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Release 1.4.1 rc1 #381

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696e144
clamp the value sent to acos to be in bounds
ahoarau Apr 7, 2018
26e270c
KDL frames: removed unnecessary epsilon checks in GetRotAngle singul…
Apr 10, 2018
affad33
KDL Frames: Added Improper Rotation test for GetRotAngle
Mar 28, 2018
05a1d03
Misc. trivial typos
luzpaz Apr 25, 2018
fc530ee
Merge pull request #142 from luzpaz/typos
Apr 26, 2018
d734ccb
Merge pull request #139 from craigirobot/upstream-master-getrotangle-…
Apr 26, 2018
93a10f4
Merge pull request #140 from ahoarau/fix/path_rounding_errors
Apr 26, 2018
b9e3ede
Minor: replace tab with spaces in chainiksolvervel_wdls
zchen24 Apr 28, 2018
adada52
Merge pull request #144 from zchen24/fix/minor-replace-tab-with-spaces
Apr 30, 2018
ee996a4
Fixed python3 std string conversion issue
zchen24 May 14, 2018
00bf144
Added back Python2 unicode support
zchen24 May 14, 2018
a7a8d28
Merge pull request #145 from zchen24/fix/Fixed-python3-std-string-con…
May 15, 2018
a6cf9d0
Increase threshold tolerance in jacobiandottest
morxa May 30, 2018
9912145
Fixed velocityprofile_dirac does not stop bug and replaced tab with 4…
zchen24 Jun 9, 2018
e1ca7fa
Added ChainIdSolver python wrapper
zchen24 Jun 15, 2018
c36600a
Adding setters and getters for RotationalInertia
jbohren-hbr Jun 27, 2018
fd5e2bb
Adding catkin env-hooks to support venv
jbohren-hbr Mar 12, 2018
e754658
Merge pull request #149 from morxa/jacobiandottest-failure-tolerance
Jun 29, 2018
b655f8b
Merge pull request #152 from zchen24/feature/add-inverse-dynamic-pyth…
Jun 29, 2018
3423f15
Merge pull request #153 from honeybee-robotics-forks/add-pykdl-rotati…
Jun 29, 2018
ce11d1c
Merge pull request #154 from honeybee-robotics-forks/add-env-hooks
Jun 29, 2018
692463c
Added velocityprofile_dirac unittest
zchen24 Jun 29, 2018
06efdca
Added QUIET to find catkin to suppress message
zchen24 Jul 11, 2018
e47ec97
Merge pull request #161 from zchen24/patch-1
meyerj Jul 19, 2018
4ac5950
Updated VelocityProfile_Dirac to return p1 when t=0 and time <= 0
zchen24 Jul 20, 2018
3ecba67
Minor fix: fixed error message in PyKDL Wrench
zchen24 Jul 20, 2018
33d8b01
Merge pull request #151 from zchen24/fix/velocityprofile_dirac-does-n…
Jul 20, 2018
f51621f
Merge pull request #162 from zchen24/patch-2
Jul 20, 2018
ed2b5ad
trivial typo fixes
luzpaz Jul 30, 2018
e7713a5
fix typos
ahoarau Aug 7, 2018
66e9446
fix test typo
ahoarau Aug 9, 2018
d5908df
few more typos
luzpaz Sep 6, 2018
c59cc0c
Joint: add function to Joint Class to get joint inertia
May 17, 2018
00f8bc8
ChainDynParam: add joint inertia to diagonal elements of joint space…
May 17, 2018
b8c2b5d
ChainIdSolver_RNE: add joint inertial torque
May 17, 2018
933502e
Followup typo
luzpaz Oct 2, 2018
3d06d88
Merge pull request #163 from luzpaz/trivial-typos
meyerj Oct 30, 2018
273de3a
exposing the Jacobian Dot Solver and the optional Segment index to Ja…
milutter Nov 7, 2018
df66567
Merge pull request #155 from craigirobot/upstream-master-add-joint-in…
Dec 27, 2018
9448073
Merge pull request #164 from ahoarau/fix/jnttojacdot_typos
Dec 27, 2018
9ff3052
Merge pull request #169 from MichaelLutter/master
Dec 27, 2018
69ef26b
Recursive Newton-Euler inverse dynamics for trees
Jan 8, 2019
d600d48
Recursive Newton-Euler inverse dynamics for trees
Jan 8, 2019
847460a
Newton-Euler inverse dynamics for trees (fixed missing gravity in test)
Jan 9, 2019
bf385af
Fix SIPMacros.cmake for Windows build.
seanyen Aug 20, 2018
4b2e3e6
Add private constructor for delegating initialization. Fixes #177.
martiniil Feb 28, 2019
b5559ab
Merge pull request #176 from seanyen-msft/fix_sip_macro
Mar 4, 2019
d1496a5
Merge pull request #178 from martiniil/fix/path_circle_memory_leak
Mar 4, 2019
e489875
Revert "Add private constructor for delegating initialization. Fixes …
Mar 4, 2019
c994a6f
Merge pull request #179 from orocos/revert-178-fix/path_circle_memory…
Mar 4, 2019
69fd097
Added #include<stdexcept>
Mar 27, 2019
6c29de1
Edit test
Mar 27, 2019
5914217
Misc doxy and source comment typo fixes
luzpaz May 2, 2019
ed3d25d
Generate forward dynamics solver for chain based on recursive Newton-…
May 1, 2018
9df416a
Implement LDL solver for finding joint acceleration
May 1, 2018
52908c8
Add FD solver tests
Jan 2, 2019
99ecf37
Add LDL solver test
Apr 16, 2019
f7ad1b8
fix LDL solver test (copy-paste error)
francisco-miguel-almeida May 24, 2019
d005999
fix build for missing isnan definition in newer compilers
francisco-miguel-almeida May 27, 2019
f89f89b
utilities: replace deprecated auto_ptr with a basic smart pointer sco…
francisco-miguel-almeida May 28, 2019
6c07d37
miscellaneous warning fixes
francisco-miguel-almeida May 28, 2019
0d4f265
Merge pull request #184 from luzpaz/misc-typos
francisco-miguel-almeida May 29, 2019
c1d8f7d
Misc. source comment typo and whitespace fixes
luzpaz May 29, 2019
6e8e85a
scoped_ptr: add missing newline at end of file
francisco-miguel-almeida May 31, 2019
27e5fc1
Merge pull request #186 from orocos/fix/std-isnan
francisco-miguel-almeida Jun 2, 2019
32f985a
Merge pull request #188 from luzpaz/follow-up-typo-whitespace-fixes
francisco-miguel-almeida Jun 3, 2019
b05dd14
Merge pull request #171 from craigirobot/upstream-master-chain-forwar…
francisco-miguel-almeida Jun 3, 2019
82f8425
Merge pull request #187 from orocos/fix/warnings
francisco-miguel-almeida Jun 4, 2019
54d12f6
Cast to uint in comparison test
Jun 6, 2019
1ae45bb
Merge pull request #173 from francofusco/tree_inv_dyn_solver_rne
Jun 14, 2019
64d6d9c
Merge pull request #229 from MatthijsBurgh/pybind11
MatthijsBurgh May 6, 2020
74c5c6c
Merge pull request #155 from craigirobot/upstream-master-add-joint-in…
Dec 27, 2018
2520368
1
spd-intermodalics Feb 4, 2022
fe79b40
1
spd-intermodalics Feb 4, 2022
0f464cd
fix ABI compatibility after pybind11 integration
spd-intermodalics Feb 4, 2022
c315a23
fix pybind11 for overloaded Norm() function
spd-intermodalics Feb 4, 2022
7f3aa61
Merge pull request #180 from martiniil/fix/path_circle_memory_leak
MatthijsBurgh May 11, 2020
6bc46f2
Merge pull request #189 from zchen24/patch-3
Jan 9, 2020
02372b6
Merge pull request #193 from tfoote/python3_support
Jan 9, 2020
2d24696
Merge pull request #195 from orocos/cherry-pick-109-1.3
Oct 23, 2019
8d96188
Merge pull request #199 from maverick-long/fix_rotation_angle_numeric…
Jan 9, 2020
a0dbdb1
Merge pull request #208 from release-1.3
meyerj Feb 21, 2020
df2d031
Merge pull request #209 from mvieth/master
Jan 30, 2020
e5d6d6c
Merge pull request #215 from ros2/ivanpauno/fix-build-warning-focal
meyerj Feb 19, 2020
2e2b480
Merge pull request #221 from sloretz/bump_cmake_cmp0048
meyerj Feb 20, 2020
f484dab
Merge pull request #226 from sloretz/patch-1
meyerj Mar 13, 2020
adec397
Merge pull request #237 from orocos/pybind_2_5_0
MatthijsBurgh May 7, 2020
c8589d2
Merge pull request #244 from orocos/deepcopy_pybind
MatthijsBurgh May 17, 2020
3e64481
Merge pull request #262 from orocos/fix/is_approx
MatthijsBurgh Jun 30, 2020
cf1c889
Merge pull request #261 from orocos/fix/207
MatthijsBurgh Jun 15, 2020
fa195f6
Merge pull request #262 from orocos/fix/is_approx
MatthijsBurgh Jun 30, 2020
9782c07
remove .travis.yml
spd-intermodalics Feb 5, 2022
a725627
CI: fix dependencies for python2 tests
spd-intermodalics Feb 6, 2022
cb8f393
Merge pull request #2 from spd-intermodalics/test/add-deps-python2
spd-intermodalics Feb 6, 2022
74d1415
CI: add Python3 tests
spd-intermodalics Feb 8, 2022
a5b8d28
CI: add dependency python3-psutil
spd-intermodalics Feb 8, 2022
6352bfb
CI: adjust the tolerance of some Python tests
spd-intermodalics Feb 8, 2022
7dce83f
Merge pull request #3 from spd-intermodalics/ci/add-python3-tests
spd-intermodalics Feb 8, 2022
eb79a5e
abi_compatibility: add a symbol to restore alignment
spd-intermodalics Feb 10, 2022
7aa2985
Merge pull request #4 from spd-intermodalics/fix/missalignment-pinv-g…
spd-intermodalics Feb 10, 2022
cd0936d
Merge pull request #270 from jspricke/private_operator=
MatthijsBurgh Jun 26, 2020
8d58605
Merge pull request #281 from orocos/fix/tests
MatthijsBurgh Aug 7, 2020
bf8dc5d
Revert "Merge pull request #281 from orocos/fix/tests"
spd-intermodalics Feb 10, 2022
7b5b0f5
Merge pull request #282 from orocos/fix/m_pi
MatthijsBurgh Aug 31, 2020
8185f60
Merge pull request #197 from orocos/simplify-add-delta-for-rotations
meyerj Jun 7, 2020
c3b14db
Merge pull request #282 from orocos/fix/m_pi
MatthijsBurgh Aug 31, 2020
5053382
Revert "Merge pull request #282 from orocos/fix/m_pi"
spd-intermodalics Feb 10, 2022
48bbc4d
Merge branch 'merge/reapply-282' into release-1.4.1-rc1
spd-intermodalics Feb 10, 2022
bf39b8d
Merge pull request #290 from orocos/fix/geometry_example
MatthijsBurgh Oct 14, 2020
7e083bb
Merge pull request #293 from orocos/update/pybind_2_6_0
MatthijsBurgh Oct 25, 2020
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14 changes: 14 additions & 0 deletions .github/workflows/main.yml
Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@ jobs:
- name: Install
run: |
sudo apt-get install libeigen3-dev libcppunit-dev python-sip-dev
sudo apt-get install python-psutil python-future python3-psutil
- name: Build orocos_kdl
run: |
cd orocos_kdl
Expand All @@ -41,6 +42,15 @@ jobs:
cmake -DCMAKE_BUILD_TYPE=${OROCOS_KDL_BUILD_TYPE} ./..
make
sudo make install
- name: Build PyKDL Python 3
run: |
cd python_orocos_kdl
mkdir build3
cd build3
export ROS_PYTHON_VERSION=3
cmake -DCMAKE_BUILD_TYPE=${OROCOS_KDL_BUILD_TYPE} ./..
make
sudo make install
- name: Update LD_LIBRARY_PATH
run: |
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib
Expand All @@ -53,6 +63,10 @@ jobs:
run: |
cd python_orocos_kdl
python2 tests/PyKDLtest.py
- name: Test PyKDL Python 3
run: |
cd python_orocos_kdl
python3 tests/PyKDLtest.py

industrial_ci:
name: Industrial CI - ${{ matrix.env.ROS_DISTRO }}
Expand Down
4 changes: 4 additions & 0 deletions .gitmodules
Original file line number Diff line number Diff line change
@@ -0,0 +1,4 @@
[submodule "python_orocos_kdl/pybind11"]
path = python_orocos_kdl/pybind11
url = https://github.com/pybind/pybind11.git
branch = v2.6.0
15 changes: 11 additions & 4 deletions orocos_kdl/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,9 @@
# Test CMake version
#
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
IF(POLICY CMP0048)
CMAKE_POLICY(SET CMP0048 NEW)
ENDIF()
#MARK_AS_ADVANCED( FORCE CMAKE_BACKWARDS_COMPATIBILITY )


Expand Down Expand Up @@ -44,14 +47,14 @@ SET( KDL_CFLAGS "")

find_package(Eigen 3 QUIET)
if(NOT Eigen_FOUND)
include(${PROJ_SOURCE_DIR}/config/FindEigen3.cmake)
include(${PROJ_SOURCE_DIR}/cmake/FindEigen3.cmake)
set(Eigen_INCLUDE_DIR "${EIGEN3_INCLUDE_DIR}")
endif()
include_directories(${Eigen_INCLUDE_DIR})
SET(KDL_CFLAGS "${KDL_CFLAGS} -I${Eigen_INCLUDE_DIR}")

# Check the platform STL containers capabilities
include(config/CheckSTLContainers.cmake)
include(cmake/CheckSTLContainers.cmake)
CHECK_STL_CONTAINERS()

# Set the default option appropriately
Expand All @@ -64,6 +67,12 @@ endif(HAVE_STL_CONTAINER_INCOMPLETE_TYPES)
# Allow the user to select the Tree API version to use
set(KDL_USE_NEW_TREE_INTERFACE ${KDL_USE_NEW_TREE_INTERFACE_DEFAULT} CACHE BOOL "Use the new KDL Tree interface")

#Sanity check, inform the user
if(NOT HAVE_STL_CONTAINER_INCOMPLETE_TYPES AND NOT KDL_USE_NEW_TREE_INTERFACE)
message(WARNING "You have chosen to use the current Tree Interface, but your platform doesn't support containers of "
"incomplete types, this configuration is likely invalid")
endif()

# The new interface requires the use of shared pointers
if(KDL_USE_NEW_TREE_INTERFACE)
# We need shared_ptr from boost since not all compilers are c++11 capable
Expand All @@ -72,8 +81,6 @@ if(KDL_USE_NEW_TREE_INTERFACE)
set(KDL_INCLUDE_DIRS ${Boost_INCLUDE_DIRS})
endif(KDL_USE_NEW_TREE_INTERFACE)

INCLUDE (${PROJ_SOURCE_DIR}/config/DependentOption.cmake)

OPTION(ENABLE_TESTS OFF "Enable building of tests")
IF( ENABLE_TESTS )
# If not in standard paths, set CMAKE_xxx_PATH's in environment, eg.
Expand Down
File renamed without changes.
37 changes: 0 additions & 37 deletions orocos_kdl/config/DependentOption.cmake

This file was deleted.

2 changes: 1 addition & 1 deletion orocos_kdl/doc/tex/UserManual.tex
Original file line number Diff line number Diff line change
Expand Up @@ -120,7 +120,7 @@ \subsection{Vector}

\paragraph{Add and subtract vectors}
\label{sec:add-subtract-vectors}
You can add or substract a vector with another vector:
You can add or subtract a vector with another vector:
\begin{lstlisting}
v2+=v1;
v3-=v1;
Expand Down
6 changes: 4 additions & 2 deletions orocos_kdl/examples/chainiksolverpos_lma_demo.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,8 @@ estimate of shortest time per invposkin (ms) 0.155544
#include <models.hpp>
#include <chainiksolverpos_lma.hpp>
#include <chainfksolverpos_recursive.hpp>
#include <utilities/utility.h>

#include <boost/timer.hpp>

/**
Expand Down Expand Up @@ -90,9 +92,9 @@ void test_inverseposkin(KDL::Chain& chain) {
JntArray q_sol(n);
for (int trial=0;trial<num_of_trials;++trial) {
q.data.setRandom();
q.data *= M_PI;
q.data *= PI;
q_init.data.setRandom();
q_init.data *= M_PI;
q_init.data *= PI;
Frame pos_goal,pos_reached;
fwdkin.JntToCart(q,pos_goal);
//solver.compute_fwdpos(q.data);
Expand Down
40 changes: 18 additions & 22 deletions orocos_kdl/examples/geometry.cpp
Original file line number Diff line number Diff line change
@@ -1,21 +1,21 @@
#include <frames.hpp>
#include <frames_io.hpp>
#include <utilities/utility.h>

int main()
{

//Creating Vectors
KDL::Vector v1;//Default constructor
KDL::Vector v2(1.0,2.0,3.0);//Most used constructor
KDL::Vector v3(v2);//Copy constructor
KDL::Vector v4 = KDL::Vector::Zero();//Static member

//Use operator << to print the values of your vector
std::cout<<"v1 ="<<v1<<std::endl;
std::cout<<"v2 = "<<v2<<std::endl;
std::cout<<"v3 = "<<v3<<std::endl;
std::cout<<"v4 = "<<v4<<std::endl;

//Get/Set values of a vector
v1[0]=4.0;
v1[1]=5.0;
Expand All @@ -26,7 +26,7 @@ int main()
v3.x(10.0);
v3.y(11.0);
v3.z(12.0);

std::cout<<"v1: "<<v1[0]<<", "<<v1[1]<<", "<<v1[2]<<std::endl;
std::cout<<"v2: "<<v2(0)<<", "<<v2(1)<<", "<<v2(2)<<std::endl;
std::cout<<"v3: "<<v3.x()<<", "<<v3.y()<<", "<<v3.z()<<std::endl;
Expand All @@ -35,13 +35,13 @@ int main()
std::cout<<"2*v2 = "<<2*v2<<std::endl;
std::cout<<"v1*2 = "<<v1*2<<std::endl;
std::cout<<"v1/2 = "<<v1/2<<std::endl;

//vector - vector operators
std::cout<<"v1+v2 = "<<v1+v2<<std::endl;
std::cout<<"v3-v1 = "<<v3-v1<<std::endl;

v3-=v1;
v2+=v1;
v2+=v1;
std::cout<<"v3-=v1; v3 = "<<v3<<std::endl;
std::cout<<"v2+=v1; v2 = "<<v2<<std::endl;

Expand All @@ -54,17 +54,17 @@ int main()
std::cout<<"v1=-v2; v1="<<v1<<std::endl;
v1.ReverseSign();
std::cout<<"v1.ReverseSign(); v1 = "<<v1<<std::endl;

//Equal operators
std::cout<<"v1==v2 ? "<<(v1==v2)<<std::endl;
std::cout<<"v1!=v2 ? "<<(v1!=v2)<<std::endl;
std::cout<<"Equal(v1,v2,1e-6) ? "<<Equal(v1,v2,1e-6)<<std::endl;

//Calculating the norm and normalising your vector
std::cout<<"norm(v3): "<<v3.Norm()<<std::endl;
v3.Normalize();
std::cout<<"Normalize(v3)"<<v3<<std::endl;

//Setting your vector to zero
SetToZero(v1);
std::cout<<"SetToZero(v1); v1 = "<<v1<<std::endl;
Expand All @@ -81,31 +81,31 @@ int main()
KDL::Vector(0,-1,0),
KDL::Vector(-1,0,0));
//Creating a rotation matrix out of 9 values, Be careful, these
//values can result in an inconsisten rotation matrix if the
//values can result in an inconsistent rotation matrix if the
//resulting rows/columns are not orthogonal/normalized
KDL::Rotation r3(0,0,-1,1,0,0,0,-1,0);
//Creating an Identity rotation matrix
KDL::Rotation r4=KDL::Rotation::Identity();
//Creating a Rotation matrix from a rotation around X
KDL::Rotation r5=KDL::Rotation::RotX(M_PI/3);
KDL::Rotation r5=KDL::Rotation::RotX(KDL::PI/3);
//Creating a Rotation matrix from a rotation around Y
KDL::Rotation r6=KDL::Rotation::RotY(M_PI/3);
KDL::Rotation r6=KDL::Rotation::RotY(KDL::PI/3);
//Creating a Rotation matrix from a rotation around Z
KDL::Rotation r7=KDL::Rotation::RotZ(M_PI/3);
KDL::Rotation r7=KDL::Rotation::RotZ(KDL::PI/3);
//Creating a Rotation matrix from a rotation around a arbitrary
//vector, the vector should not be normalised
KDL::Rotation r8=KDL::Rotation::Rot(KDL::Vector(1.,2.,3.),M_PI/4);
KDL::Rotation r8=KDL::Rotation::Rot(KDL::Vector(1.,2.,3.),KDL::PI_4);
//Creating a Rotation matrix from a rotation around a arbitrary
//vector, the vector should be normalised
KDL::Rotation r9=KDL::Rotation::Rot2(KDL::Vector(0.4472,0.5477,0.7071),
M_PI/4);
KDL::PI_4);
//Creating a Rotation matrix from Euler ZYZ rotation angles
KDL::Rotation r10=KDL::Rotation::EulerZYZ(1.,2.,3.);
//Creating a Rotation matrix from Euler ZYX rotation angles
KDL::Rotation r11=KDL::Rotation::EulerZYX(1.,2.,3.);
//Creating a Rotation matrix from Roll-Pitch-Yaw rotation angles
KDL::Rotation r12=KDL::Rotation::RPY(1.,2.,3.);

//Printing the rotations:
std::cout<<"r1: "<<r1<<std::endl;
std::cout<<"r2: "<<r2<<std::endl;
Expand All @@ -119,7 +119,7 @@ int main()
std::cout<<"r10: "<<r10<<std::endl;
std::cout<<"r11: "<<r11<<std::endl;
std::cout<<"r12: "<<r12<<std::endl;

//Getting information out of the rotation matrix:
//The individual elements
std::cout<<"r8(1,2): "<<r8(1,2)<<std::endl;
Expand Down Expand Up @@ -147,8 +147,4 @@ int main()
//The underlying unitvector Z
r8.UnitZ(v1);//or
std::cout<<"UnitZ of r8:"<<r8.UnitZ()<<std::endl;




}
}
15 changes: 6 additions & 9 deletions orocos_kdl/examples/trajectory_example.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
#include <path_roundedcomposite.hpp>
#include <rotational_interpolation_sa.hpp>
#include <utilities/error.h>
#include <utilities/utility.h>
#include <trajectory_composite.hpp>

int main(int argc,char* argv[]) {
Expand All @@ -35,13 +36,13 @@ int main(int argc,char* argv[]) {
// When the routines are parallel, no rounding is needed, and no attempt is made
// add constructing a rounding arc.
// (It is still not possible when the segments are on top of each other)
// Note that you can only rotate in a deterministic way over an angle less then M_PI!
// With an angle == M_PI, you cannot predict over which side will be rotated.
// With an angle > M_PI, the routine will rotate over 2*M_PI-angle.
// Note that you can only rotate in a deterministic way over an angle less then PI!
// With an angle == PI, you cannot predict over which side will be rotated.
// With an angle > PI, the routine will rotate over 2*PI-angle.
// If you need to rotate over a larger angle, you need to introduce intermediate points.
// So, there is a common use case for using parallel segments.
path->Add(Frame(Rotation::RPY(M_PI,0,0), Vector(-1,0,0)));
path->Add(Frame(Rotation::RPY(M_PI/2,0,0), Vector(-0.5,0,0)));
path->Add(Frame(Rotation::RPY(PI,0,0), Vector(-1,0,0)));
path->Add(Frame(Rotation::RPY(PI_2,0,0), Vector(-0.5,0,0)));
path->Add(Frame(Rotation::RPY(0,0,0), Vector(0,0,0)));
path->Add(Frame(Rotation::RPY(0.7,0.7,0.7), Vector(1,1,1)));
path->Add(Frame(Rotation::RPY(0,0.7,0), Vector(1.5,0.3,0)));
Expand All @@ -61,8 +62,6 @@ int main(int argc,char* argv[]) {
ctraject->Add(traject);
ctraject->Add(new Trajectory_Stationary(1.0,Frame(Rotation::RPY(0.7,0.7,0), Vector(1,1,0))));



// use the trajectory
double dt=0.1;
std::ofstream of("./trajectory.dat");
Expand Down Expand Up @@ -113,5 +112,3 @@ int main(int argc,char* argv[]) {
}

}


9 changes: 5 additions & 4 deletions orocos_kdl/models/puma560.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -21,28 +21,29 @@

#include <chain.hpp>
#include "models.hpp"
#include <utilities/utility.h>

namespace KDL{
Chain Puma560(){
Chain puma560;
puma560.addSegment(Segment());
puma560.addSegment(Segment(Joint(Joint::RotZ),
Frame::DH(0.0,M_PI_2,0.0,0.0),
Frame::DH(0.0,PI_2,0.0,0.0),
RigidBodyInertia(0,Vector::Zero(),RotationalInertia(0,0.35,0,0,0,0))));
puma560.addSegment(Segment(Joint(Joint::RotZ),
Frame::DH(0.4318,0.0,0.0,0.0),
RigidBodyInertia(17.4,Vector(-.3638,.006,.2275),RotationalInertia(0.13,0.524,0.539,0,0,0))));
puma560.addSegment(Segment());
puma560.addSegment(Segment(Joint(Joint::RotZ),
Frame::DH(0.0203,-M_PI_2,0.15005,0.0),
Frame::DH(0.0203,-PI_2,0.15005,0.0),
RigidBodyInertia(4.8,Vector(-.0203,-.0141,.070),RotationalInertia(0.066,0.086,0.0125,0,0,0))));
puma560.addSegment(Segment(Joint(Joint::RotZ),
Frame::DH(0.0,M_PI_2,0.4318,0.0),
Frame::DH(0.0,PI_2,0.4318,0.0),
RigidBodyInertia(0.82,Vector(0,.019,0),RotationalInertia(1.8e-3,1.3e-3,1.8e-3,0,0,0))));
puma560.addSegment(Segment());
puma560.addSegment(Segment());
puma560.addSegment(Segment(Joint(Joint::RotZ),
Frame::DH(0.0,-M_PI_2,0.0,0.0),
Frame::DH(0.0,-PI_2,0.0,0.0),
RigidBodyInertia(0.34,Vector::Zero(),RotationalInertia(.3e-3,.4e-3,.3e-3,0,0,0))));
puma560.addSegment(Segment(Joint(Joint::RotZ),
Frame::DH(0.0,0.0,0.0,0.0),
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14 changes: 9 additions & 5 deletions orocos_kdl/package.xml
Original file line number Diff line number Diff line change
@@ -1,9 +1,10 @@
<package>
<?xml version="1.0"?>
<package format="3">
<name>orocos_kdl</name>
<version>1.4.0</version>
<description>
This package contains a recent version of the Kinematics and Dynamics
Library (KDL), distributed by the Orocos Project.
Library (KDL), distributed by the Orocos Project.
</description>
<maintainer email="[email protected]">Ruben Smits</maintainer>
<url>http://wiki.ros.org/orocos_kdl</url>
Expand All @@ -12,11 +13,14 @@
<buildtool_depend>cmake</buildtool_depend>
<build_depend>eigen</build_depend>

<run_depend>catkin</run_depend>
<run_depend>eigen</run_depend>
<run_depend>pkg-config</run_depend>
<exec_depend>catkin</exec_depend>
<exec_depend>eigen</exec_depend>
<exec_depend>pkg-config</exec_depend>

<test_depend>cppunit</test_depend>

<doc_depend>doxygen</doc_depend>

<export>
<build_type>cmake</build_type>
</export>
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