Changelog for package hrpsys

315.2.6 (2014-09-30)

  • Adds PointCloudLogViewer, encords the number of points in point cloud. compiles PointCloudLogViewer only with PCL >= 1.7.
  • (Stabilizer) : Add leg inside margin to IDL
  • (KalmanFilter) : Add KalmanFilterParam as struct
  • Better error handling

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  • fixes linker error on 12.04amd
  • Partially reverted to handle Python version < 2.6

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  • Add DataLogger logging for servoState port.
  • Add playPattern* methods.
  • (hrpsys_config.py, SequencePlayer, StateHolder) : Add optional data for seq in https://github.com/fkanehiro/hrpsys-base/issues/190
  • Add and connect logger ports for offset force moment and ref force moment

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  • Added old style parameter functions to TwoDofController for Stabilizer
  • Modified controller arguments from double valiables to struct parameter.

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  • Apply doxygen style, somehow needs exclamation mark (http://stackoverflow.com/questions/7690220/how-to-document-python-function-parameter-types)
  • Doc improved for many components: AverageFilter, ExtractCameraImage, SequencePlayer, HGcontroller, CaptureController, VideoCapture, PCDLoader, SORFilter, RangeNoiseMixer, CaptureController, JpegEncoder, RGB2Gray, PlaneRemover, AverageFilter. AutoBalancer, Stabilizer, KalmanFilter, RemoveForceSensorLinkOffset, ImpedanceController

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315.2.5 (2014-09-02)

  • Use force difference control
  • Add data port for Stabilizer root pos and rot debugging
  • (Stabilizer, hrpsys_config.py) Add debug port for Stabilizer compensation
  • Add both foot contact checker and update force z control

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  • Inhibit debug print in KalmanFilter.h
  • Add DEBUG to control printing of KalmanFilter
  • KF -> EKF and RPY -> Quaternion
  • Add wrapper for sample6dofrobot examples added in https://github.com/fkanehiro/hrpsys-base/pull/281
  • Add set ref force and moment example for impedance controller
  • (terrain-walk) : Add wrapper of example in hrpsys-base samplerobot_terrain_walk.py
  • add graphbiz to install
  • add automatic push to gh-pages

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  • Enable to use RMFO on robots without imu. Connect RPY port only if it exists.
  • move api doc for some methods from downstream.
  • enable to set reference frame in get{Reference,Current}{Pose,Position,Rotation,RPY}, see #297
  • use CPython as default python and add hrpsys_config.py

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315.2.4 (2014-08-10)

  • Add data port for acceleration reference which can be used in KalmanFilter.cpp
  • Use function and variable names. Use TargetParameter and CurrentParmeter
  • Remove duplicate codes for transition_smooth_gain
  • Remove unused codes and use is_legged_robot flag

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  • Connect accRef from abc instead of seq. Note that connection from seq at previous r
  • Use contactStates in Stabilizer to specify single support ph
  • Add out data ports for Stabilizer debug

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  • Add print message and comments to samples, remove direct writing of getRTCList, and
  • Use .in file to specify openhrp3 directory for sample1.wrl model
  • Add conf_file setting to samplerobot.launch by copying hrpsys_tools/hrpsys/hrpsys.launch setting
  • Add impedancecontroller example

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  • Fix transition between MODE_AIR, MODE_IDLE, and MODE_ST. Set MODE_AIR if startStabilizer
  • Fix USE_IMU_STATEFEEDBACK to USE_EEFM_STABILIZER for switching stabilizer algorithm and f
  • Add LPF for ground contact checking
  • Fix transition between st ON mode and st OFF mode
  • Rotate robot around COG in rpy control
  • Support rotational walking by fixing ref force and ref moment coordinates
  • Update calculation of actual and reference values for Stabilizer
  • Check legged robot or not
  • Add getActualParameters and update to use it
  • Update member variables (rename and remove)
  • Fix idl to specify zmp delay time constant and auxiliary zmp inp

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315.2.3 (2014-07-28)

315.2.2 (2014-06-17)

315.2.1 (2014-05-12)

315.2.0 (2014-05-11)

315.1.9 (2014-03-15)

315.1.8 (2014-03-06)