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From: SourceForge.net <no...@so...> - 2010-12-29 17:52:34
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Bugs item #3147698, was opened at 2010-12-29 18:50 Message generated for change (Comment added) made by mmorelli You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=3147698&group_id=206553 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: Software Stability Group: version 1.0.0b1 >Status: Closed >Resolution: Fixed Priority: 7 Private: No Submitted By: Matteo Morelli (mmorelli) Assigned to: Matteo Morelli (mmorelli) Summary: Invalid memory management in rtss_dyn_accel() Initial Comment: There is a memory management issue in the C function which computes the manipulator joint acceleration vector, namely rtss_dyn_accel_() located in src/rtss_dynamics.c. The problem occurs when the robot to be simulated has less than 3 dof, and can be reproduced, e.g., just by simulating in Scicos the forward dynamics of such a robot. In some platforms this issue may led to a system crash. The following is the (most significant) output of a debug session with Valgrind: ==20638== Invalid read of size 8 ==20638== at 0x7C6DB3E: rtss_dyn_accel_ (rtss_dynamics.c:833) ==20638== by 0x7C726EC: rtss_scs_robot_inout_ (rtss_scs_robot.c:123) ==20638== by 0x7C728DD: rtss_scs_robot_cf4 (rtss_scs_robot.c:195) ... ==20638== Address 0xa5dce00 is 0 bytes after a block of size 16 alloc'd ==20638== at 0x4024F20: malloc (vg_replace_malloc.c:236) ==20638== by 0x8579033: MyAlloc (in /usr/lib/scicoslab-gtk-4.4b7/bin/scilex) ==20638== by 0x7C6D09B: rtss_wsinertia_init (rtss_dynamics.c:590) ==20638== by 0x7C6D59C: rtss_wsaccel_init (rtss_dynamics.c:703) ==20638== by 0x7C7253B: rtss_scs_robot_init_ (rtss_scs_robot.c:85) ==20638== by 0x7C72931: rtss_scs_robot_cf4 (rtss_scs_robot.c:205) ---------------------------------------------------------------------- >Comment By: Matteo Morelli (mmorelli) Date: 2010-12-29 18:52 Message: Fixed in the repository ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=3147698&group_id=206553 |
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From: SourceForge.net <no...@so...> - 2010-12-29 17:50:03
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Bugs item #3147698, was opened at 2010-12-29 18:50 Message generated for change (Tracker Item Submitted) made by mmorelli You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=3147698&group_id=206553 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: Software Stability Group: version 1.0.0b1 Status: Open Resolution: None Priority: 7 Private: No Submitted By: Matteo Morelli (mmorelli) Assigned to: Matteo Morelli (mmorelli) Summary: Invalid memory management in rtss_dyn_accel() Initial Comment: There is a memory management issue in the C function which computes the manipulator joint acceleration vector, namely rtss_dyn_accel_() located in src/rtss_dynamics.c. The problem occurs when the robot to be simulated has less than 3 dof, and can be reproduced, e.g., just by simulating in Scicos the forward dynamics of such a robot. In some platforms this issue may led to a system crash. The following is the (most significant) output of a debug session with Valgrind: ==20638== Invalid read of size 8 ==20638== at 0x7C6DB3E: rtss_dyn_accel_ (rtss_dynamics.c:833) ==20638== by 0x7C726EC: rtss_scs_robot_inout_ (rtss_scs_robot.c:123) ==20638== by 0x7C728DD: rtss_scs_robot_cf4 (rtss_scs_robot.c:195) ... ==20638== Address 0xa5dce00 is 0 bytes after a block of size 16 alloc'd ==20638== at 0x4024F20: malloc (vg_replace_malloc.c:236) ==20638== by 0x8579033: MyAlloc (in /usr/lib/scicoslab-gtk-4.4b7/bin/scilex) ==20638== by 0x7C6D09B: rtss_wsinertia_init (rtss_dynamics.c:590) ==20638== by 0x7C6D59C: rtss_wsaccel_init (rtss_dynamics.c:703) ==20638== by 0x7C7253B: rtss_scs_robot_init_ (rtss_scs_robot.c:85) ==20638== by 0x7C72931: rtss_scs_robot_cf4 (rtss_scs_robot.c:205) ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=3147698&group_id=206553 |
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From: SourceForge.net <no...@so...> - 2010-11-11 17:09:39
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Bugs item #3100091, was opened at 2010-10-31 18:54 Message generated for change (Settings changed) made by mmorelli You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=3100091&group_id=206553 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: Generic - Scilab Group: version 1.0.0b1 and lower >Status: Closed Resolution: Fixed Priority: 4 Private: No Submitted By: Matteo Morelli (mmorelli) Assigned to: Matteo Morelli (mmorelli) Summary: Badly displayed robot plots Initial Comment: The following code scf(); rt_plot(rob, q); displays the robot rob at the configuration q with a viewpoint of (0,-90) degs. (planar top view). This is not in accord with rt_plot(rob, q); which displays the robot with a viewpoint of (35,45) degs. (when no figures exist at all), and is not correct in general, when spatial manipulators are being drawn. ---------------------------------------------------------------------- Comment By: Matteo Morelli (mmorelli) Date: 2010-11-11 18:04 Message: Of course, the code which works is not obtained by merely inverting the order of lines 2 and 3. The command scf() must be changed to gcf() as well! In summary, the following code must be used to adjust the viewpoint as desired: -->exec <RTSSDIR>/models/rt_twolink.sce; -->rt_plot(tl, [0,0]); -->h0 = gcf(); h0.children.rotation_angles = [0,-90]; ---------------------------------------------------------------------- Comment By: Matteo Morelli (mmorelli) Date: 2010-11-11 17:50 Message: The side effect due to the above modification is that preliminary adjustments of the viewpoint before the robot is plotted are lost. That is, the following code does not plot the robot (tl) with the viewpoint specified by the user (0,-90): -->exec <RTSSDIR>/models/rt_twolink.sce; -->h0 = scf(); h0.children.rotation_angles = [0,-90]; // adjust the viewpoint (does not work) -->rt_plot(tl, [0,0]); // plot. But the viewpoint is (35,45) To obtain the correct plot, the order of the code lines 2 and 3 must be inverted: -->exec <RTSSDIR>/models/rt_twolink.sce; -->rt_plot(tl, [0,0]); // plot -->h0 = scf(); h0.children.rotation_angles = [0,-90]; // adjust the viewpoint as desired ---------------------------------------------------------------------- Comment By: Matteo Morelli (mmorelli) Date: 2010-10-31 18:56 Message: Fixed in the svn branch (1.0.x) ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=3100091&group_id=206553 |
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From: SourceForge.net <no...@so...> - 2010-11-11 17:04:02
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Bugs item #3100091, was opened at 2010-10-31 18:54 Message generated for change (Comment added) made by mmorelli You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=3100091&group_id=206553 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: Generic - Scilab Group: version 1.0.0b1 and lower Status: Open Resolution: Fixed Priority: 4 Private: No Submitted By: Matteo Morelli (mmorelli) Assigned to: Matteo Morelli (mmorelli) Summary: Badly displayed robot plots Initial Comment: The following code scf(); rt_plot(rob, q); displays the robot rob at the configuration q with a viewpoint of (0,-90) degs. (planar top view). This is not in accord with rt_plot(rob, q); which displays the robot with a viewpoint of (35,45) degs. (when no figures exist at all), and is not correct in general, when spatial manipulators are being drawn. ---------------------------------------------------------------------- Comment By: Matteo Morelli (mmorelli) Date: 2010-11-11 18:04 Message: Of course, the code which works is not obtained by merely inverting the order of lines 2 and 3. The command scf() must be changed to gcf() as well! In summary, the following code must be used to adjust the viewpoint as desired: -->exec <RTSSDIR>/models/rt_twolink.sce; -->rt_plot(tl, [0,0]); -->h0 = gcf(); h0.children.rotation_angles = [0,-90]; ---------------------------------------------------------------------- Comment By: Matteo Morelli (mmorelli) Date: 2010-11-11 17:50 Message: The side effect due to the above modification is that preliminary adjustments of the viewpoint before the robot is plotted are lost. That is, the following code does not plot the robot (tl) with the viewpoint specified by the user (0,-90): -->exec <RTSSDIR>/models/rt_twolink.sce; -->h0 = scf(); h0.children.rotation_angles = [0,-90]; // adjust the viewpoint (does not work) -->rt_plot(tl, [0,0]); // plot. But the viewpoint is (35,45) To obtain the correct plot, the order of the code lines 2 and 3 must be inverted: -->exec <RTSSDIR>/models/rt_twolink.sce; -->rt_plot(tl, [0,0]); // plot -->h0 = scf(); h0.children.rotation_angles = [0,-90]; // adjust the viewpoint as desired ---------------------------------------------------------------------- Comment By: Matteo Morelli (mmorelli) Date: 2010-10-31 18:56 Message: Fixed in the svn branch (1.0.x) ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=3100091&group_id=206553 |
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From: SourceForge.net <no...@so...> - 2010-11-11 16:50:45
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Bugs item #3100091, was opened at 2010-10-31 18:54 Message generated for change (Comment added) made by mmorelli You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=3100091&group_id=206553 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: Generic - Scilab Group: version 1.0.0b1 and lower Status: Closed Resolution: Fixed Priority: 4 Private: No Submitted By: Matteo Morelli (mmorelli) Assigned to: Matteo Morelli (mmorelli) Summary: Badly displayed robot plots Initial Comment: The following code scf(); rt_plot(rob, q); displays the robot rob at the configuration q with a viewpoint of (0,-90) degs. (planar top view). This is not in accord with rt_plot(rob, q); which displays the robot with a viewpoint of (35,45) degs. (when no figures exist at all), and is not correct in general, when spatial manipulators are being drawn. ---------------------------------------------------------------------- Comment By: Matteo Morelli (mmorelli) Date: 2010-11-11 17:50 Message: The side effect due to the above modification is that preliminary adjustments of the viewpoint before the robot is plotted are lost. That is, the following code does not plot the robot (tl) with the viewpoint specified by the user (0,-90): -->exec <RTSSDIR>/models/rt_twolink.sce; -->h0 = scf(); h0.children.rotation_angles = [0,-90]; // adjust the viewpoint (does not work) -->rt_plot(tl, [0,0]); // plot. But the viewpoint is (35,45) To obtain the correct plot, the order of the code lines 2 and 3 must be inverted: -->exec <RTSSDIR>/models/rt_twolink.sce; -->rt_plot(tl, [0,0]); // plot -->h0 = scf(); h0.children.rotation_angles = [0,-90]; // adjust the viewpoint as desired ---------------------------------------------------------------------- Comment By: Matteo Morelli (mmorelli) Date: 2010-10-31 18:56 Message: Fixed in the svn branch (1.0.x) ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=3100091&group_id=206553 |
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From: SourceForge.net <no...@so...> - 2010-10-31 17:56:26
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Bugs item #3100091, was opened at 2010-10-31 18:54 Message generated for change (Comment added) made by mmorelli You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=3100091&group_id=206553 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: Generic - Scilab Group: version 1.0.0b1 and lower >Status: Closed >Resolution: Fixed Priority: 4 Private: No Submitted By: Matteo Morelli (mmorelli) Assigned to: Matteo Morelli (mmorelli) Summary: Badly displayed robot plots Initial Comment: The following code scf(); rt_plot(rob, q); displays the robot rob at the configuration q with a viewpoint of (0,-90) degs. (planar top view). This is not in accord with rt_plot(rob, q); which displays the robot with a viewpoint of (35,45) degs. (when no figures exist at all), and is not correct in general, when spatial manipulators are being drawn. ---------------------------------------------------------------------- >Comment By: Matteo Morelli (mmorelli) Date: 2010-10-31 18:56 Message: Fixed in the svn branch (1.0.x) ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=3100091&group_id=206553 |
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From: SourceForge.net <no...@so...> - 2010-10-31 17:54:11
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Bugs item #3100091, was opened at 2010-10-31 18:54 Message generated for change (Tracker Item Submitted) made by mmorelli You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=3100091&group_id=206553 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: Generic - Scilab Group: version 1.0.0b1 and lower Status: Open Resolution: None Priority: 4 Private: No Submitted By: Matteo Morelli (mmorelli) Assigned to: Matteo Morelli (mmorelli) Summary: Badly displayed robot plots Initial Comment: The following code scf(); rt_plot(rob, q); displays the robot rob at the configuration q with a viewpoint of (0,-90) degs. (planar top view). This is not in accord with rt_plot(rob, q); which displays the robot with a viewpoint of (35,45) degs. (when no figures exist at all), and is not correct in general, when spatial manipulators are being drawn. ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=3100091&group_id=206553 |
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From: SourceForge.net <no...@so...> - 2009-09-20 09:51:03
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Bugs item #1830632, was opened at 2007-11-12 20:50 Message generated for change (Comment added) made by mmorelli You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=1830632&group_id=206553 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: Software Stability Group: version 0.3.0 and lower >Status: Closed >Resolution: Fixed Priority: 6 Private: No Submitted By: Nobody/Anonymous (nobody) Assigned to: Matteo Morelli (mmorelli) Summary: RTSS & MS Windows Vista Initial Comment: I use Windows Vista Home premium (RTSS works well on XP!) And SciLab4.1.2 with prebuild RTSS 0.2.0 When i load Animation demo and run it it ask me to press a key, after i pres it it loads PUMA animation. Then it asks to press key again...when i do it the windows says "SciLab has stopped working"! It do not give another message!In debug mode it says same thing so i can not see if scilab gives another message! Pay attention that this problem do not apply to Windows XP! On XP everything works fine but not in VISTA! Thanks in advance! ---------------------------------------------------------------------- >Comment By: Matteo Morelli (mmorelli) Date: 2009-09-20 11:51 Message: As of release 1.0.0b1, RTSS uses dedicated routines for memory management on Windows systems. Therefore, it works now also with Microsoft Windows Vista and _should_ not have problems running on Windows 7. ---------------------------------------------------------------------- Comment By: Matteo Morelli (mmorelli) Date: 2007-11-12 20:58 Message: Logged In: YES user_id=1800819 Originator: NO The RTSS DLL files have been compiled under Windows XP by using Microsoft Visual C++ 2005 Express Edition. As far as I know-- and please correct me if I'm wrong --it is not straightforward that a program prebuilt under Windows XP can give trouble when executed under Windows Vista. However, the fact that the RTSS distribution for Win32 Systems has been compiled under Windows XP could be the cause of the problem you are experiencing. You should try to compile RTSS yourself from the source code and see if you still encounter the problem. In that case, please add a comment to this tracker item. In the meantime, I'll work on the prebuilt distribution, but please be aware of the fact that I do NOT have a Windows Vista system to test on. I'll see if I can find a Windows Vista in the next days. Thanks for your interest in RTSS and good luck with the source code! Matteo - RTSS Development Team ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=1830632&group_id=206553 |
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From: SourceForge.net <no...@so...> - 2009-04-24 10:02:07
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Bugs item #2779877, was opened at 2009-04-23 23:03 Message generated for change (Comment added) made by mmorelli You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=2779877&group_id=206553 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: Generic - Scilab Group: version 0.3.0 and lower >Status: Closed >Resolution: Fixed Priority: 7 Private: No Submitted By: Matteo Morelli (mmorelli) Assigned to: Matteo Morelli (mmorelli) Summary: FRNE fails on MDH-based robots with prismatic joints Initial Comment: FRNE routine returns a wrong answer when called on a robot object whose description is based on the MDH convention _and_ whose first joint is prismatic. The test.sce script attached shows the answer of rt_frne() is not equal to that of rt_rne() for a such robot. This result is due to errors in assigning values to omega[0], alpha[0] and acc[0] in src/rt_frne.c. ---------------------------------------------------------------------- >Comment By: Matteo Morelli (mmorelli) Date: 2009-04-24 12:02 Message: Just committed a bug fix in the 0.3.x release branch. ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=2779877&group_id=206553 |
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From: SourceForge.net <no...@so...> - 2009-04-23 21:03:16
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Bugs item #2779877, was opened at 2009-04-23 23:03 Message generated for change (Tracker Item Submitted) made by mmorelli You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=2779877&group_id=206553 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: Generic - Scilab Group: version 0.3.0 and lower Status: Open Resolution: None Priority: 7 Private: No Submitted By: Matteo Morelli (mmorelli) Assigned to: Matteo Morelli (mmorelli) Summary: FRNE fails on MDH-based robots with prismatic joints Initial Comment: FRNE routine returns a wrong answer when called on a robot object whose description is based on the MDH convention _and_ whose first joint is prismatic. The test.sce script attached shows the answer of rt_frne() is not equal to that of rt_rne() for a such robot. This result is due to errors in assigning values to omega[0], alpha[0] and acc[0] in src/rt_frne.c. ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=2779877&group_id=206553 |
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From: Matteo M. <mmo...@us...> - 2009-04-16 02:23:59
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Dear RTSS users, in the last months, a lot of things have changed within the Scilab Community. As of version 5, Scilab/Scicos development has splitted into two separate projects: Scilab-5.x (http://www.scilab.org/), which has the lastest Scilab features but not the latest Scicos ones, and ScicosLab (http://www.scicoslab.org/) --maintained by the original developers of Scilab at INRIA and ENPC-- which is based on the official Scilab BUILD4 distribution and has the latest Scicos advancements and bug fixes but not the latest Scilab-5.x features. In order to clarify the situation and help RTSS users to understand 1. which environments the current RTSS is compatible with, and 2. what they have to expect from the future of RTSS a new section titled "Distributions and Working Environments" is available at the download page of RTSS web site. Also, the two following articles are available at RTSS Development Wiki: * Compatibility_with_Scilab-5.x ( http://apps.sourceforge.net/mediawiki/rtss/index.php?title=Compatibility_with_Scilab-5.x ) * Compatibility_with_ScicosLab-4.3 ( http://apps.sourceforge.net/mediawiki/rtss/index.php?title=Compatibility_with_ScicosLab-4.3 ) Please read them carefully and don't hesitate to ask in the Help Forum (http://sourceforge.net/forum/forum.php?forum_id=739568) for any further clarification. |
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From: SourceForge.net <no...@so...> - 2009-04-13 11:01:53
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Bugs item #2700624, was opened at 2009-03-21 16:31 Message generated for change (Comment added) made by mmorelli You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=2700624&group_id=206553 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: Documentation Group: version 0.3.0 and lower >Status: Closed >Resolution: Fixed Priority: 3 Private: No Submitted By: Matteo Morelli (mmorelli) Assigned to: Matteo Morelli (mmorelli) Summary: Wrong ticks/labels in rt_frne help page Initial Comment: I got the following error message !--error 999 Ticks location and label vectors must have the same size. at line 3 of function %ticks_i_h called by : [-2 -1 0 1 2 3 4], ["-2" "-1" "0" "1" "2" "3" "4" "5"]) when plotting (POS) joint trajectories as described by the example section in the rt_frne help page. ---------------------------------------------------------------------- >Comment By: Matteo Morelli (mmorelli) Date: 2009-04-13 13:01 Message: Fixed in the corresponding branches. ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=2700624&group_id=206553 |
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From: SourceForge.net <no...@so...> - 2009-03-21 15:31:38
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Bugs item #2700624, was opened at 2009-03-21 16:31 Message generated for change (Tracker Item Submitted) made by mmorelli You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=2700624&group_id=206553 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: Documentation Group: version 0.3.0 and lower Status: Open Resolution: None Priority: 3 Private: No Submitted By: Matteo Morelli (mmorelli) Assigned to: Matteo Morelli (mmorelli) Summary: Wrong ticks/labels in rt_frne help page Initial Comment: I got the following error message !--error 999 Ticks location and label vectors must have the same size. at line 3 of function %ticks_i_h called by : [-2 -1 0 1 2 3 4], ["-2" "-1" "0" "1" "2" "3" "4" "5"]) when plotting (POS) joint trajectories as described by the example section in the rt_frne help page. ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=2700624&group_id=206553 |
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From: SourceForge.net <no...@so...> - 2008-08-18 15:06:52
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Task #149846 has been updated. Project: the Robotics Toolbox for Scilab/Scicos Subproject: Code Refactoring Summary: Modularization of RTSS Complete: 85% Status: Open Authority : mmorelli Assigned to: mmorelli Description: Rewrite the entire internal code of RTSS by using the information hiding design rules. Follow-Ups: ------------------------------------------------------- Date: 2008-08-18 17:06 By: mmorelli Comment: end date postponed ------------------------------------------------------- Date: 2008-08-06 16:00 By: mmorelli Comment: Please note that I'm using RTSS Wiki to coordinate development efforts. So, please refer to web-page http://rtss.wiki.sourceforge.net/modularization for a detailed description of this task and ignore previous comments about it. -- ------------------------------------------------------- Date: 2008-08-05 19:02 By: mmorelli Comment: Steps to accomplish this task that have been completed: 1) modules organization; 2) new internal representation for link and robot objects; 3) low-level scan of Scilab stack using a single function (rtss_robot_init_from_stk()); Remaining step: * revisiting the code to use the inline macro expansion ------------------------------------------------------- Date: 2008-07-13 21:22 By: mmorelli Comment: Currently, the internal C code of RTSS is divided into 4 main modules: - the MATH module provides all the mathematical functions to be used in kinematics and dynamics calculations; - the LINK and the ROBOT modules implement the corresponding abstract data types to be used for links and robots representations; - the RTSS module implements the RTSS Interface Function Library that provides functions for Kinematics, Dynamics, Trajectory Generation. Furthermore, there are other 2 modules: the ERROR module that provides functions for error handling and the DUMMY module that contains some redefinitions of functions that cannot be used in standalone executables like the ones Scicos or RTAI Code Generators make. For all modules, the corresponding .c source files act as separately-compiled implementations, and .h header files act as interfaces. Functions are collected in a library whose name is librtssc. TODO: ===== * clean names of macros, static functions and abstract data types (ADTs); * add a function like rtss_robot_read_from_stk() to prevent early memory allocation; * memory management for ROBOT module; * get rid of parameter "empty" in all RTSS ADTs (also get rid of the check for uninitialized RTSS data structures); * build librtssc.a and librtssc.so by using Scilab-5 dynamic_link module (i.e. get rid of the handwritten Makefiles). ------------------------------------------------------- For more info, visit: http://sourceforge.net/pm/task.php?func=detailtask&project_task_id=149846&group_id=206553&group_project_id=54017 |
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From: SourceForge.net <no...@so...> - 2008-08-14 22:04:54
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Task #149851 has been updated. Project: the Robotics Toolbox for Scilab/Scicos Subproject: Code Refactoring Summary: Clean up C code Complete: 60% Status: Open Authority : mmorelli Assigned to: mmorelli Description: Remove leading underscore from macro & function names. Change the name RtssAdt into rtss_adt_t. Remove Obsolete Functions (Scilab macros: more details here http://wiki.scilab.org/obsolete_scilab_function ). Follow-Ups: ------------------------------------------------------- Date: 2008-08-15 00:04 By: mmorelli Comment: work for ROBOT submodule done. -- ------------------------------------------------------- Date: 2008-08-14 14:54 By: mmorelli Comment: end date postponed -- ------------------------------------------------------- Date: 2008-08-14 14:52 By: mmorelli Comment: work for LINK submodule done. -- ------------------------------------------------------- Date: 2008-08-06 15:56 By: mmorelli Comment: Please note that I'm using RTSS Wiki to coordinate development efforts. So, please refer to web-page http://rtss.wiki.sourceforge.net/clean_up_C_code for a detailed description of this task and ignore previous comments about it. -- ------------------------------------------------------- Date: 2008-08-05 18:30 By: mmorelli Comment: 1) Use opaque data types for to create modules that implement abstract data types. 2) Get rid of parameter "empty" in all RTSS ADTs 3) Get rid of check for uninitialized RTSS data structures 4) Change the name RtssAdt into rtss_adt_t. 5(?)) Remove leading underscore from macro & function names; ------------------------------------------------------- For more info, visit: http://sourceforge.net/pm/task.php?func=detailtask&project_task_id=149851&group_id=206553&group_project_id=54017 |
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From: SourceForge.net <no...@so...> - 2008-08-14 12:55:23
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Task #150339 has been updated. Project: the Robotics Toolbox for Scilab/Scicos Subproject: Code Refactoring Summary: Reduction of memory leaks Complete: 0% Status: Open Authority : mmorelli Assigned to: mmorelli Description: I'm using RTSS Wiki to coordinate development efforts. So, please refer to web-page http://rtss.wiki.sourceforge.net/memory_management for a detailed description of this task. Follow-Ups: ------------------------------------------------------- Date: 2008-08-14 14:55 By: mmorelli Comment: end date postponed ------------------------------------------------------- For more info, visit: http://sourceforge.net/pm/task.php?func=detailtask&project_task_id=150339&group_id=206553&group_project_id=54017 |
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From: SourceForge.net <no...@so...> - 2008-08-14 12:54:27
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Task #149851 has been updated. Project: the Robotics Toolbox for Scilab/Scicos Subproject: Code Refactoring Summary: Clean up C code Complete: 30% Status: Open Authority : mmorelli Assigned to: mmorelli Description: Remove leading underscore from macro & function names. Change the name RtssAdt into rtss_adt_t. Remove Obsolete Functions (Scilab macros: more details here http://wiki.scilab.org/obsolete_scilab_function ). Follow-Ups: ------------------------------------------------------- Date: 2008-08-14 14:54 By: mmorelli Comment: end date postponed -- ------------------------------------------------------- Date: 2008-08-14 14:52 By: mmorelli Comment: work for LINK submodule done. -- ------------------------------------------------------- Date: 2008-08-06 15:56 By: mmorelli Comment: Please note that I'm using RTSS Wiki to coordinate development efforts. So, please refer to web-page http://rtss.wiki.sourceforge.net/clean_up_C_code for a detailed description of this task and ignore previous comments about it. -- ------------------------------------------------------- Date: 2008-08-05 18:30 By: mmorelli Comment: 1) Use opaque data types for to create modules that implement abstract data types. 2) Get rid of parameter "empty" in all RTSS ADTs 3) Get rid of check for uninitialized RTSS data structures 4) Change the name RtssAdt into rtss_adt_t. 5(?)) Remove leading underscore from macro & function names; ------------------------------------------------------- For more info, visit: http://sourceforge.net/pm/task.php?func=detailtask&project_task_id=149851&group_id=206553&group_project_id=54017 |
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From: SourceForge.net <no...@so...> - 2008-08-14 12:52:56
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Task #149851 has been updated. Project: the Robotics Toolbox for Scilab/Scicos Subproject: Code Refactoring Summary: Clean up C code Complete: 30% Status: Open Authority : mmorelli Assigned to: mmorelli Description: Remove leading underscore from macro & function names. Change the name RtssAdt into rtss_adt_t. Remove Obsolete Functions (Scilab macros: more details here http://wiki.scilab.org/obsolete_scilab_function ). Follow-Ups: ------------------------------------------------------- Date: 2008-08-14 14:52 By: mmorelli Comment: work for LINK submodule done. -- ------------------------------------------------------- Date: 2008-08-06 15:56 By: mmorelli Comment: Please note that I'm using RTSS Wiki to coordinate development efforts. So, please refer to web-page http://rtss.wiki.sourceforge.net/clean_up_C_code for a detailed description of this task and ignore previous comments about it. -- ------------------------------------------------------- Date: 2008-08-05 18:30 By: mmorelli Comment: 1) Use opaque data types for to create modules that implement abstract data types. 2) Get rid of parameter "empty" in all RTSS ADTs 3) Get rid of check for uninitialized RTSS data structures 4) Change the name RtssAdt into rtss_adt_t. 5(?)) Remove leading underscore from macro & function names; ------------------------------------------------------- For more info, visit: http://sourceforge.net/pm/task.php?func=detailtask&project_task_id=149851&group_id=206553&group_project_id=54017 |
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From: SourceForge.net <no...@so...> - 2008-08-06 18:18:33
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Task #150346 has been updated. Project: the Robotics Toolbox for Scilab/Scicos Subproject: Scicos Code Generation Support Summary: Rewrite the Computational Functions Complete: 25% Status: Open Authority : mmorelli Assigned to: mmorelli Description: I'm using RTSS Wiki to coordinate development efforts. So, please refer to web-page http://rtss.wiki.sourceforge.net/rewrite_the_Computational_Functions for a detailed description of this task. -- Follow-Ups: ------------------------------------------------------- Date: 2008-08-06 20:18 By: mmorelli Comment: computational function of block rt_rne_if completed in the SVN trunk (WARNING!) in function rtss_robot_init_from_scicos_block(), memory allocation of constitent links of the robot model to be simulated probably need to be revisited (ask to Roberto). (WARNING!) qlim support in rtss_robot_init_from_scicos_block() is still missing. ------------------------------------------------------- For more info, visit: http://sourceforge.net/pm/task.php?func=detailtask&project_task_id=150346&group_id=206553&group_project_id=54020 |
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From: SourceForge.net <no...@so...> - 2008-08-06 18:18:26
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Task #150345 has been updated. Project: the Robotics Toolbox for Scilab/Scicos Subproject: Scicos Code Generation Support Summary: Rewrite the Interfacing Functions Complete: 40% Status: Open Authority : mmorelli Assigned to: mmorelli Description: I'm using RTSS Wiki to coordinate development efforts. So, please refer to web-page http://rtss.wiki.sourceforge.net/rewrite_Interfacing_Functions for a detailed description of this task. -- Follow-Ups: ------------------------------------------------------- Date: 2008-08-06 20:18 By: mmorelli Comment: rt_rne_if.sci completed in the SVN trunk -- ------------------------------------------------------- For more info, visit: http://sourceforge.net/pm/task.php?func=detailtask&project_task_id=150345&group_id=206553&group_project_id=54020 |
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From: SourceForge.net <no...@so...> - 2008-08-06 18:09:53
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Task #150346 has been updated. Project: the Robotics Toolbox for Scilab/Scicos Subproject: Scicos Code Generation Support Summary: Rewrite the Computational Functions Complete: 0% Status: Open Authority : mmorelli Assigned to: nobody Description: I'm using RTSS Wiki to coordinate development efforts. So, please refer to web-page http://rtss.wiki.sourceforge.net/rewrite_the_Computational_Functions for a detailed description of this task. -- ------------------------------------------------------- For more info, visit: http://sourceforge.net/pm/task.php?func=detailtask&project_task_id=150346&group_id=206553&group_project_id=54020 |
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From: SourceForge.net <no...@so...> - 2008-08-06 17:39:17
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Task #150345 has been updated. Project: the Robotics Toolbox for Scilab/Scicos Subproject: Scicos Code Generation Support Summary: Rewrite the Interfacing Functions of blocks in the Robotics Palet Complete: 0% Status: Open Authority : mmorelli Assigned to: mmorelli Description: I'm using RTSS Wiki to coordinate development efforts. So, please refer to web-page http://rtss.wiki.sourceforge.net/rewrite_Interfacing_Functions for a detailed description of this task. -- ------------------------------------------------------- For more info, visit: http://sourceforge.net/pm/task.php?func=detailtask&project_task_id=150345&group_id=206553&group_project_id=54020 |
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From: SourceForge.net <no...@so...> - 2008-08-06 09:01:09
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Task #142686 has been updated. Project: the Robotics Toolbox for Scilab/Scicos Subproject: Code Refactoring Summary: Clean up Scilab code Complete: 0% Status: Open Authority : mmorelli Assigned to: mmorelli Description: With RTSS users can not quickly clone a quaternion, a link and a robot object by using the Scilab variable assignment operator. This will change after this task will be completed Follow-Ups: ------------------------------------------------------- Date: 2008-08-06 11:01 By: mmorelli Comment: Please note that I'm using RTSS Wiki to coordinate development efforts. So, please refer to web-page http://rtss.wiki.sourceforge.net/clean_up_Scilab_code for a detailed description of this task and ignore previous comments about it. ------------------------------------------------------- Date: 2008-07-13 17:49 By: mmorelli Comment: Task completed in the SVN trunk. ------------------------------------------------------- For more info, visit: http://sourceforge.net/pm/task.php?func=detailtask&project_task_id=142686&group_id=206553&group_project_id=54017 |
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From: SourceForge.net <no...@so...> - 2008-08-05 17:02:44
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Task #149846 has been updated. Project: the Robotics Toolbox for Scilab/Scicos Subproject: Code Refactoring Summary: Modularization of RTSS Complete: 85% Status: Open Authority : mmorelli Assigned to: mmorelli Description: Rewrite the entire internal code of RTSS by using the information hiding design rules. Follow-Ups: ------------------------------------------------------- Date: 2008-08-05 19:02 By: mmorelli Comment: Steps to accomplish this task that have been completed: 1) modules organization; 2) new internal representation for link and robot objects; 3) low-level scan of Scilab stack using a single function (rtss_robot_init_from_stk()); Remaining step: * revisiting the code to use the inline macro expansion ------------------------------------------------------- Date: 2008-07-13 21:22 By: mmorelli Comment: Currently, the internal C code of RTSS is divided into 4 main modules: - the MATH module provides all the mathematical functions to be used in kinematics and dynamics calculations; - the LINK and the ROBOT modules implement the corresponding abstract data types to be used for links and robots representations; - the RTSS module implements the RTSS Interface Function Library that provides functions for Kinematics, Dynamics, Trajectory Generation. Furthermore, there are other 2 modules: the ERROR module that provides functions for error handling and the DUMMY module that contains some redefinitions of functions that cannot be used in standalone executables like the ones Scicos or RTAI Code Generators make. For all modules, the corresponding .c source files act as separately-compiled implementations, and .h header files act as interfaces. Functions are collected in a library whose name is librtssc. TODO: ===== * clean names of macros, static functions and abstract data types (ADTs); * add a function like rtss_robot_read_from_stk() to prevent early memory allocation; * memory management for ROBOT module; * get rid of parameter "empty" in all RTSS ADTs (also get rid of the check for uninitialized RTSS data structures); * build librtssc.a and librtssc.so by using Scilab-5 dynamic_link module (i.e. get rid of the handwritten Makefiles). ------------------------------------------------------- For more info, visit: http://sourceforge.net/pm/task.php?func=detailtask&project_task_id=149846&group_id=206553&group_project_id=54017 |
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From: SourceForge.net <no...@so...> - 2008-08-05 16:42:45
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Bugs item #1830632, was opened at 2007-11-12 20:50 Message generated for change (Settings changed) made by mmorelli You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=1830632&group_id=206553 Please note that this message will contain a full copy of the comment thread, including the initial issue submission, for this request, not just the latest update. Category: Software Stability >Group: version 0.3.0 and lower Status: Open Resolution: None Priority: 6 Private: No Submitted By: Nobody/Anonymous (nobody) Assigned to: Matteo Morelli (mmorelli) Summary: RTSS & MS Windows Vista Initial Comment: I use Windows Vista Home premium (RTSS works well on XP!) And SciLab4.1.2 with prebuild RTSS 0.2.0 When i load Animation demo and run it it ask me to press a key, after i pres it it loads PUMA animation. Then it asks to press key again...when i do it the windows says "SciLab has stopped working"! It do not give another message!In debug mode it says same thing so i can not see if scilab gives another message! Pay attention that this problem do not apply to Windows XP! On XP everything works fine but not in VISTA! Thanks in advance! ---------------------------------------------------------------------- Comment By: Matteo Morelli (mmorelli) Date: 2007-11-12 20:58 Message: Logged In: YES user_id=1800819 Originator: NO The RTSS DLL files have been compiled under Windows XP by using Microsoft Visual C++ 2005 Express Edition. As far as I know-- and please correct me if I'm wrong --it is not straightforward that a program prebuilt under Windows XP can give trouble when executed under Windows Vista. However, the fact that the RTSS distribution for Win32 Systems has been compiled under Windows XP could be the cause of the problem you are experiencing. You should try to compile RTSS yourself from the source code and see if you still encounter the problem. In that case, please add a comment to this tracker item. In the meantime, I'll work on the prebuilt distribution, but please be aware of the fact that I do NOT have a Windows Vista system to test on. I'll see if I can find a Windows Vista in the next days. Thanks for your interest in RTSS and good luck with the source code! Matteo - RTSS Development Team ---------------------------------------------------------------------- You can respond by visiting: https://sourceforge.net/tracker/?func=detail&atid=998060&aid=1830632&group_id=206553 |
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