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List:       orocos-users
Subject:    [Orocos-users] [PATCH] Vereshchagin for serial chains
From:       shakhimardanov () yahoo ! com (Azamat Shakhimardanov)
Date:       2012-01-25 14:38:03
Message-ID: 1327502283.33120.YahooMailNeo () web113420 ! mail ! gq1 ! yahoo ! com
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>I applied the patch partially (I did not apply the changes to the
>CMakeLists.txt)?

sorry forgot to remove, I modified it have Eigen?compatibility?on my system.

>and you can find it on the current master HEAD. Could
>you somehow supply a unit test for the solver.
>Thanks for your contribution!!


Yes, will do. I will also add some docu.?


Sincerely
Azamat



>
>
> ----- Original Message -----
> From: Ruben Smits <ruben.smits at mech.kuleuven.be>
> To: orocos-users at lists.mech.kuleuven.be; Azamat Shakhimardanov <shakhimardanov at yahoo.com>
> Cc:
> Sent: Tuesday, January 3, 2012 11:45 AM
> Subject: Re: [Orocos-users] Questions on KDL Tree extensions and hybrid dynamics alg,
>
> On Wednesday 21 December 2011 12:34:04 Azamat Shakhimardanov wrote:
>> Dear Ruben,
>>
>> after long testing, corrections and discussions with Herman Vereshchagin's
>> hybrid dynamics algorithm? is ready to be used with serial chains.
>> My first question is how I could contribute it back? I could just send the
>> current version I have to you.? Some parts (many not necessary comments,
>> printfs) of it still need to be cleaned up. I could write a short README
>> explaining what changed to keep you updated.
>
> The easiest way is to contribute is to provide a patch against the latest git
> HEAD which is available on
> http://git.mech.kuleuven.be/robotics/orocos_kinematics_dynamics.git
>
>> The other question is related to this algorithm's extension to trees. Herman
>> already confirmed theory behind it, so? I am working my way through KDL
>> tree primitives to see how it could be done. Regarding this I had one
>> point, so far.
>>
>> - What is the semantics of q_nr member in TreeElement. Does it describe the
>> joint's number which is part of this element? Since it gets assigned joint
>> index number in Tree::addSegment, I was wondering about it.
>
> Since we use a plain JntArray for the joints in a tree each Tree element gets
> an index number that will use to find its jointvalue in this array
>
>> - Another point of clarification, Tree primitive assumes that the joints at
>> the root of branches are co-located.? Example: If tree branches of at
>> segment L1 then the joints of branches at L1 tip are co-located. Is it so?
>
> Yes, but you could make the first joint of type None, which means you can put
> the next branched joints at any place you would like.
>
>> Also, some docu is missing, but I would be glad to contribute. I could send
>> you my notes.
>
> Patches (against the latest git) for documentations are very welcome.
>
>> Sincerely
>> Azamat
>
> Ruben
> --
> Warning, new email address:
> ruben.smits at intermodalics.eu
> --
> Orocos-Users mailing list
> Orocos-Users at lists.mech.kuleuven.be
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>



-- 
Ruben Smits, Phd
Chief Technology Officer
Intermodalics BVBA
+32479511786
www.intermodalics.eu


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