree)))
(if (null scl) (setq scl 1.0))
(setq alink (instance bvh-link :init joint-name joint-type
- coords
offset
(car channels)
parent
(mapcar #'(lambda (tr) (cadr (assoc 'offset (cdr tr)))) tree)
- (send self :bvh-offset-rotate joint-name)
))
(push alink links)
(unless (eql joint-type 'end)
@@ -161,15 +174,13 @@
(t (warning-message 1 "unknown joint type ~A~%" channels)))
(setq ajoint (instance joint-cls :init :name joint-name
:child-link alink :parent-link parent
- :bvh-default-rotation (send coords :worldrot)
- :bvh-offset-rotation (send self :bvh-offset-rotate joint-name)
+ :bvh-offset-rotation (send self :bvh-offset-rotate joint-name)
:order (reduce #'(lambda (x y) (substitute (car y) (cdr y) x)) (list (cdr channels) (cons :x 'xrotation) (cons :y 'yrotation) (cons :z 'zrotation)))
:scale scl))
(push ajoint joint-list)))
(dolist (tr tree)
- (send self :make-bvh-link tr :parent alink :coords coords :scale scl))
+ (send self :make-bvh-link tr :parent alink :scale scl))
parent))
- (:bvh-offset-rotate (name) (unit-matrix 3))
(:angle-vector
(&optional vec
(angle-vector (instantiate float-vector (calc-target-joint-dimension joint-list))))
@@ -179,11 +190,11 @@
(case (send j :joint-dof)
(1 (send j :joint-angle (elt vec i)))
(3 (let ((v (subseq vec i (+ i (send j :joint-dof)))))
- (send j :joint-angle-bvh v)))
- (t (send j :joint-angle-bvh (subseq vec i (+ i (send j :joint-dof)))))
+ (send j :joint-angle-bvh-offset v)))
+ (t (send j :joint-angle-bvh-offset (subseq vec i (+ i (send j :joint-dof)))))
))
(dotimes (k (send j :joint-dof))
- (setf (elt angle-vector i) (elt (send j :joint-angle-bvh) k))
+ (setf (elt angle-vector i) (elt (send j :joint-angle-bvh-offset) k))
(incf i)))
angle-vector))
;;
@@ -238,6 +249,14 @@
(robot)
(warning-message 1 "subclass's responsibility :copy-state-to~%")
)
+ (:fix-joint-angle
+ (i limb joint-name joint-order a)
+ a)
+ (:fix-joint-order (jo limb)
+ jo)
+ (:bvh-offset-rotate
+ (name)
+ (unit-matrix 3))
) ; bvh-robot-model
;;;
@@ -315,10 +334,10 @@
:slots (frame model animation))
(defmethod motion-capture-data
(:init
- (fname &key ((:scale scl)))
+ (fname &key (coords (make-coords)) ((:scale scl)))
(let (bvh-data)
(setq bvh-data (read-bvh fname :scale scl))
- (setq model (make-bvh-robot-model (cadr (assoc 'hierarchy bvh-data)) :scale scl))
+ (setq model (make-bvh-robot-model (cadr (assoc 'hierarchy bvh-data)) :coords coords :scale scl))
(setq animation (car (last (cadr (assoc 'motions bvh-data)))))
(setq frame 0)
self))
@@ -326,7 +345,9 @@
(:animation (&rest args) (forward-message-to animation args))
(:frame (&optional f)
(if f (setq frame f))
- (send model :angle-vector (elt animation frame))
+ (let ((av (elt animation frame)) (i 0))
+ (dolist (j (send model :joint-list))
+ (send j :joint-angle-bvh (subseq av i (incf i (send j :joint-dof))))))
frame)
(:frame-length () (length animation))
(:animate
@@ -346,9 +367,9 @@
;;
) ; motion-capture-data
-(defun bvh2eus (fname &key (scale))
+(defun bvh2eus (fname &key (coords) (scale))
(let (b)
- (setq b (instance motion-capture-data :init fname :scale scale))
+ (setq b (instance motion-capture-data :init fname :coords coords :scale scale))
(objects (list (send b :model)))
(send b :animate)
b))
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <k-...@us...> - 2012-03-26 15:59:32
|
Revision: 770
http://jskeus.svn.sourceforge.net/jskeus/?rev=770&view=rev
Author: k-okada
Date: 2012-03-26 15:59:21 +0000 (Mon, 26 Mar 2012)
Log Message:
-----------
:joint-euler-angle : add :child-rot keyword
Modified Paths:
--------------
trunk/irteus/irtmodel.l
Modified: trunk/irteus/irtmodel.l
===================================================================
--- trunk/irteus/irtmodel.l 2012-03-26 15:57:50 UTC (rev 769)
+++ trunk/irteus/irtmodel.l 2012-03-26 15:59:21 UTC (rev 770)
@@ -420,8 +420,8 @@
))
;;
(:joint-euler-angle
- (&key (axis-order '(:z :y :x)))
- (let ((m (send child-link :rot)))
+ (&key (axis-order '(:z :y :x)) ((:child-rot m) (send child-link :rot)))
+ (let ()
(map cons #'rad2deg
(case (length axis-order)
(1
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <k-...@us...> - 2012-03-26 15:58:01
|
Revision: 769
http://jskeus.svn.sourceforge.net/jskeus/?rev=769&view=rev
Author: k-okada
Date: 2012-03-26 15:57:50 +0000 (Mon, 26 Mar 2012)
Log Message:
-----------
fix violate-min/max-angle warning
Modified Paths:
--------------
trunk/irteus/irtmodel.l
Modified: trunk/irteus/irtmodel.l
===================================================================
--- trunk/irteus/irtmodel.l 2012-03-24 14:14:06 UTC (rev 768)
+++ trunk/irteus/irtmodel.l 2012-03-26 15:57:50 UTC (rev 769)
@@ -158,13 +158,13 @@
(setq v (mod v 360))
(if (> v 180.0) (setq v (- v 360.0))))
((>= v max-angle)
- (warning-message 1 "~A :joint-angle(~A) violate max-angle(~A)" self v max-angle)
+ (warning-message 1 "~A :joint-angle(~A) violate max-angle(~A)~%" self v max-angle)
(setq v max-angle)))
(cond ((and (= min-angle *-inf*) (<= v -180.0))
(setq v (mod v 360))
(if (<= v -180.0) (setq v (+ v 360.0))))
((<= v min-angle)
- (warning-message 1 "~A :joint-angle(~A) violate min-angle(~A)" self v min-angle)
+ (warning-message 1 "~A :joint-angle(~A) violate min-angle(~A)~%" self v min-angle)
(setq v min-angle)))
(setq joint-angle v)
(send child-link :replace-coords default-coords)
@@ -210,10 +210,10 @@
(when v
(if relative (setq v (+ v joint-angle)))
(when (>= v max-angle)
- (warning-message 1 "~A :joint-angle(~A) violate max-angle(~A)" self v max-angle)
+ (warning-message 1 "~A :joint-angle(~A) violate max-angle(~A)~%" self v max-angle)
(setq v max-angle))
(when (<= v min-angle)
- (warning-message 1 "~A :joint-angle(~A) violate min-angle(~A)" self v min-angle)
+ (warning-message 1 "~A :joint-angle(~A) violate min-angle(~A)~%" self v min-angle)
(setq v min-angle))
(setq joint-angle v)
(send child-link :replace-coords default-coords)
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From: <k-...@us...> - 2012-03-24 14:14:12
|
Revision: 768
http://jskeus.svn.sourceforge.net/jskeus/?rev=768&view=rev
Author: k-okada
Date: 2012-03-24 14:14:06 +0000 (Sat, 24 Mar 2012)
Log Message:
-----------
check if m is 3x3 matrix for matrix-to-euler-angle
Modified Paths:
--------------
trunk/irteus/irtgeo.l
Modified: trunk/irteus/irtgeo.l
===================================================================
--- trunk/irteus/irtgeo.l 2012-03-24 13:24:29 UTC (rev 767)
+++ trunk/irteus/irtgeo.l 2012-03-24 14:14:06 UTC (rev 768)
@@ -556,6 +556,8 @@
;;
(defun matrix-to-euler-angle (m axis-order)
(let (a0 a1 a2 (eps 1.0e-6))
+ (unless (and (matrixp m) (equal (array-dimensions m) '(3 3)))
+ (error "3x3 matrix is required~A" m))
(case (elt axis-order 0)
(:x
(case (elt axis-order 2)
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From: <k-...@us...> - 2012-03-24 13:24:36
|
Revision: 767
http://jskeus.svn.sourceforge.net/jskeus/?rev=767&view=rev
Author: k-okada
Date: 2012-03-24 13:24:29 +0000 (Sat, 24 Mar 2012)
Log Message:
-----------
print warning if joint-angle exceeds min/max angle
Modified Paths:
--------------
trunk/irteus/irtmodel.l
Modified: trunk/irteus/irtmodel.l
===================================================================
--- trunk/irteus/irtmodel.l 2012-03-21 10:49:24 UTC (rev 766)
+++ trunk/irteus/irtmodel.l 2012-03-24 13:24:29 UTC (rev 767)
@@ -158,11 +158,13 @@
(setq v (mod v 360))
(if (> v 180.0) (setq v (- v 360.0))))
((>= v max-angle)
+ (warning-message 1 "~A :joint-angle(~A) violate max-angle(~A)" self v max-angle)
(setq v max-angle)))
(cond ((and (= min-angle *-inf*) (<= v -180.0))
(setq v (mod v 360))
(if (<= v -180.0) (setq v (+ v 360.0))))
((<= v min-angle)
+ (warning-message 1 "~A :joint-angle(~A) violate min-angle(~A)" self v min-angle)
(setq v min-angle)))
(setq joint-angle v)
(send child-link :replace-coords default-coords)
@@ -208,8 +210,10 @@
(when v
(if relative (setq v (+ v joint-angle)))
(when (>= v max-angle)
+ (warning-message 1 "~A :joint-angle(~A) violate max-angle(~A)" self v max-angle)
(setq v max-angle))
(when (<= v min-angle)
+ (warning-message 1 "~A :joint-angle(~A) violate min-angle(~A)" self v min-angle)
(setq v min-angle))
(setq joint-angle v)
(send child-link :replace-coords default-coords)
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From: <k-...@us...> - 2012-03-21 10:49:30
|
Revision: 766
http://jskeus.svn.sourceforge.net/jskeus/?rev=766&view=rev
Author: k-okada
Date: 2012-03-21 10:49:24 +0000 (Wed, 21 Mar 2012)
Log Message:
-----------
fix : back to r628
Revision Links:
--------------
http://jskeus.svn.sourceforge.net/jskeus/?rev=628&view=rev
Modified Paths:
--------------
trunk/irteus/irtbvh.l
Modified: trunk/irteus/irtbvh.l
===================================================================
--- trunk/irteus/irtbvh.l 2012-03-18 23:54:27 UTC (rev 765)
+++ trunk/irteus/irtbvh.l 2012-03-21 10:49:24 UTC (rev 766)
@@ -230,7 +230,7 @@
(&optional (strm *standard-output*))
(let (a)
(dolist (l links)
- (setq a (map cons #'rad2deg (matrix-to-euler-angle (send child-link :rot) axis-order)))
+ (setq a (send l :joint :joint-angle-bvh))
(dotimes (i (length a))
(format strm "~0,6f " (elt a i))))
(format strm "~%")))
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From: <k-...@us...> - 2012-03-18 23:54:33
|
Revision: 765
http://jskeus.svn.sourceforge.net/jskeus/?rev=765&view=rev
Author: k-okada
Date: 2012-03-18 23:54:27 +0000 (Sun, 18 Mar 2012)
Log Message:
-----------
do not use joint-angle-bvh (bvh-offset-rotate) in :dump-motion methods
Modified Paths:
--------------
trunk/irteus/irtbvh.l
Modified: trunk/irteus/irtbvh.l
===================================================================
--- trunk/irteus/irtbvh.l 2012-02-17 02:29:37 UTC (rev 764)
+++ trunk/irteus/irtbvh.l 2012-03-18 23:54:27 UTC (rev 765)
@@ -230,7 +230,7 @@
(&optional (strm *standard-output*))
(let (a)
(dolist (l links)
- (setq a (send l :joint :joint-angle-bvh))
+ (setq a (map cons #'rad2deg (matrix-to-euler-angle (send child-link :rot) axis-order)))
(dotimes (i (length a))
(format strm "~0,6f " (elt a i))))
(format strm "~%")))
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From: <k-...@us...> - 2012-02-17 02:29:43
|
Revision: 764
http://jskeus.svn.sourceforge.net/jskeus/?rev=764&view=rev
Author: k-okada
Date: 2012-02-17 02:29:37 +0000 (Fri, 17 Feb 2012)
Log Message:
-----------
update sensor-model to allow-other-keys and camera-model to pass args to instantiate sensor-model class
Modified Paths:
--------------
trunk/irteus/irtsensor.l
Modified: trunk/irteus/irtsensor.l
===================================================================
--- trunk/irteus/irtsensor.l 2012-02-17 02:23:13 UTC (rev 763)
+++ trunk/irteus/irtsensor.l 2012-02-17 02:29:37 UTC (rev 764)
@@ -34,7 +34,7 @@
(:read () data)
(:draw-sensor (v) (warn ":draw-sensor should be defined in lower class~%"));; virtual method
(:init
- (shape &key name)
+ (shape &key name &allow-other-keys)
(replace-object self shape)
(send self :name name)
shape))
@@ -87,7 +87,7 @@
(yon 10000.0)
&allow-other-keys)
(let ()
- (send-super :init b)
+ (send-super* :init b args)
(setq pwidth pw pheight ph)
(setq vwing
(instance* perspective-viewing :init
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From: <k-...@us...> - 2012-02-17 02:23:19
|
Revision: 763
http://jskeus.svn.sourceforge.net/jskeus/?rev=763&view=rev
Author: k-okada
Date: 2012-02-17 02:23:13 +0000 (Fri, 17 Feb 2012)
Log Message:
-----------
support :name key to make-camera-from-param
Modified Paths:
--------------
trunk/irteus/irtsensor.l
Modified: trunk/irteus/irtsensor.l
===================================================================
--- trunk/irteus/irtsensor.l 2012-02-08 16:45:35 UTC (rev 762)
+++ trunk/irteus/irtsensor.l 2012-02-17 02:23:13 UTC (rev 763)
@@ -227,13 +227,13 @@
)
;; utility functions
-(defun make-camera-from-param (&key pwidth pheight fx fy cx cy (tx 0) (ty 0) parent-coords)
+(defun make-camera-from-param (&key pwidth pheight fx fy cx cy (tx 0) (ty 0) parent-coords name)
(let* ((b (body+ (make-cube 40 30 30)
(send (make-cylinder 2 30) :rotate pi/2 :x)
(make-cylinder 13 25)))
c (vd 1.0))
(setq c (instance camera-model :init b :width pwidth :height pheight
- :viewdistance vd))
+ :viewdistance vd :name name))
(send (c . vwing) :screen (/ (* vd pwidth 0.5) fx) (/ (* vd pheight 0.5) fy))
(send c :newprojection
(make-matrix 4 4
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From: <sn...@us...> - 2012-02-08 16:45:45
|
Revision: 762
http://jskeus.svn.sourceforge.net/jskeus/?rev=762&view=rev
Author: snozawa
Date: 2012-02-08 16:45:35 +0000 (Wed, 08 Feb 2012)
Log Message:
-----------
fix manipulability-limit and gain according to use-leg mode
Modified Paths:
--------------
trunk/irteus/demo/full-body-ik.l
Modified: trunk/irteus/demo/full-body-ik.l
===================================================================
--- trunk/irteus/demo/full-body-ik.l 2012-02-06 11:20:27 UTC (rev 761)
+++ trunk/irteus/demo/full-body-ik.l 2012-02-08 16:45:35 UTC (rev 762)
@@ -28,12 +28,14 @@
:translation-axis t))
(dif-rot (send move-target :difference-rotation target
:rotation-axis nil)))
- (send *robot* :inverse-kinematics-loop dif-pos dif-rot
+ (send* *robot* :inverse-kinematics-loop dif-pos dif-rot
:link-list link-list
:target-coords target
:move-target (send *robot* :larm :end-coords)
:rotation-axis nil :translation-axis t
- :debug-view :no-flush))
+ :manipulability-gain 0.05
+ :debug-view :no-flush
+ (if use-leg '(:manipulability-limit 0.5)))
(send *robot* :head :look-at
(send *robot* :larm :end-coords :worldpos))
(if (send *robot* :lleg)
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From: <sn...@us...> - 2012-02-06 11:20:36
|
Revision: 761
http://jskeus.svn.sourceforge.net/jskeus/?rev=761&view=rev
Author: snozawa
Date: 2012-02-06 11:20:27 +0000 (Mon, 06 Feb 2012)
Log Message:
-----------
remove unnecessary update-mass-properties in cog-nullspace calculation
Modified Paths:
--------------
trunk/irteus/irtdyna.l
Modified: trunk/irteus/irtdyna.l
===================================================================
--- trunk/irteus/irtdyna.l 2012-02-06 07:57:28 UTC (rev 760)
+++ trunk/irteus/irtdyna.l 2012-02-06 11:20:27 UTC (rev 761)
@@ -445,7 +445,7 @@
(v- target-centroid-pos
(if (functionp centroid-offset-func)
(funcall centroid-offset-func)
- (send self :centroid)))
+ (send self :centroid nil)))
translation-axis))
)
)
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From: <sn...@us...> - 2012-02-06 07:57:34
|
Revision: 760
http://jskeus.svn.sourceforge.net/jskeus/?rev=760&view=rev
Author: snozawa
Date: 2012-02-06 07:57:28 +0000 (Mon, 06 Feb 2012)
Log Message:
-----------
use :weight method ;; support euscollada robots in calculation of cog-jacobian
Modified Paths:
--------------
trunk/irteus/irtdyna.l
Modified: trunk/irteus/irtdyna.l
===================================================================
--- trunk/irteus/irtdyna.l 2012-02-06 07:42:11 UTC (rev 759)
+++ trunk/irteus/irtdyna.l 2012-02-06 07:57:28 UTC (rev 760)
@@ -412,8 +412,9 @@
(inertia-matrix
(make-matrix axis-dim (send self :calc-target-joint-dimension link-list)))
&allow-other-keys)
- (let ((all-M (* 0.001 (reduce #'+ (send-all (send self :links) :weight))))) ;; [kg]
+ (let ((all-M (* 0.001 (send self :weight)))) ;; [kg]
(send* self :calc-inertia-matrix-from-link-list
+ :update-mass-properties nil
:inertia-matrix inertia-matrix :link-list link-list args)
;; calc cog jacobian from inertia matrix
(dotimes (i axis-dim)
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