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[jskeus-commit] SF.net SVN: jskeus:[690] trunk/irteus/irtcollada.l

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

Revision: 690
          http://jskeus.svn.sourceforge.net/jskeus/?rev=690&view=rev
Author:   snozawa
Date:     2011-07-26 07:00:49 +0000 (Tue, 26 Jul 2011)

Log Message:
-----------
update default argument for output-full-dir

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

Modified: trunk/irteus/irtcollada.l
===================================================================
--- trunk/irteus/irtcollada.l	2011-07-26 06:46:31 UTC (rev 689)
+++ trunk/irteus/irtcollada.l	2011-07-26 07:00:49 UTC (rev 690)
@@ -948,8 +948,8 @@
     (format nil "~A.~A" (pathname-name p) (pathname-type p))))
 
 (defun convert-irtmodel-to-collada
-  (model-file &optional (output-full-dir "package://euscollada") (model-name))
-  "convert irtmodel to collada model. (convert-irtmodel-to-collada irtmodel-file-path &optional (output-full-dir \"package://euscollada\") (model-name))"
+  (model-file &optional (output-full-dir (send (truename "./") :namestring)) (model-name))
+  "convert irtmodel to collada model. (convert-irtmodel-to-collada irtmodel-file-path &optional (output-full-dir (send (truename \"./\") :namestring)) (model-name))"
   (format t "convert ~A and output to ~A~%" model-file output-full-dir)
 
   (format t "loading ~A~%" model-file)


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[jskeus-commit] SF.net SVN: jskeus:[689] trunk/irteus

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

Revision: 689
          http://jskeus.svn.sourceforge.net/jskeus/?rev=689&view=rev
Author:   snozawa
Date:     2011-07-26 06:46:31 +0000 (Tue, 26 Jul 2011)

Log Message:
-----------
add collada converter codes to irteus

Modified Paths:
--------------
    trunk/irteus/Makefile
    trunk/irteus/compile_irtg.l
    trunk/irteus/irtext.l

Added Paths:
-----------
    trunk/irteus/irtcollada.l

Modified: trunk/irteus/Makefile
===================================================================
--- trunk/irteus/Makefile	2011-07-14 04:27:01 UTC (rev 688)
+++ trunk/irteus/Makefile	2011-07-26 06:46:31 UTC (rev 689)
@@ -36,7 +36,7 @@
 EUSLIB_MODULES.L=$(addprefix $(EUSDIR)/lib/,$(MODULES.L))
 
 IRTEUS=irtmath irtutil pgsql
-IRTEUSG=irtgeo pqp irtscene irtmodel irtsensor irtdyna irtrobot irtbvh
+IRTEUSG=irtgeo pqp irtscene irtmodel irtsensor irtdyna irtrobot irtbvh irtcollada
 IRTEUSX=irtx
 IRTEUSIMG=irtimage eusjpeg png
 IRTEUSGL=irtgl irtglrgb irtviewer
@@ -168,6 +168,7 @@
 $(OBJDIR)/irtscene.$(OSFX): irtscene.l
 $(OBJDIR)/irtmodel.$(OSFX): irtmodel.l
 $(OBJDIR)/irtdyna.$(OSFX): irtdyna.l
+$(OBJDIR)/irtcollada.$(OSFX): irtcollada.l
 $(OBJDIR)/irtsensor.$(OSFX): irtsensor.l
 $(OBJDIR)/irtrobot.$(OSFX): irtrobot.l
 $(OBJDIR)/irtbvh.$(OSFX): irtbvh.l

Modified: trunk/irteus/compile_irtg.l
===================================================================
--- trunk/irteus/compile_irtg.l	2011-07-14 04:27:01 UTC (rev 688)
+++ trunk/irteus/compile_irtg.l	2011-07-26 06:46:31 UTC (rev 689)
@@ -36,6 +36,7 @@
 (comp:compile-file-if-src-newer "irtdyna.l" *objdir*)
 (comp:compile-file-if-src-newer "irtrobot.l" *objdir*)
 (comp:compile-file-if-src-newer "irtbvh.l" *objdir*)
+(comp:compile-file-if-src-newer "irtcollada.l" *objdir*)
 
 (exit 0)
 

Added: trunk/irteus/irtcollada.l
===================================================================
--- trunk/irteus/irtcollada.l	                        (rev 0)
+++ trunk/irteus/irtcollada.l	2011-07-26 06:46:31 UTC (rev 689)
@@ -0,0 +1,967 @@
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;;;
+;;; $Id: irtcollada.l 664 2011-06-24 05:57:02Z snozawa $
+;;;
+;;; Copyright (c) 1987- JSK, The University of Tokyo.  All Rights Reserved.
+;;;
+;;; This software is a collection of EusLisp code for robot applications,
+;;; which has been developed by the JSK Laboratory for the IRT project.
+;;; For more information on EusLisp and its application to the robotics,
+;;; please refer to the following papers.
+;;;
+;;; Toshihiro Matsui
+;;; Multithread object-oriented language euslisp for parallel and
+;;;  asynchronous programming in robotics
+;;; Workshop on Concurrent Object-based Systems,
+;;;  IEEE 6th Symposium on Parallel and Distributed Processing, 1994
+;;;
+;;; Permission to use this software for educational, research
+;;; and non-profit purposes, without fee, and without a written
+;;; agreement is hereby granted to all researchers working on
+;;; the IRT project at the University of Tokyo, provided that the
+;;; above copyright notice remains intact.  
+;;;
+
+(require :irtmodel)
+
+(unless (find-package "COLLADA") (make-package "COLLADA"))
+(in-package "COLLADA")
+
+;;(export '(convert-irtmodel-to-collada))
+
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;; xml utilities
+;; implementation reference is: 
+;; http://homepage1.nifty.com/blankspace/scheme/nsx.html
+;; really thanks to nnakamura!
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+
+(defvar *collada-print-customize-symbols* '(collada |profile_COMMON|))
+
+(defun symbol->string (sym)
+  (if (find sym *collada-print-customize-symbols*)
+      (string sym)
+    (string-downcase (string sym))))
+
+(defun ->string (val)
+  (format nil "~s" val))
+
+(defun string-append (&rest args)
+  (apply #'concatenate string args))
+
+(defun make-attr (l ac)
+  (if (null l)
+      ac
+    (make-attr
+     (cdr l) (string-append ac " " (symbol->string (caar l))
+                            "=\"" (if (stringp (cadar l))
+                                      (cadar l)
+                                    (->string (cadar l)))
+                            "\""))))
+
+(defun make-xml (x bef aft)
+  (cond ((stringp x) (append bef (list x) aft))
+        ((and (listp x) (symbolp (car x)) (not (null x)))
+         (let ((tag (symbol->string (car x))))
+           (if (and (not   (null (cdr x)))
+                    (listp (cadr x))
+                    (eq (caadr  x) '@))
+               (make-xml (cddr x)
+                         (append bef (list 'BO tag (make-attr (cdadr x) "") 'BC))
+                         (append     (list 'EO tag 'EC) aft))
+             (make-xml (cdr x)
+                       (append bef (list 'BO tag 'BC))
+                       (append     (list 'EO tag 'EC) aft)))))
+        ((and (not (null x))
+              (listp x)) (make-xml ()
+                             (make-xml (car x) bef ())
+                             (make-xml (cdr x) () aft)))
+        (t (append bef aft))))
+
+(defun sxml->xml (sxml)
+  ;; main
+  (make-xml sxml () ()))
+
+;; utility
+(defun xml-output-to-string-stream (ss l)
+  (dolist (ll l)
+    (if (stringp ll)
+        (format ss ll)
+      (format ss
+              (case ll
+                (BO    "<")
+                (EO    "</")
+                ((BC EC) ">~%"))))))
+
+(defun cat-normal (l s)
+  (cond ((null l) s)
+        ((stringp (car l))
+         (cat-normal (cdr l) (string-append s (car l))))
+        (t (cat-normal (cdr l)
+                          (string-append s (case (car l)
+                                             (BO    "<")
+                                             (EO    "</")
+                                             ((BC EC) ">~%")))))))
+;; utility
+(defun cat-clark (l s i)
+  (cond ((null l) s)
+        ((stringp (car l))
+         (cat-clark (cdr l) (string-append s (car l)) i))
+        (t
+         (case (car l)
+           (BO    (cat-clark (cdr l) (string-append s "<" ) (+ i 1)))
+           (EO    (cat-clark (cdr l) (string-append s "</") (- i 1)))
+           ((BC EC) (cat-clark (cdr l)
+                               (string-append s "~%" (make-string i #\ ) ">") i))))))
+
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;; eusmodel-description.l
+;;
+;; this file provides an interface to euslisp model IForm.
+;; in eusmodel_converter, all of the euslisp models (subclass of robot-frame),
+;; will be converted into model-iform. model-iform is a simple associated-list.
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+
+;; model-iform spec:
+;;  model-iform := (<link-specs> . <joint-specs>)
+;;  <link-specs> := (<link-spec> ...)
+;;  <joint-specs> := (<joint-spec> ...)
+;;  <link-spec> := ((:name . <string>)
+;;                  (:origin . <coordinates>)
+;;                  (:mesh . <mesh-spec>))
+;;  <mesh-spec> := (<triangle faceset>)
+;;   (all of the vertices has relative coordinates from the origin of the link)
+;;  <joint-spec> := ((:name . <string>)
+;;                   (:type . <joint-type>)
+;;                   (:limit . <limit-spec>)
+;;                   (:axis . <float-vector>)
+;;                   (:parent . <string>)
+;;                   (:child . <string>))
+;;  <joint-type> := :rotational-joint|linear-joint
+;;  <limit-spec> := ((:lower . <float>)
+;;                   (:upper . <float>))
+
+(defun eusmodel-description (model)
+  "convert a `model' to eusmodel-description"
+  ;; FIXME: make robots reset
+  (let ((links (send model :links))
+        (joints (send model :joint-list)))
+    ;; verification
+    (verificate-unique-strings (mapcar #'string (send-all links :name)))
+    (verificate-unique-strings (mapcar #'string (send-all joints :name)))
+    (list (eusmodel-link-specs links)
+          (eusmodel-joint-specs joints)
+          (eusmodel-endcoords-specs model))))
+
+(defun verificate-unique-strings (names)
+  (if (not (= (length names)
+              (length (remove-duplicates names :test #'string=))))
+      (error "NOT UNIQUE NAMES ~A" names)
+    t))
+
+(defun eusmodel-link-specs (links)
+  "convert `links' to <link-specs>"
+  (mapcar #'eusmodel-link-spec links))
+
+(defun eusmodel-joint-specs (joints)
+  "convert `joints' to <joint-specs>"
+  (mapcar #'eusmodel-joint-spec joints))
+
+(defun eusmodel-link-spec (link)
+  (list (cons :name (string (send link :name)))
+        (cons :origin                   ;parent -> child transformation
+              (let ((parent (send link :parent)))
+                (send parent :transformation link)))
+        (cons :mesh (eusmodel-mesh-spec link))))
+
+(defun eusmodel-mesh-spec (link)
+  ;; right?
+  (let ((bs (send link :bodies)))
+    (mapcar #'(lambda (b)
+                (let ((trimesh
+                       (instance geo::faceset :init
+                                 :faces
+                                 (send (geo::body-to-triangles b nil)
+                                       :faces))))
+                  (setf (get trimesh :face-color) (get b :face-color))
+                  ;; move trimesh to origin...
+                  (send trimesh
+                        :move-to (send (send b :copy-worldcoords)
+                                       :inverse-transformation))
+                  trimesh))
+            bs)))
+
+(defun eusmodel-joint-spec (_joint)
+  (list (cons :name (string (send _joint :name)))
+        (cons :type (cond
+                     ((derivedp _joint user::rotational-joint)
+                      :rotational-joint)
+                     ((derivedp _joint user::linear-joint)
+                      :linear-joint)))
+        (cons :limit (eusmodel-limit-spec _joint))
+        (cons :axis (case (_joint . user::axis)
+                      (:x #f(1 0 0)) (:y #f(0 1 0)) (:z #f(0 0 1))
+                      (:xx #f(1 0 0)) (:yy #f(0 1 0)) (:zz #f(0 0 1))
+                      (:-x #f(-1 0 0)) (:-y #f(0 -1 0)) (:-z #f(0 0 -1))
+                      (t (if (listp (_joint . user::axis))
+                             ;; 6dof joint...
+                             #f(0 0 0)
+                             (_joint . user::axis)))))
+        (cons :parent (string (send (send _joint :parent-link) :name)))
+        (cons :child (string (send (send _joint :child-link) :name)))))
+
+(defun eusmodel-limit-spec (_joint)
+  (list (cons :upper (deg2rad (send _joint :max-angle)))
+        (cons :lower (deg2rad (send _joint :min-angle)))))
+
+
+(defun eusmodel-endcoords-specs (model)
+  (labels ((get-links
+            (link)
+            (if (find-method model link)
+                (let ((tmp (send model link)))
+                  (if (and tmp (send model link :end-coords)
+                           (send (send model link :end-coords) :parent))
+                      (let ((link-list
+                             (send model :link-list
+                                   (send (send model link :end-coords) :parent)
+                                   (car tmp))))
+                        (cons (send (car tmp) :parent-link)
+                              link-list)))))))
+    (let ((head (get-links :head))
+          (larm (get-links :larm))
+          (rarm (get-links :rarm))
+          (lleg (get-links :lleg))
+          (rleg (get-links :rleg)))
+      (list (cons "head"
+                  (mapcar #'string (send-all head :name)))
+            (cons "larm"
+                  (mapcar #'string (send-all larm :name)))
+            (cons "rarm"
+                  (mapcar #'string (send-all rarm :name)))
+            (cons "lleg"
+                  (mapcar #'string (send-all lleg :name)))
+            (cons "rleg"
+                  (mapcar #'string (send-all rleg :name)))))))
+
+;; accessor
+(defun eusmodel-link-description (description)
+  (car description))
+
+(defun eusmodel-joint-description (description)
+  (cadr description))
+
+(defun eusmodel-endcoords-description (description)
+  (caddr description))
+
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;; collada interface
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+
+(defun eusmodel-description->collada (name description &key (scale 0.001))
+  "convert eusmodel-descrption to collada sxml"
+  (warn "start converting to collada sxml~%")
+  `(collada
+    (@ (version "1.5.0")
+       (xmlns "http://www.collada.org/2008/03/COLLADASchema")
+       ;; (xmlns:xsi "http://www.w3.org/2001/XMLSchema-instance")
+       ;; (xmlns:math "http://www.w3.org/1998/Math/MathML")
+       ;; (xsi:schemaLocation "http://www.collada.org/2008/03/COLLADASchema http://www.khronos.org/files/collada_schema_1_5")
+       )
+    (asset
+     (contributor (authoring_tool 
+                    "Eus2Collada"))
+     (unit (@ (meter ,scale)
+              (name "millimeter")))
+     (up_axis "Z_UP"))
+    ,(eusmodel-description->collada-library-visual-scenes description)
+    ,(eusmodel-description->collada-library-joints description)
+    ,(links-description->collada-library-effects (eusmodel-link-description description))
+    ,(links-description->collada-library-materials (eusmodel-link-description description))
+    ,(eusmodel-description->collada-library-kinematics-models name description)
+    ,(eusmodel-description->collada-library-kinematics-scenes name description)
+    ,(eusmodel-description->collada-library-geometries description)
+    ,(eusmodel-description->collada-library-articulated-systems description name)
+    ;; default scene...
+    ,(eusmodel-description->collada-scene description)))
+
+(defun setup-collada-filesystem (obj-name base-dir)
+  (if (not (eq (probe-file base-dir) :directory))
+      (error "~A must be a directory" base-dir)
+    (progn
+      (unix::mkdir (format nil "~A/collada" base-dir)))))
+
+(defun range2 (n)
+  (if (= n 0)
+      '(0)
+    (append (range2 (1- n)) (list n))))
+
+(defun eus2collada (obj full-root-dir
+                        &key
+                        (scale 0.001)
+                        (file-suffix ".dae"))
+  (let ((name (send obj :name)))
+    (unless name
+      (error "You need to specify name"))
+    (let ((descrpition (eusmodel-description obj)))
+      (let ((sxml (eusmodel-description->collada
+                   name descrpition :scale scale)))
+        (setup-collada-filesystem name full-root-dir) ;mkdir for collada
+        (let ((xml-file (format nil "~Acollada/~A.dae" full-root-dir name))
+              (xml (sxml->xml sxml)))
+          (with-open-file (f xml-file :direction :output)
+            (format f "<?xml version=\"1.0\"?>~%")
+            (xml-output-to-string-stream f xml)
+            nil))))))
+
+
+(defun collada-node-id (link-descrption)
+  (format nil "~A.node" (cdr (assoc :name link-descrption))))
+
+(defun collada-node-name (link-descrption)
+  (format nil "~A_node" (cdr (assoc :name link-descrption))))
+
+(defun links-description->collada-library-materials (links-desc)
+  `(library_materials
+    (@ (id "libmat"))
+    ,@(mapcar #'link-description->collada-materials links-desc)))
+
+(defun link-description->collada-materials (link-desc)
+  (let* ((meshes (cdr (assoc :mesh link-desc)))
+         (id-base (format nil "~A.geometry" (cdr (assoc :name link-desc))))
+         (effect-base (format nil "~A.effect" (cdr (assoc :name link-desc))))
+         (ids (range2 (length meshes))))
+    (mapcar #'(lambda (i)
+                (mesh-description->collada-material
+                 (format nil "~A.~A.material" id-base i)
+                 (format nil "~A.~A" effect-base i)))
+            ids)))
+
+(defun mesh-description->collada-material (mat effect)
+  `(material
+    (@ (id ,mat))
+    (instance_effect
+     (@ (url ,(format nil "#~A" effect))))))
+
+(defun links-description->collada-library-effects (links-desc)
+  `(library_effects
+    (@ (id "libeffect"))
+    ,@(mapcar #'link-description->collada-effects links-desc)))
+
+(defun link-description->collada-effects (link-desc)
+  (let* ((meshes (cdr (assoc :mesh link-desc)))
+         (id-base (format nil "~A.effect" (cdr (assoc :name link-desc))))
+         (ids (range2 (length meshes))))
+    (mapcar #'(lambda (x i)
+                (mesh-description->collada-effect
+                 x (format nil "~A.~A" id-base i)))
+            meshes ids)))
+
+(defun mesh-description->collada-effect (mesh id)
+  `(effect
+    (@ (id ,id))
+    (|profile_COMMON|
+     (technique
+      (@ (sid "common"))
+      (phong
+       (ambient
+        (color
+         ,(format nil "~A ~A ~A 1.0"
+                  (elt (get mesh :face-color) 0)
+                  (elt (get mesh :face-color) 1)
+                  (elt (get mesh :face-color) 2))))
+       (diffuse
+        (color
+         ,(format nil "~A ~A ~A 1.0"
+                  (elt (get mesh :face-color) 0)
+                  (elt (get mesh :face-color) 1)
+                  (elt (get mesh :face-color) 2)))))))))
+
+(defun matrix->collada-string (mat)
+  (let ((dims (array-dimensions mat))
+        (ss (make-string-output-stream)))
+    (dotimes (i (car dims))
+      (dotimes (j (cadr dims))
+        (format ss "~A " (aref mat i j))))
+    (format ss "~%")
+    (get-output-stream-string ss)))
+
+(defun find-parent-liks-from-link-description (target-link desc)
+  (let ((j (find-joint-from-link-description target-link (eusmodel-link-description desc))))
+    (if (null j)
+        nil
+      (let* ((parent-link-name (cdr (assoc :parent j)))
+             (parent-link (find-link-from-links-description
+                           parent-link-name (eusmodel-link-description desc))))
+        (append (find-parent-liks-from-link-description parent-link desc)
+                (list parent-link))))))
+
+(defun eusmodel-description->collada-node-transformations (target-link desc)
+  (let ((parent-links
+         (append (find-parent-liks-from-link-description target-link desc)
+                 (list target-link))))
+    (remove-if #'null
+               (mapcar #'(lambda (l)
+                           (let ((j (find-joint-from-link-description
+                                     l (eusmodel-joint-description desc))))
+                             (if j
+                                 `((rotate
+                                    (@ (sid
+                                        ,(format nil "~A_axis0" (cdr (assoc :name j)))))
+                                    "1 0 0 0")))))
+                       parent-links))))
+
+(defun eusmodel-description->collada-node (target-link desc)
+  (let* ((joint-descriptions (eusmodel-joint-description desc))
+         (link-descriptions (eusmodel-link-description desc))
+         (j (find-joint-from-link-description target-link (eusmodel-joint-description desc)))
+         (meshes (cdr (assoc :mesh target-link)))
+         (origin (cdr (assoc :origin target-link))))
+  `(node
+    (@ (id ,(collada-node-id target-link))
+       (name ,(collada-node-name target-link)))
+    ,@(eusmodel-description->collada-node-transformations target-link desc)
+    ,@(mapcar
+       #'(lambda (i)
+           `(instance_geometry
+             (@ (url
+                 ,(format nil "#~A.~A"
+                          (collada-geometry-id-base target-link)
+                          i)))
+             (bind_material
+              (technique_common
+               (instance_material
+                (@ (symbol ,(format nil "~A.~A.material"
+                                    (collada-geometry-id-base target-link) i))
+                   (target ,(format nil "#~A.~A.material"
+                                    (collada-geometry-id-base target-link) i))))))))
+       (enum-integer-list (length meshes))))))
+
+(defun eusmodel-description->collada-library-visual-scenes (desc)
+  `(library_visual_scenes
+    (@ (id "libvisualscene"))
+    (visual_scene
+     (@ (id "libvisualscenes.scene"))
+     (node
+      (@ (id "visual_root")
+         (name "VisualRoot"))
+      (node
+       (@ (id "root_node")
+          (name "RootNode"))
+       ,@(mapcar #'(lambda (l)
+                     (eusmodel-description->collada-node l desc))
+                 (eusmodel-link-description desc)))))))
+
+(defun mesh-description->instance-material (s)
+  `(instance_material
+    (@ (symbol ,s)
+       (target ,(format nil "#~A" s)))))
+
+(defun link-description->collada-bind-material (link)
+  (let* ((meshes (cdr (assoc :mesh link)))
+         (name (cdr (assoc :name link)))
+         (ids (enum-integer-list (length meshes))))
+    ;; material
+    `(bind_material
+      (technique_common
+       ,@(mapcar #'(lambda (n)
+                     (mesh-description->instance-material
+                      (format nil "~A.geometry.~A.material" name n)))
+                 ids)))))
+
+(defun eusmodel-description->collada-library-kinematics-scenes (name desc)
+  `(library_kinematics_scenes
+    (@ (id "libkinscenes"))
+    (kinematics_scene
+     (@ (id "libkinscenes.kinScene"))
+     (instance_articulated_system
+      (@ (url "#kinsystem_motion")
+         (sid "inst_kinsystem"))
+      (newparam
+       (@ (sid "libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel"))
+       "<SIDREF>kinsystem_motion/kinsystem_motion.kinsystem_inst</SIDREF>")
+      ;; joint axis
+      ,@(mapcar #'(lambda (j)
+                    (let ((joint-name (cdr (assoc :name j))))
+                      `(newparam
+                        (@ (sid ,(format nil "libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.~A_axis0" joint-name)))
+                        ,(format nil "<SIDREF>kinsystem_motion/kinsystem_motion.kinsystem_inst.inst_~A_axis0</SIDREF>"
+                                 joint-name))))
+                (eusmodel-joint-description desc))
+      ;; joint axis value
+      ,@(mapcar #'(lambda (j)
+                    (let ((joint-name (cdr (assoc :name j))))
+                      `(newparam
+                        (@ (sid ,(format nil "libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.~A_axis0_value" joint-name)))
+                        ,(format nil "<SIDREF>kinsystem_motion/kinsystem_motion.kinsystem_inst.inst_~A_value</SIDREF>"
+                                 joint-name))))
+                (eusmodel-joint-description desc))))))
+
+(defun eusmodel-description->collada-library-kinematics-models (name desc)
+  `(library_kinematics_models
+    (@ (id "libkinmodels"))
+    ,(eusmodel-description->collada-kinematics-model name desc)))
+
+(defun eusmodel-description->collada-kinematics-model (name desc)
+  (let ((joints-desc (eusmodel-joint-description desc)))
+    `(kinematics_model
+      (@ (id "kinmodel")
+         (name ,(format nil "~A-kinmodel" name))) ;the name of robot...?
+      (technique_common
+       ,@(joints-description->collada-instance-joints joints-desc)
+       ,@(eusmodel-description->collada-links desc)))))
+
+;; returns the name of root link
+;; TODO: this function does not work. we need to create a tree
+;; of robot models and find the root of the tree.
+(defun find-root-link-from-joints-description (joints-description)
+  ;; build joint tree using cascaded-coords
+  (let ((coords-set nil))
+    (dolist (j joints-description)
+      (let ((c (geo::make-cascoords :name (cdr (assoc :name j)))))
+        (setf (get c :parent-link) (cdr (assoc :parent j)))
+        (setf (get c :child-link) (cdr (assoc :child j)))
+        (push c coords-set)))
+    ;; resolve tree
+    (dolist (c coords-set)
+      (let ((parent-link (get c :parent-link)))
+        (let ((parent-coords
+               (find parent-link
+                     coords-set
+                     :test #'string=
+                     :key #'(lambda (c) (get c :child-link)))))
+          (unless parent-coords
+            ;; this is ROOT!
+            (return-from find-root-link-from-joints-description
+              parent-link)))))))
+
+(defun find-link-from-links-description (name links-description)
+  (find name links-description
+        :test #'string= :key #'(lambda (l) (cdr (assoc :name l)))))
+
+(defun eusmodel-description->collada-links (description)
+  (let ((joints-description (eusmodel-joint-description description))
+        (links-description (eusmodel-link-description description)))
+    (let ((root-link-description
+           (find-link-from-links-description
+            (find-root-link-from-joints-description joints-description)
+            links-description)))
+      (eusmodel-description->collada-links-tree
+       root-link-description links-description joints-description))))
+
+(defun find-joint-from-link-description (target joints)
+  (find (cdr (assoc :name target))
+        joints
+        :test #'string=
+        :key #'(lambda (j) (cdr (assoc :child j)))))
+
+(defun find-child-link-descriptions (parent links joints)
+  (let ((parented-joints
+         (remove-if-not #'(lambda (j) (cdr (assoc :parent j))) joints)))
+    (let ((joints-has-parent
+           (remove-if-not
+            #'(lambda (j)
+                (string= (cdr (assoc :parent j))
+                         (cdr (assoc :name parent))))
+            joints)))
+      (let ((child-link-names
+             (mapcar #'(lambda (j)
+                         (cdr (assoc :child j))) joints-has-parent)))
+        (mapcar #'(lambda (n)
+                    (find-link-from-links-description n links))
+                child-link-names)))))
+
+(defun matrix->collada-rotate-vector (mat)
+  "convert a rotation matrix to axis-angle."
+  (let ((q (user::matrix2quaternion mat)))
+    (let ((qv (normalize-vector (float-vector (elt q 1) (elt q 2) (elt q 3))))
+          (qa (elt q 0)))
+      (float-vector (elt qv 0)
+                    (elt qv 1)
+                    (elt qv 2)
+                    (rad2deg (* 2.0 (atan 
+                                          (sqrt (+ (expt (elt q 1) 2)
+                                                   (expt (elt q 2) 2)
+                                                   (expt (elt q 3) 2)))
+                                          qa)))))))
+
+(defun eusmodel-description->collada-library-articulated-systems (desc name)
+  `(library_articulated_systems
+    (articulated_system
+     (@ (id "kinsystem")
+        (name ,name))
+     (kinematics
+      (instance_kinematics_model
+       ;;(@ (url "#kinmodel")
+       (@ (url "#kinmodel")
+          (sid "inst_kinmodel"))
+       (newparam
+        (@ (sid "libarticulated_systems.kinScene_libarticulated_systems.kinScene_inst_kinmodel"))
+        "<SIDREF>kinsystem/inst_kinmodel</SIDREF>")
+        
+       ;; joint axis
+       ,@(mapcar #'(lambda (j)
+                     (let ((joint-name (cdr (assoc :name j))))
+                       `(newparam
+                         (@ (sid ,(format nil "libarticulated_systems.kinScene_libarticulated_systems.kinScene_inst_kinmodel.~A_axis0" joint-name)))
+                         ,(format nil
+                                  "<SIDREF>kinsystem/inst_kinmodel/~A/axis0</SIDREF>~%" joint-name))))
+                 (eusmodel-joint-description desc))
+       ;; joint axis value
+       ,@(mapcar #'(lambda (j)
+                     (let ((joint-name (cdr (assoc :name j))))
+                       `(newparam
+                         (@ (sid ,(format nil "libarticulated_systems.kinScene_libarticulated_systems.kinScene_inst_kinmodel.~A.value" joint-name)))
+                         (float "0"))))
+                 (eusmodel-joint-description desc)))
+      (technique_common
+       ,@(mapcar
+          #'(lambda (j)
+              (let ((joint-name (cdr (assoc :name j))))
+                `(axis_info
+                  (@ (axis ,(format nil "kinmodel/~A/axis0" joint-name)) ;??
+                     (sid ,(format nil "~A_info" joint-name))))))
+          (eusmodel-joint-description desc)))))
+    (articulated_system
+     (@ (id "kinsystem_motion")
+	(name "kinsystem_motion"))
+     (motion
+       (instance_articulated_system
+	(@ (url "#kinsystem")
+	   (sid "kinsystem_inst"))
+        ;; here we bind parameters...
+        (newparam
+         (@ (sid "kinsystem_motion.kinsystem_inst"))
+         "<SIDREF>kinsystem/libarticulated_systems.kinScene_libarticulated_systems.kinScene_inst_kinmodel</SIDREF>")
+        ,@(mapcar
+           #'(lambda (j)
+               (let ((joint-name (cdr (assoc :name j))))
+                 `(newparam
+                   (@ (sid ,(format nil "kinsystem_motion.kinsystem_inst.inst_~A_axis0" joint-name)))
+                   ,(format nil "<SIDREF>kinsystem/libarticulated_systems.kinScene_libarticulated_systems.kinScene_inst_kinmodel.~A_axis0</SIDREF>"
+                            joint-name)
+                   )))
+           (eusmodel-joint-description desc))
+        ,@(mapcar
+           #'(lambda (j)
+               (let ((joint-name (cdr (assoc :name j))))
+                 `(newparam
+                   (@ (sid ,(format nil "kinsystem_motion.kinsystem_inst.inst_~A_value" joint-name)))
+                   ,(format nil "<SIDREF>libarticulated_systems.kinScene_libarticulated_systems.kinScene_inst_kinmodel.~A.value</SIDREF>"
+                            joint-name))))
+           (eusmodel-joint-description desc)))
+       (technique_common
+        ,@(mapcar
+           #'(lambda (j)
+               (let ((joint-name (cdr (assoc :name j))))
+                 `(axis_info
+                   (@ (axis ,(format nil "kinsystem/~A_info" joint-name))))))
+           (eusmodel-joint-description desc))))
+     ;; for openrave profile
+     ,@(mapcar
+        #'(lambda (e)
+            (eusmodel-endcoords-description->openrave-manipulator e desc))
+        (eusmodel-endcoords-description desc))
+     )))
+
+(defun eusmodel-endcoords-description->openrave-manipulator (end-coords description)
+  (let ((name (car end-coords))
+        (origin-link-name (car (cdr end-coords)))
+        (tip-link-name (car (last (cdr end-coords)))))
+    `(extra
+      (@ (name ,name)
+         (type "manipulator"))
+      (technique
+       (@ (profile "OpenRAVE"))
+       (frame_origin
+        (@ (link ,(format nil "kinmodel/~A_link" origin-link-name))))
+       (frame_tip
+        (@ (link ,(format nil "kinmodel/~A_link" tip-link-name))))))))
+
+(defun eusmodel-description->collada-links-tree (target links joints)
+  ;; recursive function call!
+  (let ((child-links
+         (find-child-link-descriptions target links joints)))
+    (let ((name (cdr (assoc :name target))))
+      ;; output xml of the target and call itself
+      `(link
+        (@ (sid ,(format nil "~A_link" name))
+           (name ,(format nil "~A_link" name)))
+        ,@(mapcar
+           #'(lambda (l)
+               (let ((link-coords (cdr (assoc :origin l)))
+                     (j (find-joint-from-link-description l joints)))
+                 `((attachment_full
+                    (@ (joint ,(format nil
+                                       "kinmodel/~A"
+                                       (cdr (assoc :name j)))))
+                    (translate
+                    ,(float-vector->collada-string
+                      (send link-coords :worldpos)))
+                    (rotate
+                     ,(float-vector->collada-string
+                       (matrix->collada-rotate-vector
+                        (send link-coords :worldrot))))
+                    ,(eusmodel-description->collada-links-tree l links
+                                                               joints))
+                   ))) child-links)))))
+
+(defun joints-description->collada-instance-joints (joints-desc)
+  (mapcar #'joint-description->collada-instance-joint joints-desc))
+
+(defun joint-description->collada-instance-joint (joint-desc)
+  (let ((name (cdr (assoc :name joint-desc))))
+    `(instance_joint
+      (@ (url ,(format nil "#~A" name))
+         (sid ,name)))))
+
+(defun eusmodel-description->collada-library-joints (description)
+  `(library_joints
+    (@ (id "libjoints"))
+    ,@(joints-description->collada-joints (eusmodel-joint-description description))))
+
+(defun joints-description->collada-joints (joints-description)
+  (mapcar #'joint-description->collada-joint joints-description))
+
+(defun collada-joint-id (joint-description)
+  (format nil "~A" (cdr (assoc :name joint-description))))
+
+
+(defun joint-description->collada-joint (joint-description)
+  (let ((id (collada-joint-id joint-description))
+        (name (cdr (assoc :name joint-description))))
+    `(joint
+      (@ (id ,id)
+         (name ,(format nil "~A" name)))
+      ,(cond ((eq (cdr (assoc :type joint-description)) :linear-joint)
+              (linear-joint-description->collada-joint joint-description))
+             ((eq (cdr (assoc :type joint-description)) :rotational-joint)
+              (rotational-joint-description->collada-joint joint-description))
+             (t (error "~A is not supported for collada converter"
+                       (cdr (assoc :type joint-description))))))))
+
+(defun linear-joint-description->collada-joint (joint-description)
+  (let ((limit-description (cdr (assoc :limit joint-description))))
+    `(prismatic
+      (@ (sid "axis0"))
+      (axis ,(float-vector->collada-string
+              (cdr (assoc :axis joint-description))))
+      (limits
+       (min
+        ,(format nil "~A" (rad2deg (cdr (assoc :lower limit-description)))))
+       (max
+        ,(format nil "~A" (rad2deg (cdr (assoc :upper limit-description)))))))))
+
+
+(defun rotational-joint-description->collada-joint (joint-description)
+  (let ((limit-description (cdr (assoc :limit joint-description))))
+  `(revolute
+    (@ (sid "axis0"))
+    (axis ,(float-vector->collada-string
+            (cdr (assoc :axis joint-description))))
+    (limits
+     (min
+      ,(format nil "~A" (rad2deg (cdr (assoc :lower limit-description)))))
+     (max
+      ,(format nil "~A" (rad2deg (cdr (assoc :upper limit-description)))))))))
+
+(defun eusmodel-description->collada-scene (description)
+  `(scene
+    (instance_visual_scene
+     (@ (url "#libvisualscenes.scene")))
+    (instance_kinematics_scene
+     (@ (url "#libkinscenes.kinScene"))
+     (bind_kinematics_model
+      (@ (node "root_node"))
+      (param
+       "libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel"))
+     ;; bind_joint_axis
+      ,@(mapcar
+         #'(lambda (j)
+             ;; the initial joint angles
+             `(bind_joint_axis
+               (@ (target ,(format nil "~A.node/~A_axis0"
+                                   (cdr (assoc :child j))
+                                   (cdr (assoc :name j)))))
+               (axis
+                (param
+                   ,(format
+                     nil
+                     "libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.~A_axis0"
+                     (cdr (assoc :name j)))))
+               (value
+                (param
+                 ,(format nil
+                          "libkinscenes.kinScene_libkinscenes.kinScene_inst_kinmodel.~A.value" (cdr (assoc :name j)))))))
+         (eusmodel-joint-description description)))))
+
+(defun eusmodel-description->collada-library-geometries (description)
+  `(library_geometries
+    (@ (id "libgeom"))
+    ,@(links-description->collada-geometries (eusmodel-link-description description))))
+
+(defun collada-geometry-id-base (link-descrption)
+  (let ((name (cdr (assoc :name link-descrption))))
+    (format nil "~A.geometry" name)))
+
+(defun collada-geometry-name-base (link-descrption)
+  (let ((name (cdr (assoc :name link-descrption))))
+    (format nil "~A_geometry" name)))
+
+(defun links-description->collada-geometries (links-description)
+  (mapcar #'link-description->collada-geometry links-description))
+
+(defun mesh-object->collada-mesh (mesh id)
+  `(mesh
+   (source                            ;list of positions
+    (@ (id ,(format nil "~A.positions" id)))
+    (float_array
+     (@ (id ,(format nil "~A.positions.float-array" id))
+        ;;(count ,(* 3 (length (send mesh :vertices)))))
+        (count ,(* 3 3 (length (send mesh :faces)))))
+     ,(mesh-vertices->collada-string mesh))
+    (technique_common
+     (accessor
+      (@ (source ,(format nil "#~A.positions.float-array" id))
+         (count ,(* 3 (length (send mesh :faces))))
+         (stride "3"))
+      (param (@ (name "X") (type "float")))
+      (param (@ (name "Y") (type "float")))
+      (param (@ (name "Z") (type "float"))))))
+   (source                            ;list of normals
+    (@ (id ,(format nil "~A.normals" id)))
+    (float_array
+     (@ (id ,(format nil "~A.normals.float-array" id))
+        (count ,(* 3 (length (send mesh :faces)))))
+     ,(mesh-normals->collada-string mesh))
+    (technique_common
+     (accessor
+      (@ (source ,(format nil "#~A.normals.float-array" id))
+         (count ,(length (send mesh :faces)))
+         (stride "3"))
+      (param (@ (name "X") (type "float")))
+      (param (@ (name "Y") (type "float")))
+      (param (@ (name "Z") (type "float"))))))
+   (vertices
+    (@ (id ,(format nil "~A.vertices" id)))
+    (input
+     (@ (semantic "POSITION")
+        (source ,(format nil "#~A.positions" id)))))
+   (triangles
+    (@ (count ,(length (send mesh :faces)))
+       (material ,(format nil "~A.material" id)))
+    (input
+     (@ (offset "0")
+        (semantic "VERTEX")
+        (source ,(format nil "~A.vertices" id))))
+    (input
+     (@ (offset "1")
+        (semantic "NORMAL")
+        (source ,(format nil "~A.normal" id))))
+    ;; indices
+    ,(mesh->collada-indices mesh)
+    )))
+
+(defun link-description->collada-geometry (link-description)
+  (let ((id-base (collada-geometry-id-base link-description))
+        (name-base (collada-geometry-name-base link-description))
+        (meshes (cdr (assoc :mesh link-description))))
+    (let ((ids (enum-integer-list (length meshes))))
+      (mapcar
+       #'(lambda (i m)
+           (let ((id (format nil "~A.~A" id-base i))
+                 (name (format nil "~A.~A" name-base i)))
+             `(geometry
+               (@ (id ,id)
+                  (name ,name))
+               ,(mesh-object->collada-mesh m id))))
+       ids meshes))))
+
+(defun mesh->collada-indices (mesh)
+  ;; little bit tricky. returns the list of <p> tags as a string!
+  (let ((faces (send mesh :faces))
+        (ss (make-string-output-stream))
+        (vertex-count 0)
+        (normal-count 0))
+    (format ss "<p>")
+    (dotimes (fi (length faces))
+      
+      (let ((f (elt faces fi)))
+        (let ((vertices-num (length (cdr (send f :vertices)))))
+          (dotimes (vi vertices-num)
+            (format ss "~A " vertex-count) ;vertex index
+            (incf vertex-count)           ;increment vertex per vertex
+            (format ss "~A " normal-count)) ;normal index
+          (incf normal-count)           ;increment normal per faces
+          
+          )
+        (format ss "~%")
+        ))
+    (format ss "</p>~%")
+    (get-output-stream-string ss)))
+
+(defun mesh-vertices->collada-string (mesh)
+  (let ((faces (send mesh :faces)))
+    ;; vertices = list of float vector
+    (let ((ss (make-string-output-stream)))
+      (dolist (f faces)
+        (let ((vertices (cdr (send f :vertices))))
+          (dolist (v vertices)
+            (dotimes (i 3)
+              (format ss "~A " (elt v i)))
+            (format ss "~%"))))
+      (get-output-stream-string ss))))
+
+(defun mesh-normals->collada-string (mesh)
+  (let ((faces (send mesh :faces)))
+    (let ((ss (make-string-output-stream)))
+      (dolist (f faces)
+        (let ((normal (send f :normal)))
+          (dotimes (i 3)
+            (format ss "~A " (elt normal i)))
+          (format ss "~%")))
+      (get-output-stream-string ss))))
+
+(defun float-vector->collada-string (v)
+  (let ((ss (make-string-output-stream)))
+    (dotimes (i (length v))
+      (format ss "~A " (elt v i)))
+    (format ss "~%")
+    (get-output-stream-string ss)))
+
+;; util
+(defun enum-integer-list (n)
+  (let ((ids nil))
+    (dotimes (i n)
+      (push i ids))
+    (reverse ids)))
+
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+;; convert function
+;;  irtmodel -> collada model
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+(defun estimate-class-name (model-file)
+  (string-upcase (pathname-name (pathname model-file))))
+
+(defun remove-directory-name (fname)
+  (let ((p (pathname fname)))
+    (format nil "~A.~A" (pathname-name p) (pathname-type p))))
+
+(defun convert-irtmodel-to-collada
+  (model-file &optional (output-full-dir "package://euscollada") (model-name))
+  "convert irtmodel to collada model. (convert-irtmodel-to-collada irtmodel-file-path &optional (output-full-dir \"package://euscollada\") (model-name))"
+  (format t "convert ~A and output to ~A~%" model-file output-full-dir)
+
+  (format t "loading ~A~%" model-file)
+  (load model-file)
+  (let ((model-class-name
+         (estimate-class-name
+          (remove-directory-name model-file))))
+    (let ((model (instance (eval (intern model-class-name)) :init)))
+      (if model-name (send model :name model-name))
+      (eus2collada model output-full-dir)))
+  (exit))
+
+(in-package "GEOMETRY")
+;;(import '(collada::convert-irtmodel-to-collada))
+(provide :irtcollada)

Modified: trunk/irteus/irtext.l
===================================================================
--- trunk/irteus/irtext.l	2011-07-14 04:27:01 UTC (rev 688)
+++ trunk/irteus/irtext.l	2011-07-26 06:46:31 UTC (rev 689)
@@ -29,11 +29,12 @@
 	   *eusdir* (unix:getenv "ARCHDIR"))
    '("irtmath" "irtutil" "irtc" "pgsql")))
 (defun load-irteusg ()
+  (unless (find-package "COLLADA") (make-package "COLLADA"))
   (in-package "GEOMETRY")
   (load-library
    (format nil "~A~A/lib/libirteusg"
 	   *eusdir* (unix:getenv "ARCHDIR"))
-   '("irtgeo" "euspqp" "pqp" "irtscene" "irtmodel" "irtdyna" "irtrobot" "irtsensor" "irtbvh")))
+   '("irtgeo" "euspqp" "pqp" "irtscene" "irtmodel" "irtdyna" "irtrobot" "irtsensor" "irtbvh" "irtcollada")))
 (defun load-irteusx ()
   (in-package "X")
   (load-library


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[jskeus-commit] Jenkins build is back to normal : jskeus #18

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[jskeus-commit] SF.net SVN: jskeus:[688] tags/latest/

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Revision: 684
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-----------
    tags/latest/


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[jskeus-commit] SF.net SVN: jskeus:[683] tags/latest/

[<jsk...@us...>]

Revision: 683
          http://jskeus.svn.sourceforge.net/jskeus/?rev=683&view=rev
Author:   jskeus-testing
Date:     2011-07-13 18:48:56 +0000 (Wed, 13 Jul 2011)

Log Message:
-----------
Delete Latest stable Tag (Tagged by Jenkins)

Removed Paths:
-------------
    tags/latest/


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[jskeus-commit] SF.net SVN: jskeus:[682] tags/latest/

[<jsk...@us...>]

Revision: 682
          http://jskeus.svn.sourceforge.net/jskeus/?rev=682&view=rev
Author:   jskeus-testing
Date:     2011-07-12 17:40:40 +0000 (Tue, 12 Jul 2011)

Log Message:
-----------
Latest Stable Tag (Tagged by Jenkins). Revision 676

Revision Links:
--------------
    http://jskeus.svn.sourceforge.net/jskeus/?rev=676&view=rev

Added Paths:
-----------
    tags/latest/


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[jskeus-commit] SF.net SVN: jskeus:[681] tags/latest/

[<jsk...@us...>]

Revision: 681
          http://jskeus.svn.sourceforge.net/jskeus/?rev=681&view=rev
Author:   jskeus-testing
Date:     2011-07-12 17:40:19 +0000 (Tue, 12 Jul 2011)

Log Message:
-----------
Delete Latest stable Tag (Tagged by Jenkins)

Removed Paths:
-------------
    tags/latest/


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[jskeus-commit] SF.net SVN: jskeus:[680] tags/latest/

[<jsk...@us...>]

Revision: 680
          http://jskeus.svn.sourceforge.net/jskeus/?rev=680&view=rev
Author:   jskeus-testing
Date:     2011-07-12 16:17:00 +0000 (Tue, 12 Jul 2011)

Log Message:
-----------
Latest Stable Tag (Tagged by Jenkins). Revision 676

Revision Links:
--------------
    http://jskeus.svn.sourceforge.net/jskeus/?rev=676&view=rev

Added Paths:
-----------
    tags/latest/


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[jskeus-commit] SF.net SVN: jskeus:[679] tags/latest/

[<jsk...@us...>]

Revision: 679
          http://jskeus.svn.sourceforge.net/jskeus/?rev=679&view=rev
Author:   jskeus-testing
Date:     2011-07-12 16:16:39 +0000 (Tue, 12 Jul 2011)

Log Message:
-----------
Delete Latest stable Tag (Tagged by Jenkins)

Removed Paths:
-------------
    tags/latest/


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[jskeus-commit] SF.net SVN: jskeus:[678] tags/latest/

[<jsk...@us...>]

Revision: 678
          http://jskeus.svn.sourceforge.net/jskeus/?rev=678&view=rev
Author:   jskeus-testing
Date:     2011-07-12 15:07:42 +0000 (Tue, 12 Jul 2011)

Log Message:
-----------
Latest Stable Tag (Tagged by Jenkins). Revision 676

Revision Links:
--------------
    http://jskeus.svn.sourceforge.net/jskeus/?rev=676&view=rev

Added Paths:
-----------
    tags/latest/


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[jskeus-commit] SF.net SVN: jskeus:[677] tags/latest/

[<jsk...@us...>]

Revision: 677
          http://jskeus.svn.sourceforge.net/jskeus/?rev=677&view=rev
Author:   jskeus-testing
Date:     2011-07-12 15:07:20 +0000 (Tue, 12 Jul 2011)

Log Message:
-----------
Delete Latest stable Tag (Tagged by Jenkins)

Removed Paths:
-------------
    tags/latest/


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[jskeus-commit] SF.net SVN: jskeus:[676] trunk/Makefile

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

Revision: 676
          http://jskeus.svn.sourceforge.net/jskeus/?rev=676&view=rev
Author:   k-okada
Date:     2011-07-12 14:56:17 +0000 (Tue, 12 Jul 2011)

Log Message:
-----------
revert dummy commit

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

Modified: trunk/Makefile
===================================================================
--- trunk/Makefile	2011-07-12 14:43:49 UTC (rev 675)
+++ trunk/Makefile	2011-07-12 14:56:17 UTC (rev 676)
@@ -89,5 +89,3 @@
 wipe: clean
 	-rm -fr eus irteus
 
-
-


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[jskeus-commit] SF.net SVN: jskeus:[675] tags/latest/

[<jsk...@us...>]

Revision: 675
          http://jskeus.svn.sourceforge.net/jskeus/?rev=675&view=rev
Author:   jskeus-testing
Date:     2011-07-12 14:43:49 +0000 (Tue, 12 Jul 2011)

Log Message:
-----------
Latest Stable Tag (Tagged by Jenkins). Revision 670

Revision Links:
--------------
    http://jskeus.svn.sourceforge.net/jskeus/?rev=670&view=rev

Added Paths:
-----------
    tags/latest/


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[jskeus-commit] SF.net SVN: jskeus:[674] tags/latest/

[<jsk...@us...>]

Revision: 674
          http://jskeus.svn.sourceforge.net/jskeus/?rev=674&view=rev
Author:   jskeus-testing
Date:     2011-07-12 14:43:28 +0000 (Tue, 12 Jul 2011)

Log Message:
-----------
Delete Latest stable Tag (Tagged by Jenkins)

Removed Paths:
-------------
    tags/latest/


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[jskeus-commit] SF.net SVN: jskeus:[673] tags/latest/

[<jsk...@us...>]

Revision: 673
          http://jskeus.svn.sourceforge.net/jskeus/?rev=673&view=rev
Author:   jskeus-testing
Date:     2011-07-12 14:41:50 +0000 (Tue, 12 Jul 2011)

Log Message:
-----------
Latest Stable Tag (Tagged by Jenkins). Revision 

Added Paths:
-----------
    tags/latest/


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[jskeus-commit] SF.net SVN: jskeus:[672] tags/latest/

[<jsk...@us...>]

Revision: 672
          http://jskeus.svn.sourceforge.net/jskeus/?rev=672&view=rev
Author:   jskeus-testing
Date:     2011-07-12 14:35:04 +0000 (Tue, 12 Jul 2011)

Log Message:
-----------
Delete Latest stable Tag (Tagged by Jenkins)

Removed Paths:
-------------
    tags/latest/


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[jskeus-commit] SF.net SVN: jskeus:[671] tags/latest/

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

Revision: 671
          http://jskeus.svn.sourceforge.net/jskeus/?rev=671&view=rev
Author:   k-okada
Date:     2011-07-12 14:33:47 +0000 (Tue, 12 Jul 2011)

Log Message:
-----------
make latest tag

Added Paths:
-----------
    tags/latest/


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[jskeus-commit] SourceForge.net Account Details: jskeus-testing

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[jskeus-commit] SF.net SVN: jskeus:[670] trunk/Makefile

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

Revision: 670
          http://jskeus.svn.sourceforge.net/jskeus/?rev=670&view=rev
Author:   k-okada
Date:     2011-07-12 14:22:35 +0000 (Tue, 12 Jul 2011)

Log Message:
-----------
dummy commit for jenkins

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

Modified: trunk/Makefile
===================================================================
--- trunk/Makefile	2011-07-12 14:19:20 UTC (rev 669)
+++ trunk/Makefile	2011-07-12 14:22:35 UTC (rev 670)
@@ -90,3 +90,4 @@
 	-rm -fr eus irteus
 
 
+


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[jskeus-commit] SF.net SVN: jskeus:[669] trunk/Makefile

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

Revision: 669
          http://jskeus.svn.sourceforge.net/jskeus/?rev=669&view=rev
Author:   k-okada
Date:     2011-07-12 14:19:20 +0000 (Tue, 12 Jul 2011)

Log Message:
-----------
dummy commit for jenkins

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

Modified: trunk/Makefile
===================================================================
--- trunk/Makefile	2011-07-08 04:07:07 UTC (rev 668)
+++ trunk/Makefile	2011-07-12 14:19:20 UTC (rev 669)
@@ -89,3 +89,4 @@
 wipe: clean
 	-rm -fr eus irteus
 
+


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[jskeus-commit] SF.net SVN: jskeus:[668] trunk/irteus/irtmodel.l

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

Revision: 668
          http://jskeus.svn.sourceforge.net/jskeus/?rev=668&view=rev
Author:   snozawa
Date:     2011-07-08 04:07:07 +0000 (Fri, 08 Jul 2011)

Log Message:
-----------
increase max-joint-velocity of rotational-joint because (/ pi 4) is too small

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

Modified: trunk/irteus/irtmodel.l
===================================================================
--- trunk/irteus/irtmodel.l	2011-07-07 12:45:59 UTC (rev 667)
+++ trunk/irteus/irtmodel.l	2011-07-08 04:07:07 UTC (rev 668)
@@ -125,7 +125,7 @@
 (defmethod rotational-joint
   (:init (&rest args
           &key ((:axis ax) :z)
-               ((:max-joint-velocity mjv) (/ pi 4)) ;; [rad/s]
+               ((:max-joint-velocity mjv) 5) ;; [rad/s]
                ((:max-joint-torque mjt) 100) ;; [Nm]
           &allow-other-keys)
 	 (setq axis ax)


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