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lwr_server/lwrserv/matlab/rvctools/robot/CHANGES

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CHANGES FOR RTB 9.8
=======================================
CodeGenerator
----------------
A new class CodeGenerator allows you to create efficient robot-specific
models from any SerialLink manipulator object. It writes m-files or
creates Simulink blocks which can be used in real-time systems.
Requires Symbolics Toolbox. Does not yet support inverse kinematics.
Demo
----------------
Now has 20 demonstrations that include mobile robotics, CodeGeneration
and symbolic operations. The MATLAB code now runs interactively using
the runscript module.
Link
----------------
New subclasses Revolute, Prismatic are polymorphic with Link but
have implicit joint type, no need to specify sigma:
L(1) = Revolute('d', 0, 'a', 0, 'alpha', pi/2, ...
'I', [0, 0.35, 0, 0, 0, 0], ...
'r', [0, 0, 0], ...
'm', 0, ...
'Jm', 200e-6, ...
'G', -62.6111, ...
'B', 1.48e-3, ...
'Tc', [0.395 -0.435] );
New files
----------------
tripleangle, demo of RPY/Euler angles
Simulink
----------------
Most Simulink models now for MATLAB 2012b.
pinv option for ikine block.
CHANGES FOR RTB 9.7
=======================================
Link
----------------
New way to specify link parameters
L(1) = Link('d', 0, 'a', 0, 'alpha', pi/2, ...
'I', [0, 0.35, 0, 0, 0, 0], ...
'r', [0, 0, 0], ...
'm', 0, ...
'Jm', 200e-6, ...
'G', -62.6111, ...
'B', 1.48e-3, ...
'Tc', [0.395 -0.435] );
There is no need to give a value for theta in this case, since it is
the joint variable.
The old syntax is still valid.
New models
----------------
mdl_puma560_3 first 3 links of the Puma560
mdl_ball a 50 link robot that folds into a ball
mdl_coil a 50 link robot that forms a helix
Symbolics
----------------
all the kinematic and dynamics functions can now generate symbolic expressions. You need
to have the MATLAB Symbolic Toolbox.
You need to create symbolic links
L(1) = Link('d', 0, 'a', 0, 'alpha', pi/2, 'sym');
and build them into a robot
Alternatively you can create a symbolic version of an existing robot
symbot = sym(twolink);
where all numerical parameters are converted to symbolic versions. Numerical
values like pi/2 become the exact symbolic fraction pi/2.
To get a vector symbolic joint angles or rates use the new method
[q,qd] = symbot.gencoords();
then the following functions will give symbolic expressions in terms of the joint coordinates
and robot parameters:
T = symbot.fkine(q)
g = symbot.gravload(q)
C = symbot.coriolis(q, qd)
J = symbot.jacobn(q)
------------------------------------------------------------------------
------------------------------------------------------------------------
r1061 | peter.i.corke@gmail.com | 2013-01-26 16:25:36 +1000 (Sat, 26 Jan 2013) | 2 lines
Changed paths:
A /matlab/robot/trunk/tripleangle.fig
A /matlab/robot/trunk/tripleangle.m
New interactive demo to show 3 axis rotations
------------------------------------------------------------------------
r1060 | malzahnandroid | 2013-01-25 20:13:41 +1000 (Fri, 25 Jan 2013) | 1 line
Changed paths:
M /matlab/common/tb_optparse.m
M /matlab/robot/trunk/@SerialLink/fkine.m
modification hint
------------------------------------------------------------------------
r1058 | peter.i.corke@gmail.com | 2013-01-24 16:09:29 +1000 (Thu, 24 Jan 2013) | 2 lines
Changed paths:
M /matlab/robot/trunk/@CodeGenerator/CodeGenerator.m
M /matlab/robot/trunk/@CodeGenerator/gencoriolis.m
M /matlab/robot/trunk/@CodeGenerator/genfdyn.m
M /matlab/robot/trunk/@CodeGenerator/genfkine.m
M /matlab/robot/trunk/@CodeGenerator/genfriction.m
M /matlab/robot/trunk/@CodeGenerator/gengravload.m
M /matlab/robot/trunk/@CodeGenerator/geninertia.m
M /matlab/robot/trunk/@CodeGenerator/geninvdyn.m
M /matlab/robot/trunk/@CodeGenerator/genjacobian.m
M /matlab/robot/trunk/@CodeGenerator/genmfuncoriolis.m
M /matlab/robot/trunk/@CodeGenerator/genmfunfdyn.m
M /matlab/robot/trunk/@CodeGenerator/genmfunfkine.m
M /matlab/robot/trunk/@CodeGenerator/genmfunfriction.m
M /matlab/robot/trunk/@CodeGenerator/genmfungravload.m
M /matlab/robot/trunk/@CodeGenerator/genmfuninertia.m
M /matlab/robot/trunk/@CodeGenerator/genmfuninvdyn.m
M /matlab/robot/trunk/@CodeGenerator/genmfunjacobian.m
M /matlab/robot/trunk/@CodeGenerator/genslblockcoriolis.m
M /matlab/robot/trunk/@CodeGenerator/genslblockfdyn.m
M /matlab/robot/trunk/@CodeGenerator/genslblockfkine.m
M /matlab/robot/trunk/@CodeGenerator/genslblockfriction.m
M /matlab/robot/trunk/@CodeGenerator/genslblockgravload.m
M /matlab/robot/trunk/@CodeGenerator/genslblockinertia.m
M /matlab/robot/trunk/@CodeGenerator/genslblockinvdyn.m
M /matlab/robot/trunk/@CodeGenerator/genslblockjacobian.m
Documentation tidyup.
------------------------------------------------------------------------
r1057 | malzahnandroid | 2013-01-24 00:25:38 +1000 (Thu, 24 Jan 2013) | 2 lines
Changed paths:
M /matlab/common/distributeblocks.m
M /matlab/common/doesblockexist.m
M /matlab/common/multidfprintf.m
M /matlab/common/symexpr2slblock.m
M /matlab/robot/trunk/@CodeGenerator/CodeGenerator.m
M /matlab/robot/trunk/@CodeGenerator/gencoriolis.m
M /matlab/robot/trunk/@CodeGenerator/genfdyn.m
M /matlab/robot/trunk/@CodeGenerator/genfkine.m
M /matlab/robot/trunk/@CodeGenerator/genfriction.m
M /matlab/robot/trunk/@CodeGenerator/gengravload.m
M /matlab/robot/trunk/@CodeGenerator/geninertia.m
M /matlab/robot/trunk/@CodeGenerator/geninvdyn.m
M /matlab/robot/trunk/@CodeGenerator/genjacobian.m
M /matlab/robot/trunk/@CodeGenerator/genmfuncoriolis.m
M /matlab/robot/trunk/@CodeGenerator/genmfunfdyn.m
M /matlab/robot/trunk/@CodeGenerator/genmfunfkine.m
M /matlab/robot/trunk/@CodeGenerator/genmfunfriction.m
M /matlab/robot/trunk/@CodeGenerator/genmfungravload.m
M /matlab/robot/trunk/@CodeGenerator/genmfuninertia.m
M /matlab/robot/trunk/@CodeGenerator/genmfuninvdyn.m
M /matlab/robot/trunk/@CodeGenerator/genmfunjacobian.m
M /matlab/robot/trunk/@CodeGenerator/genslblockcoriolis.m
M /matlab/robot/trunk/@CodeGenerator/genslblockfdyn.m
M /matlab/robot/trunk/@CodeGenerator/genslblockfkine.m
M /matlab/robot/trunk/@CodeGenerator/genslblockfriction.m
M /matlab/robot/trunk/@CodeGenerator/genslblockgravload.m
M /matlab/robot/trunk/@CodeGenerator/genslblockinertia.m
M /matlab/robot/trunk/@CodeGenerator/genslblockinvdyn.m
M /matlab/robot/trunk/@CodeGenerator/genslblockjacobian.m
M /matlab/robot/trunk/@CodeGenerator/logmsg.m
M /matlab/robot/trunk/@CodeGenerator/private/createmconstructor.m
M /matlab/robot/trunk/@CodeGenerator/private/createnewblocklibrary.m
M /matlab/robot/trunk/@CodeGenerator/private/ffindreplace.m
M /matlab/robot/trunk/@CodeGenerator/private/finsertfront.m
M /matlab/robot/trunk/@CodeGenerator/private/generatecopyrightnote.m
M /matlab/robot/trunk/@CodeGenerator/private/getpibugfixstring.m
M /matlab/robot/trunk/@CodeGenerator/private/replaceheader.m
+ fixed umlaut issue in headers
+ acknowledgement in copyright note
------------------------------------------------------------------------
r1056 | malzahnandroid | 2013-01-24 00:08:12 +1000 (Thu, 24 Jan 2013) | 3 lines
Changed paths:
M /matlab/robot/trunk/@CodeGenerator/CodeGenerator.m
M /matlab/robot/trunk/@CodeGenerator/genslblockcoriolis.m
M /matlab/robot/trunk/@CodeGenerator/genslblockfdyn.m
M /matlab/robot/trunk/@CodeGenerator/genslblockfkine.m
M /matlab/robot/trunk/@CodeGenerator/genslblockfriction.m
M /matlab/robot/trunk/@CodeGenerator/genslblockgravload.m
M /matlab/robot/trunk/@CodeGenerator/genslblockinertia.m
M /matlab/robot/trunk/@CodeGenerator/genslblockinvdyn.m
M /matlab/robot/trunk/@CodeGenerator/genslblockjacobian.m
M /matlab/robot/trunk/@CodeGenerator/private/constructheaderstring.m
A /matlab/robot/trunk/@CodeGenerator/private/createnewblocklibrary.m
A /matlab/robot/trunk/@CodeGenerator/private/generatecopyrightnote.m
+ addpath and rmpath methods for CodeGenerator
+ createnewblocklibrary.m collects multiple lines which would otherwhise be copied in each genslblock*-file. It also creates an slblock.m for the library so we find the autogenerated libraries in the Simulink browser now
+ generatecopyrightnote.m for easier maintenance
------------------------------------------------------------------------
r1055 | malzahnandroid | 2013-01-22 23:55:32 +1000 (Tue, 22 Jan 2013) | 2 lines
Changed paths:
M /matlab/robot/trunk/@CodeGenerator/genmfunfdyn.m
M /matlab/robot/trunk/@CodeGenerator/genmfuninvdyn.m
M /matlab/robot/trunk/@CodeGenerator/genslblockcoriolis.m
M /matlab/robot/trunk/@CodeGenerator/genslblockfdyn.m
M /matlab/robot/trunk/@CodeGenerator/genslblockfkine.m
M /matlab/robot/trunk/@CodeGenerator/genslblockfriction.m
M /matlab/robot/trunk/@CodeGenerator/genslblockgravload.m
M /matlab/robot/trunk/@CodeGenerator/genslblockinertia.m
M /matlab/robot/trunk/@CodeGenerator/genslblockinvdyn.m
M /matlab/robot/trunk/@CodeGenerator/genslblockjacobian.m
+ Simulink block generators now check if required blocks are already present in the library, otherwise appropriate generators are called automatically
+ M-code generators check if requirede m-functions are already present in the robot object directory, otherwise appropriate generators are called automatically
------------------------------------------------------------------------
r1053 | malzahnandroid | 2013-01-22 02:11:34 +1000 (Tue, 22 Jan 2013) | 1 line
Changed paths:
M /matlab/robot/trunk/@SerialLink/rne_dh.m
fixed copy paste bug in rne_dh.m l. 212
------------------------------------------------------------------------
r1052 | peter.i.corke@gmail.com | 2013-01-21 21:53:35 +1000 (Mon, 21 Jan 2013) | 1 line
Changed paths:
M /matlab/robot/trunk/demos/fdyn.m
Define the robot model
------------------------------------------------------------------------
r1051 | peter.i.corke@gmail.com | 2013-01-21 21:51:36 +1000 (Mon, 21 Jan 2013) | 1 line
Changed paths:
M /matlab/robot/trunk/mdl_puma560.m
Add joint limits, not quite sure if these number are correct for these DH coordinates
------------------------------------------------------------------------
r1050 | peter.i.corke@gmail.com | 2013-01-21 21:50:55 +1000 (Mon, 21 Jan 2013) | 1 line
Changed paths:
M /matlab/robot/trunk/simulink/roblocks.mdl
Fix scale error bug in "pose integral"
------------------------------------------------------------------------
r1049 | peter.i.corke@gmail.com | 2013-01-20 17:00:18 +1000 (Sun, 20 Jan 2013) | 1 line
Changed paths:
M /matlab/robot/trunk/RangeBearingSensor.m
Remove options now parsed by superclass
------------------------------------------------------------------------
r1048 | peter.i.corke@gmail.com | 2013-01-20 13:13:18 +1000 (Sun, 20 Jan 2013) | 1 line
Changed paths:
M /matlab/robot/trunk/Sensor.m
support an 'animate' option which shows which landmark the sensor is picking up
------------------------------------------------------------------------
r1047 | peter.i.corke@gmail.com | 2013-01-20 13:12:07 +1000 (Sun, 20 Jan 2013) | 1 line
Changed paths:
M /matlab/robot/trunk/unit_test/DifferentialMotionTest.m
update tests to reflect fix to eul2jac()
------------------------------------------------------------------------
r1046 | peter.i.corke@gmail.com | 2013-01-20 13:06:45 +1000 (Sun, 20 Jan 2013) | 1 line
Changed paths:
M /matlab/robot/trunk/demos/codegen.m
Added argument to purge() so as to not require manual clicking of confirmation popup
------------------------------------------------------------------------
r1045 | peter.i.corke@gmail.com | 2013-01-20 13:05:51 +1000 (Sun, 20 Jan 2013) | 2 lines
Changed paths:
M /matlab/robot/trunk/@SerialLink/plot.m
Added logic for 'fps' option
Added drawnow after pause(), despite documentation saying this is implicit in pause, it doesnt work for 2012b.
------------------------------------------------------------------------
r1044 | peter.i.corke@gmail.com | 2013-01-20 13:04:43 +1000 (Sun, 20 Jan 2013) | 5 lines
Changed paths:
M /matlab/robot/trunk/EKF.m
Fix logic around plotting, added 'plot' option to run()
Plot dimensions come from map (if given), else from the 'dim' option to constructor
Fix logic for SLAM case which was not estimating the map!
plot_map() now has an argument which is the covariance of the ellipses to be overlaid around landmarks
------------------------------------------------------------------------
r1043 | peter.i.corke@gmail.com | 2013-01-20 11:49:11 +1000 (Sun, 20 Jan 2013) | 2 lines
Changed paths:
M /matlab/robot/trunk/@SerialLink/rne.m
M /matlab/robot/trunk/startup_rtb.m
We can't use FRNE if the robot is symbolic.
Make RNE a wrapper that invokes mex or m-file according to circumstance. Note that now the FRNE files live in the MEX directory which must be on the path
------------------------------------------------------------------------
r1042 | peter.i.corke@gmail.com | 2013-01-20 11:47:23 +1000 (Sun, 20 Jan 2013) | 2 lines
Changed paths:
M /matlab/robot/trunk/@SerialLink/rne_dh.m
Change ' to .', important for symbolic expressions
line 211, MATLAB 2012b complains with it as written for case of symbolic robot and numerical joint angles...
------------------------------------------------------------------------
r1041 | malzahnandroid | 2013-01-19 01:13:19 +1000 (Sat, 19 Jan 2013) | 1 line
Changed paths:
M /matlab/common/symexpr2slblock.m
M /matlab/robot/trunk/@CodeGenerator/CodeGenerator.m
M /matlab/robot/trunk/@CodeGenerator/gencoriolis.m
M /matlab/robot/trunk/@CodeGenerator/genfdyn.m
M /matlab/robot/trunk/@CodeGenerator/genfkine.m
M /matlab/robot/trunk/@CodeGenerator/genfriction.m
M /matlab/robot/trunk/@CodeGenerator/gengravload.m
M /matlab/robot/trunk/@CodeGenerator/geninertia.m
M /matlab/robot/trunk/@CodeGenerator/geninvdyn.m
M /matlab/robot/trunk/@CodeGenerator/genjacobian.m
M /matlab/robot/trunk/@CodeGenerator/genmfuncoriolis.m
M /matlab/robot/trunk/@CodeGenerator/genmfunfdyn.m
M /matlab/robot/trunk/@CodeGenerator/genmfunfkine.m
M /matlab/robot/trunk/@CodeGenerator/genmfunfriction.m
M /matlab/robot/trunk/@CodeGenerator/genmfungravload.m
M /matlab/robot/trunk/@CodeGenerator/genmfuninertia.m
M /matlab/robot/trunk/@CodeGenerator/genmfuninvdyn.m
M /matlab/robot/trunk/@CodeGenerator/genmfunjacobian.m
M /matlab/robot/trunk/@CodeGenerator/genslblockcoriolis.m
M /matlab/robot/trunk/@CodeGenerator/genslblockfdyn.m
M /matlab/robot/trunk/@CodeGenerator/genslblockfkine.m
M /matlab/robot/trunk/@CodeGenerator/genslblockfriction.m
M /matlab/robot/trunk/@CodeGenerator/genslblockgravload.m
M /matlab/robot/trunk/@CodeGenerator/genslblockinertia.m
M /matlab/robot/trunk/@CodeGenerator/genslblockinvdyn.m
M /matlab/robot/trunk/@CodeGenerator/genslblockjacobian.m
M /matlab/robot/trunk/@CodeGenerator/logmsg.m
M /matlab/robot/trunk/@CodeGenerator/private/constructheaderstring.m
M /matlab/robot/trunk/@CodeGenerator/private/createmconstructor.m
M /matlab/robot/trunk/@CodeGenerator/private/ffindreplace.m
M /matlab/robot/trunk/@CodeGenerator/private/finsertfront.m
M /matlab/robot/trunk/@CodeGenerator/private/getpibugfixstring.m
M /matlab/robot/trunk/@CodeGenerator/private/replaceheader.m
header formatting
------------------------------------------------------------------------
r1040 | malzahnandroid | 2013-01-18 21:29:13 +1000 (Fri, 18 Jan 2013) | 1 line
Changed paths:
M /matlab/common/distributeblocks.m
M /matlab/common/doesblockexist.m
M /matlab/common/multidfprintf.m
M /matlab/common/symexpr2slblock.m
M /matlab/robot/trunk/@CodeGenerator/private/constructheaderstring.m
M /matlab/robot/trunk/@CodeGenerator/private/createmconstructor.m
M /matlab/robot/trunk/@CodeGenerator/private/ffindreplace.m
M /matlab/robot/trunk/@CodeGenerator/private/finsertfront.m
M /matlab/robot/trunk/@CodeGenerator/private/getpibugfixstring.m
M /matlab/robot/trunk/@CodeGenerator/private/replaceheader.m
reformatted headers in common functions and private CodeGenerator methods
------------------------------------------------------------------------
r1039 | malzahnandroid@gmail.com | 2013-01-18 09:17:30 +1000 (Fri, 18 Jan 2013) | 1 line
Changed paths:
M /matlab/robot/trunk/@CodeGenerator/CodeGenerator.m
M /matlab/robot/trunk/@CodeGenerator/gencoriolis.m
M /matlab/robot/trunk/@CodeGenerator/genfdyn.m
M /matlab/robot/trunk/@CodeGenerator/genfkine.m
M /matlab/robot/trunk/@CodeGenerator/genfriction.m
M /matlab/robot/trunk/@CodeGenerator/gengravload.m
M /matlab/robot/trunk/@CodeGenerator/geninertia.m
M /matlab/robot/trunk/@CodeGenerator/geninvdyn.m
M /matlab/robot/trunk/@CodeGenerator/genjacobian.m
M /matlab/robot/trunk/@CodeGenerator/genmfuncoriolis.m
M /matlab/robot/trunk/@CodeGenerator/genmfunfdyn.m
M /matlab/robot/trunk/@CodeGenerator/genmfunfkine.m
M /matlab/robot/trunk/@CodeGenerator/genmfunfriction.m
M /matlab/robot/trunk/@CodeGenerator/genmfungravload.m
M /matlab/robot/trunk/@CodeGenerator/genmfuninertia.m
M /matlab/robot/trunk/@CodeGenerator/genmfuninvdyn.m
M /matlab/robot/trunk/@CodeGenerator/genmfunjacobian.m
M /matlab/robot/trunk/@CodeGenerator/genslblockcoriolis.m
M /matlab/robot/trunk/@CodeGenerator/genslblockfdyn.m
M /matlab/robot/trunk/@CodeGenerator/genslblockfkine.m
M /matlab/robot/trunk/@CodeGenerator/genslblockfriction.m
M /matlab/robot/trunk/@CodeGenerator/genslblockgravload.m
M /matlab/robot/trunk/@CodeGenerator/genslblockinertia.m
M /matlab/robot/trunk/@CodeGenerator/genslblockinvdyn.m
M /matlab/robot/trunk/@CodeGenerator/genslblockjacobian.m
M /matlab/robot/trunk/@CodeGenerator/logmsg.m
+ comments for public CodeGenerator methods reformatted
------------------------------------------------------------------------
r1038 | peter.i.corke@gmail.com | 2013-01-12 17:41:37 +1000 (Sat, 12 Jan 2013) | 2 lines
Changed paths:
M /matlab/robot/trunk/@CodeGenerator/CodeGenerator.m
M /matlab/robot/trunk/@CodeGenerator/gencoriolis.m
M /matlab/robot/trunk/@CodeGenerator/genfdyn.m
Partial updates to doco
------------------------------------------------------------------------
r1037 | peter.i.corke@gmail.com | 2013-01-12 16:19:49 +1000 (Sat, 12 Jan 2013) | 2 lines
Changed paths:
M /matlab/robot/trunk/demos/braitnav.m
M /matlab/robot/trunk/demos/bugnav.m
M /matlab/robot/trunk/demos/codegen.m
M /matlab/robot/trunk/demos/drivepose.m
M /matlab/robot/trunk/demos/dstarnav.m
M /matlab/robot/trunk/demos/fdyn.m
M /matlab/robot/trunk/demos/fkine.m
M /matlab/robot/trunk/demos/graphics.m
M /matlab/robot/trunk/demos/idyn.m
M /matlab/robot/trunk/demos/ikine.m
M /matlab/robot/trunk/demos/jacob.m
M /matlab/robot/trunk/demos/particlefilt.m
M /matlab/robot/trunk/demos/prmnav.m
M /matlab/robot/trunk/demos/quadrotor.m
M /matlab/robot/trunk/demos/robot.m
M /matlab/robot/trunk/demos/rotation.m
M /matlab/robot/trunk/demos/slam.m
M /matlab/robot/trunk/demos/symbolic.m
M /matlab/robot/trunk/demos/traj.m
M /matlab/robot/trunk/demos/trans.m
M /matlab/robot/trunk/demos/ztorque.m
Added copyright notices
------------------------------------------------------------------------
r1036 | peter.i.corke@gmail.com | 2013-01-12 16:11:31 +1000 (Sat, 12 Jan 2013) | 4 lines
Changed paths:
A /matlab/robot/trunk/demos/braitnav.m
A /matlab/robot/trunk/demos/bugnav.m
A /matlab/robot/trunk/demos/codegen.m (from /matlab/robot/trunk/demos/rtsymcgendemo.m:1035)
M /matlab/robot/trunk/demos/demos.xml
A /matlab/robot/trunk/demos/drivepose.m
A /matlab/robot/trunk/demos/dstarnav.m
A /matlab/robot/trunk/demos/fdyn.m (from /matlab/robot/trunk/demos/rtfddemo.m:992)
A /matlab/robot/trunk/demos/fkine.m (from /matlab/robot/trunk/demos/rtfkdemo.m:992)
A /matlab/robot/trunk/demos/graphics.m (from /matlab/robot/trunk/demos/rtandemo.m:992)
A /matlab/robot/trunk/demos/idyn.m (from /matlab/robot/trunk/demos/rtidemo.m:992)
A /matlab/robot/trunk/demos/ikine.m (from /matlab/robot/trunk/demos/rtikdemo.m:992)
A /matlab/robot/trunk/demos/jacob.m (from /matlab/robot/trunk/demos/rtjademo.m:992)
A /matlab/robot/trunk/demos/particlefilt.m
A /matlab/robot/trunk/demos/prmnav.m
A /matlab/robot/trunk/demos/quadrotor.m
A /matlab/robot/trunk/demos/robot.m
A /matlab/robot/trunk/demos/rotation.m
D /matlab/robot/trunk/demos/rtandemo.m
D /matlab/robot/trunk/demos/rtfddemo.m
D /matlab/robot/trunk/demos/rtfkdemo.m
D /matlab/robot/trunk/demos/rtidemo.m
D /matlab/robot/trunk/demos/rtikdemo.m
D /matlab/robot/trunk/demos/rtjademo.m
D /matlab/robot/trunk/demos/rtsymcgendemo.m
D /matlab/robot/trunk/demos/rttgdemo.m
D /matlab/robot/trunk/demos/rttrdemo.m
A /matlab/robot/trunk/demos/slam.m
A /matlab/robot/trunk/demos/symbolic.m
A /matlab/robot/trunk/demos/traj.m (from /matlab/robot/trunk/demos/rttgdemo.m:992)
A /matlab/robot/trunk/demos/trans.m (from /matlab/robot/trunk/demos/rttrdemo.m:992)
A /matlab/robot/trunk/demos/ztorque.m
A /matlab/robot/trunk/rtbdemo.m (from /matlab/robot/trunk/rtdemo.m:992)
D /matlab/robot/trunk/rtdemo.m
M /matlab/robot/trunk/unit_test/UtilityTest.m
Changes to names of demo files.
They are now run using runscript which allows finer grained control of the execution of these scripts.
Demo scripts no longer go into the users path, rtbdemo points at them explicitly.
Added many new demo scripts.
------------------------------------------------------------------------
r1035 | peter.i.corke@gmail.com | 2013-01-10 21:34:37 +1000 (Thu, 10 Jan 2013) | 1 line
Changed paths:
M /matlab/robot/trunk/Bug2.m
Add error message in path() if goal is not given.
------------------------------------------------------------------------
r1034 | peter.i.corke@gmail.com | 2013-01-10 21:33:45 +1000 (Thu, 10 Jan 2013) | 1 line
Changed paths:
M /matlab/robot/trunk/@SerialLink/plot.m
Movie frames obtained using plot rather than getframe. Makes resolution better, indep of onscreen figure size, perhaps a bit slower... Also used fullfile instead instead of sprintf
------------------------------------------------------------------------
r1033 | peter.i.corke@gmail.com | 2013-01-10 21:32:48 +1000 (Thu, 10 Jan 2013) | 1 line
Changed paths:
M /matlab/robot/trunk/@SerialLink/maniplty.m
Updated doco/comments for new options
------------------------------------------------------------------------
r1031 | malzahnandroid@gmail.com | 2012-12-24 01:59:56 +1000 (Mon, 24 Dec 2012) | 1 line
Changed paths:
M /matlab/robot/trunk/@CodeGenerator/genfdyn.m
+ fixed wrong function call to genslblockinvdyn in genfdyn.m
------------------------------------------------------------------------
r1030 | malzahnandroid@gmail.com | 2012-12-24 01:22:24 +1000 (Mon, 24 Dec 2012) | 4 lines
Changed paths:
M /matlab/robot/trunk/@CodeGenerator/genfdyn.m
M /matlab/robot/trunk/@CodeGenerator/geninvdyn.m
M /matlab/robot/trunk/@CodeGenerator/genmfunfdyn.m
M /matlab/robot/trunk/@CodeGenerator/genmfuninvdyn.m
M /matlab/robot/trunk/@CodeGenerator/genslblockcoriolis.m
M /matlab/robot/trunk/@CodeGenerator/genslblockfdyn.m
M /matlab/robot/trunk/@CodeGenerator/genslblockgravload.m
M /matlab/robot/trunk/@CodeGenerator/genslblockinertia.m
M /matlab/robot/trunk/@SerialLink/gravload.m
M /matlab/robot/trunk/unit_test/CodeGeneratorTest.m
+ completed unit_test/CodeGeneratorTest.m
+ fixed bug with wrong sign of friction in generation of inverse and forward dynamics
+ fixed camel case call of distributeblocks in genslblock methods
+ fixed missing inertia matrix check in genfdyn.m
------------------------------------------------------------------------
r1029 | malzahnandroid@gmail.com | 2012-12-21 09:27:03 +1000 (Fri, 21 Dec 2012) | 1 line
Changed paths:
M /matlab/robot/trunk/demos/demos.xml
D /matlab/robot/trunk/demos/html
M /matlab/robot/trunk/demos/rtsymcgendemo.m
M /wiki/FAQ.wiki
+ adjusted the CodeGenerator demo to the format typically used in the Robotics Toolbox
------------------------------------------------------------------------
r1028 | malzahnandroid@gmail.com | 2012-12-21 09:08:29 +1000 (Fri, 21 Dec 2012) | 1 line
Changed paths:
M /matlab/robot/trunk/demos/html/rtsymcgendemo.html
M /matlab/robot/trunk/demos/html/rtsymcgendemo.png
M /matlab/robot/trunk/demos/rtsymcgendemo.m
+ cosmetics to rtsymcgendemo.m
------------------------------------------------------------------------
r1025 | malzahnandroid@gmail.com | 2012-12-21 08:54:58 +1000 (Fri, 21 Dec 2012) | 1 line
Changed paths:
M /matlab/robot/trunk/demos/demos.xml
A /matlab/robot/trunk/demos/html
A /matlab/robot/trunk/demos/html/rtsymcgendemo.html
A /matlab/robot/trunk/demos/html/rtsymcgendemo.png
A /matlab/robot/trunk/demos/html/rtsymcgendemo_01.png
A /matlab/robot/trunk/demos/rtsymcgendemo.m
+ A getting started example for the symbolics and CodeGenerator class functionality
------------------------------------------------------------------------
r1024 | malzahnandroid@gmail.com | 2012-12-19 10:14:43 +1000 (Wed, 19 Dec 2012) | 4 lines
Changed paths:
M /matlab/robot/trunk/@CodeGenerator/genmfuncoriolis.m
M /matlab/robot/trunk/@CodeGenerator/genmfunfdyn.m
M /matlab/robot/trunk/@CodeGenerator/genmfunfkine.m
M /matlab/robot/trunk/@CodeGenerator/genmfunfriction.m
M /matlab/robot/trunk/@CodeGenerator/genmfungravload.m
M /matlab/robot/trunk/@CodeGenerator/genmfuninertia.m
M /matlab/robot/trunk/@CodeGenerator/genmfuninvdyn.m
M /matlab/robot/trunk/@CodeGenerator/genmfunjacobian.m
M /matlab/robot/trunk/@CodeGenerator/genslblockinertia.m
D /matlab/robot/trunk/test/symbolicTestBed.m
M /matlab/robot/trunk/unit_test/CodeGeneratorTest.m
+ fixed bug regarding test on existing robot constructor in genmfunXYZ.m
+ removed obsolete symbolicTestBed
+ probably found a bug in SerialLink/coriolis
------------------------------------------------------------------------
r1023 | malzahnandroid | 2012-12-19 09:34:40 +1000 (Wed, 19 Dec 2012) | 3 lines
Changed paths:
M /matlab/robot/trunk/@CodeGenerator/CodeGenerator.m
M /matlab/robot/trunk/@CodeGenerator/gengravload.m
M /matlab/robot/trunk/@CodeGenerator/geninvdyn.m
M /matlab/robot/trunk/@CodeGenerator/genmfuncoriolis.m
M /matlab/robot/trunk/@CodeGenerator/genmfunfriction.m
M /matlab/robot/trunk/@CodeGenerator/genmfungravload.m
M /matlab/robot/trunk/@CodeGenerator/genmfuninertia.m
M /matlab/robot/trunk/@CodeGenerator/genmfuninvdyn.m
M /matlab/robot/trunk/@CodeGenerator/genslblockfdyn.m
M /matlab/robot/trunk/@CodeGenerator/genslblockfriction.m
M /matlab/robot/trunk/@CodeGenerator/genslblockinertia.m
M /matlab/robot/trunk/@CodeGenerator/genslblockinvdyn.m
M /matlab/robot/trunk/@SerialLink/gravload.m
M /matlab/robot/trunk/@SerialLink/inertia.m
A /matlab/robot/trunk/unit_test/CodeGeneratorTest.m
+ added CodeGeneratorTest.m - test for forward and inverse dynamics yet to be completed, inverse dynamics still produces some errors
+ some transposes changed from ' to .'
+ spelling error for distributeblocks commands in genslblockXYZ functions
------------------------------------------------------------------------
r1022 | malzahnandroid@gmail.com | 2012-12-18 21:10:02 +1000 (Tue, 18 Dec 2012) | 1 line
Changed paths:
M /matlab/robot/trunk/@CodeGenerator/CodeGenerator.m
M /matlab/robot/trunk/@CodeGenerator/gencoriolis.m
M /matlab/robot/trunk/@CodeGenerator/genfdyn.m
M /matlab/robot/trunk/@CodeGenerator/genfkine.m
M /matlab/robot/trunk/@CodeGenerator/genfriction.m
M /matlab/robot/trunk/@CodeGenerator/gengravload.m
M /matlab/robot/trunk/@CodeGenerator/geninertia.m
M /matlab/robot/trunk/@CodeGenerator/geninvdyn.m
M /matlab/robot/trunk/@CodeGenerator/genjacobian.m
M /matlab/robot/trunk/@CodeGenerator/genmfuncoriolis.m
M /matlab/robot/trunk/@CodeGenerator/genmfunfdyn.m
M /matlab/robot/trunk/@CodeGenerator/genmfunfkine.m
M /matlab/robot/trunk/@CodeGenerator/genmfunfriction.m
M /matlab/robot/trunk/@CodeGenerator/genmfungravload.m
M /matlab/robot/trunk/@CodeGenerator/genmfuninertia.m
M /matlab/robot/trunk/@CodeGenerator/genmfuninvdyn.m
M /matlab/robot/trunk/@CodeGenerator/genmfunjacobian.m
M /matlab/robot/trunk/@CodeGenerator/genslblockcoriolis.m
M /matlab/robot/trunk/@CodeGenerator/genslblockfdyn.m
M /matlab/robot/trunk/@CodeGenerator/genslblockfkine.m
M /matlab/robot/trunk/@CodeGenerator/genslblockfriction.m
M /matlab/robot/trunk/@CodeGenerator/genslblockgravload.m
M /matlab/robot/trunk/@CodeGenerator/genslblockinertia.m
M /matlab/robot/trunk/@CodeGenerator/genslblockinvdyn.m
M /matlab/robot/trunk/@CodeGenerator/genslblockjacobian.m
M /matlab/robot/trunk/@CodeGenerator/logmsg.m
M /matlab/robot/trunk/@CodeGenerator/private/getpibugfixstring.m
codeGenerator renaming complete
------------------------------------------------------------------------
r1021 | malzahnandroid | 2012-12-18 20:49:30 +1000 (Tue, 18 Dec 2012) | 1 line
Changed paths:
D /matlab/robot/trunk/test/mdl_puma560_3_sym.m
M /matlab/robot/trunk/test/symbolicTestBed.m
removed obsolete mdl_puma560_3_sym.m
------------------------------------------------------------------------
r1020 | malzahnandroid | 2012-12-18 20:46:07 +1000 (Tue, 18 Dec 2012) | 1 line
Changed paths:
A /matlab/robot/trunk/@CodeGenerator/CodeGenerator.m (from /matlab/robot/trunk/@CodeGenerator/codeGenerator.m:1019)
D /matlab/robot/trunk/@CodeGenerator/codeGenerator.m
renamed CodeGenerator constructor in repo browser
------------------------------------------------------------------------
r1019 | malzahnandroid | 2012-12-18 20:45:26 +1000 (Tue, 18 Dec 2012) | 2 lines
Changed paths:
A /matlab/robot/trunk/@CodeGenerator (from /matlab/robot/trunk/@codeGenerator:1018)
D /matlab/robot/trunk/@codeGenerator
renamed CodeGenerator from repo browser
------------------------------------------------------------------------
r1018 | malzahnandroid | 2012-12-18 20:43:54 +1000 (Tue, 18 Dec 2012) | 2 lines
Changed paths:
M /matlab/robot/trunk/@codeGenerator/codeGenerator.m
M /matlab/robot/trunk/@codeGenerator/genslblockfkine.m
+ purge function also deletes logfile
+ removed camelcase in genslblockfkine.m
------------------------------------------------------------------------
r1017 | malzahnandroid@gmail.com | 2012-12-17 05:37:34 +1000 (Mon, 17 Dec 2012) | 4 lines
Changed paths:
M /matlab/common/distributeblocks.m
M /matlab/robot/trunk/@codeGenerator/codeGenerator.m
M /matlab/robot/trunk/@codeGenerator/gencoriolis.m
A /matlab/robot/trunk/@codeGenerator/genfdyn.m
M /matlab/robot/trunk/@codeGenerator/genfkine.m
M /matlab/robot/trunk/@codeGenerator/genfriction.m
M /matlab/robot/trunk/@codeGenerator/gengravload.m
M /matlab/robot/trunk/@codeGenerator/geninertia.m
M /matlab/robot/trunk/@codeGenerator/geninvdyn.m
M /matlab/robot/trunk/@codeGenerator/genjacobian.m
M /matlab/robot/trunk/@codeGenerator/genmfuncoriolis.m
A /matlab/robot/trunk/@codeGenerator/genmfunfdyn.m
M /matlab/robot/trunk/@codeGenerator/genmfunfkine.m
M /matlab/robot/trunk/@codeGenerator/genmfunfriction.m
M /matlab/robot/trunk/@codeGenerator/genmfungravload.m
M /matlab/robot/trunk/@codeGenerator/genmfuninertia.m
M /matlab/robot/trunk/@codeGenerator/genmfuninvdyn.m
M /matlab/robot/trunk/@codeGenerator/genmfunjacobian.m
M /matlab/robot/trunk/@codeGenerator/genslblockcoriolis.m
A /matlab/robot/trunk/@codeGenerator/genslblockfdyn.m
M /matlab/robot/trunk/@codeGenerator/genslblockfkine.m
M /matlab/robot/trunk/@codeGenerator/genslblockfriction.m
M /matlab/robot/trunk/@codeGenerator/genslblockgravload.m
M /matlab/robot/trunk/@codeGenerator/genslblockinertia.m
M /matlab/robot/trunk/@codeGenerator/genslblockinvdyn.m
M /matlab/robot/trunk/@codeGenerator/genslblockjacobian.m
M /matlab/robot/trunk/@codeGenerator/private/constructheaderstring.m
M /matlab/robot/trunk/test/symbolicTestBed.m
+ genfdyn, genmfunfdyn, genslblockfdyn added
+ headers revised
+ codeGenerator: purge functionality
+ forward dynamics, inverse dynamics, inertia and coriolis Simulink blocks more tidy: distributeblocks called on created blocks
------------------------------------------------------------------------
r1016 | malzahnandroid@gmail.com | 2012-12-14 09:22:09 +1000 (Fri, 14 Dec 2012) | 5 lines
Changed paths:
M /matlab/robot/trunk/@SerialLink/coriolis.m
M /matlab/robot/trunk/@SerialLink/fkine.m
M /matlab/robot/trunk/@SerialLink/friction.m
M /matlab/robot/trunk/@SerialLink/gravload.m
M /matlab/robot/trunk/@SerialLink/issym.m
M /matlab/robot/trunk/@SerialLink/rne_dh.m
M /matlab/robot/trunk/@SerialLink/rne_mdh.m
A /matlab/robot/trunk/@codeGenerator/gencoriolis.m
A /matlab/robot/trunk/@codeGenerator/genfriction.m
M /matlab/robot/trunk/@codeGenerator/gengravload.m
A /matlab/robot/trunk/@codeGenerator/geninvdyn.m
A /matlab/robot/trunk/@codeGenerator/genmfuncoriolis.m
A /matlab/robot/trunk/@codeGenerator/genmfunfriction.m
M /matlab/robot/trunk/@codeGenerator/genmfuninertia.m
A /matlab/robot/trunk/@codeGenerator/genmfuninvdyn.m
A /matlab/robot/trunk/@codeGenerator/genslblockcoriolis.m
M /matlab/robot/trunk/@codeGenerator/genslblockfkine.m
A /matlab/robot/trunk/@codeGenerator/genslblockfriction.m
M /matlab/robot/trunk/@codeGenerator/genslblockgravload.m
M /matlab/robot/trunk/@codeGenerator/genslblockinertia.m
A /matlab/robot/trunk/@codeGenerator/genslblockinvdyn.m
M /matlab/robot/trunk/@codeGenerator/genslblockjacobian.m
M /matlab/robot/trunk/Link.m
+ changed some ' to .' (true transpose)
+ generator functions for: inverse dynamics, coriolis matrix, gravitational load, inertia and joint friction
+ fkine outputs intermediate transforms only if nargout > 1
+ issym splitted in two functions -> one for SerialLink and one for Link class objects
+ issue with obsolete line in Link/set.Tc fixed
------------------------------------------------------------------------
r1001 | peter.i.corke@gmail.com | 2012-12-09 12:56:49 +1000 (Sun, 09 Dec 2012) | 1 line
Changed paths:
M /matlab/robot/trunk/RangeBearingSensor.m
Updated notes regarding noise.
------------------------------------------------------------------------
r1000 | peter.i.corke@gmail.com | 2012-12-09 12:56:15 +1000 (Sun, 09 Dec 2012) | 1 line
Changed paths:
M /matlab/robot/trunk/@SerialLink/teach.m
Don't use findjobj with MATLAB r8.0. Can't make it work, the author says there is no problem...
------------------------------------------------------------------------
r999 | peter.i.corke@gmail.com | 2012-12-09 12:54:48 +1000 (Sun, 09 Dec 2012) | 1 line
Changed paths:
M /matlab/robot/trunk/Link.m
Fix bug in displaying DH parameters for revolute joint from SerialLink.display
------------------------------------------------------------------------
r998 | peter.i.corke@gmail.com | 2012-12-09 12:52:15 +1000 (Sun, 09 Dec 2012) | 1 line
Changed paths:
M /matlab/robot/trunk/examples/walking.m
Removed spurious line
------------------------------------------------------------------------
r997 | peter.i.corke@gmail.com | 2012-12-09 12:51:16 +1000 (Sun, 09 Dec 2012) | 1 line
Changed paths:
M /matlab/robot/trunk/angvec2r.m
typo in comment
------------------------------------------------------------------------
r996 | peter.i.corke@gmail.com | 2012-12-09 12:50:52 +1000 (Sun, 09 Dec 2012) | 1 line
Changed paths:
M /matlab/robot/trunk/@SerialLink/maniplty.m
Improved logic for handling manipulability of particular Cartesian DOF, rotation, translation or general specified as a logical 6-vector.
------------------------------------------------------------------------
r995 | peter.i.corke@gmail.com | 2012-12-09 12:49:50 +1000 (Sun, 09 Dec 2012) | 1 line
Changed paths:
M /matlab/robot/trunk/@SerialLink/ikine.m
Add warning message if initial pose is singular
------------------------------------------------------------------------
r992 | malzahnandroid@gmail.com | 2012-12-08 06:25:27 +1000 (Sat, 08 Dec 2012) | 4 lines
Changed paths:
M /matlab/common/distributeblocks.m
M /matlab/common/doesblockexist.m
M /matlab/common/multidfprintf.m
M /matlab/common/symexpr2slblock.m
M /matlab/robot/trunk/@codeGenerator/codeGenerator.m
M /matlab/robot/trunk/@codeGenerator/genfkine.m
A /matlab/robot/trunk/@codeGenerator/gengravload.m
A /matlab/robot/trunk/@codeGenerator/geninertia.m
A /matlab/robot/trunk/@codeGenerator/genjacobian.m
M /matlab/robot/trunk/@codeGenerator/genmfunfkine.m
A /matlab/robot/trunk/@codeGenerator/genmfungravload.m
A /matlab/robot/trunk/@codeGenerator/genmfuninertia.m
A /matlab/robot/trunk/@codeGenerator/genmfunjacobian.m
M /matlab/robot/trunk/@codeGenerator/genslblockfkine.m
A /matlab/robot/trunk/@codeGenerator/genslblockgravload.m
A /matlab/robot/trunk/@codeGenerator/genslblockinertia.m
A /matlab/robot/trunk/@codeGenerator/genslblockjacobian.m
A /matlab/robot/trunk/@codeGenerator/logmsg.m
M /matlab/robot/trunk/@codeGenerator/private/constructheaderstring.m
M /matlab/robot/trunk/@codeGenerator/private/createmconstructor.m
M /matlab/robot/trunk/@codeGenerator/private/ffindreplace.m
M /matlab/robot/trunk/@codeGenerator/private/finsertfront.m
M /matlab/robot/trunk/@codeGenerator/private/getpibugfixstring.m
M /matlab/robot/trunk/@codeGenerator/private/replaceheader.m
A /matlab/robot/trunk/test/mdl_puma560_3_sym.m
A /matlab/robot/trunk/test/symbolicTestBed.m
+ added copyright note in headers
+ added block and function generator methods for robot jacobian, gravload, inertia
+ logmsg function for ease of programming and readability
+ symbolicTestBed.m added
------------------------------------------------------------------------
r991 | malzahnandroid@gmail.com | 2012-12-04 23:17:54 +1000 (Tue, 04 Dec 2012) | 7 lines
Changed paths:
A /matlab/common/distributeblocks.m
A /matlab/common/doesblockexist.m
A /matlab/common/multidfprintf.m
A /matlab/common/symexpr2slblock.m
M /matlab/common/tb_optparse.m
M /matlab/robot/trunk/@SerialLink/fkine.m
A /matlab/robot/trunk/@SerialLink/issym.m
A /matlab/robot/trunk/@codeGenerator
A /matlab/robot/trunk/@codeGenerator/codeGenerator.m
A /matlab/robot/trunk/@codeGenerator/genfkine.m
A /matlab/robot/trunk/@codeGenerator/genmfunfkine.m
A /matlab/robot/trunk/@codeGenerator/genslblockfkine.m
A /matlab/robot/trunk/@codeGenerator/private
A /matlab/robot/trunk/@codeGenerator/private/constructheaderstring.m
A /matlab/robot/trunk/@codeGenerator/private/createmconstructor.m
A /matlab/robot/trunk/@codeGenerator/private/ffindreplace.m
A /matlab/robot/trunk/@codeGenerator/private/finsertfront.m
A /matlab/robot/trunk/@codeGenerator/private/getpibugfixstring.m
A /matlab/robot/trunk/@codeGenerator/private/replaceheader.m
M /matlab/robot/trunk/Link.m
+ added code generator class with mat-, m- and simulink code generation for SerialLink fkine
+ tb_optparse.m: modified to work with classes in addition to structs
+ Link.m: handling friction with symbolic Link objects
+ fkine.m: also outputs intermediate transforms
+ issym moved out of SerialLink class definition file into class trunk
+ Simulink block creation utilities added to common
+ multidfprintf.m for formatted textoutput to multiple destinations
------------------------------------------------------------------------
r967 | peter.i.corke@gmail.com | 2012-11-06 21:32:09 +1000 (Tue, 06 Nov 2012) | 5 lines
Changed paths:
M /matlab/robot/trunk/EKF.m
Keep map and P0 as properties
Move all initialization from constructor to init()
init() clears history and init's the robot object
run() method calls init(), has option for 'plot'
New plot_error() method plots estimation error against std bounds
------------------------------------------------------------------------
r966 | peter.i.corke@gmail.com | 2012-11-06 21:28:43 +1000 (Tue, 06 Nov 2012) | 3 lines
Changed paths:
M /matlab/robot/trunk/Link.m
Fix bugs in concatenating Revolute/Prismatic subclass arrays, these are converted
to Link objects.
------------------------------------------------------------------------
r965 | peter.i.corke@gmail.com | 2012-11-06 21:24:28 +1000 (Tue, 06 Nov 2012) | 1 line
Changed paths:
D /matlab/robot/trunk/ishomog.m
D /matlab/robot/trunk/isrot.m
D /matlab/robot/trunk/isvec.m
These moved to common
------------------------------------------------------------------------
r964 | peter.i.corke@gmail.com | 2012-11-06 21:24:17 +1000 (Tue, 06 Nov 2012) | 2 lines
Changed paths:
M /matlab/robot/trunk/@SerialLink/plot.m
Fixed bug in option parsing mode, also added comments for this.
Added options for render, ortho, perspective: not yet used but were meant to be.
------------------------------------------------------------------------
r963 | peter.i.corke@gmail.com | 2012-11-06 21:23:15 +1000 (Tue, 06 Nov 2012) | 1 line
Changed paths:
M /matlab/robot/trunk/mex/Makefile
Added CFLAGS=-std=c99 to ensure that //-style comments are handled.
------------------------------------------------------------------------
r962 | peter.i.corke@gmail.com | 2012-11-06 21:22:27 +1000 (Tue, 06 Nov 2012) | 1 line
Changed paths:
A /matlab/robot/trunk/examples/gait.m
M /matlab/robot/trunk/examples/walking.m
walking.m used an archaic version of the toolbox, and needs gait.m (now added)
------------------------------------------------------------------------
r961 | peter.i.corke@gmail.com | 2012-10-30 05:53:26 +1000 (Tue, 30 Oct 2012) | 1 line
Changed paths:
M /matlab/robot/trunk/Link.m
Bug fix to link concatenation code to support robot concatenation
------------------------------------------------------------------------
r960 | peter.i.corke@gmail.com | 2012-10-28 14:37:51 +1000 (Sun, 28 Oct 2012) | 6 lines
Changed paths:
M /matlab/robot/trunk/RangeBearingSensor.m
Rewrite code for range and angle limits: select features that match criteria then randomly sample, rather than other way around.
Changes to h() to support this, can return sensor observations for all features now
Serious bug: noise was not added to sensor output, now fixed.
Added a char method that invokes superclass char method.
Add support for animation using superclass plot method
Change instances of R to W, covariance, to match the book.
------------------------------------------------------------------------
r959 | peter.i.corke@gmail.com | 2012-10-28 14:34:56 +1000 (Sun, 28 Oct 2012) | 3 lines
Changed paths:
M /matlab/robot/trunk/ParticleFilter.m
Make w0 a parameter
Add option to disable animation
Add char and display methods to summarize the object state
------------------------------------------------------------------------
r958 | peter.i.corke@gmail.com | 2012-10-28 14:33:53 +1000 (Sun, 28 Oct 2012) | 2 lines
Changed paths:
M /matlab/robot/trunk/Sensor.m
Add plot method, shows animation of sensor detecting landmark.
char method now uses map.char() to display info about its map
------------------------------------------------------------------------
r953 | peter.i.corke@gmail.com | 2012-10-23 09:25:59 +1000 (Tue, 23 Oct 2012) | 4 lines
Changed paths:
M /matlab/robot/trunk/Link.m
M /matlab/robot/trunk/Prismatic.m
M /matlab/robot/trunk/Revolute.m
Allow a mixture of Revolute and Prismatic objects to be concatenated.
This requires a mod to Link to convert Revolute/Prismatic objects to the
equivalent Link object.
------------------------------------------------------------------------
r948 | peter.i.corke@gmail.com | 2012-10-21 12:33:44 +1000 (Sun, 21 Oct 2012) | 1 line
Changed paths:
M /matlab/robot/trunk/mdl_puma560.m
Modified to use Revolute link subclass
------------------------------------------------------------------------
r947 | peter.i.corke@gmail.com | 2012-10-21 12:32:07 +1000 (Sun, 21 Oct 2012) | 1 line
Changed paths:
A /matlab/robot/trunk/mdl_puma560_3.m
Model of first 3 links of Puma, useful for testing symbolic forms.
------------------------------------------------------------------------
r946 | peter.i.corke@gmail.com | 2012-10-21 12:30:29 +1000 (Sun, 21 Oct 2012) | 1 line
Changed paths:
M /matlab/robot/trunk/simulink/roblocks.mdl
Fix initial condition assignment for Robot block
------------------------------------------------------------------------
r945 | peter.i.corke@gmail.com | 2012-10-21 12:26:47 +1000 (Sun, 21 Oct 2012) | 1 line
Changed paths:
M /matlab/robot/trunk/Navigation.m
Support an SE(2) goal in the char() method
------------------------------------------------------------------------
r944 | peter.i.corke@gmail.com | 2012-10-21 12:26:15 +1000 (Sun, 21 Oct 2012) | 1 line
Changed paths:
M /matlab/robot/trunk/unit_test/PGraphTest.m
Extend tests for new PGraph directed edge capability
------------------------------------------------------------------------
r943 | peter.i.corke@gmail.com | 2012-10-21 12:25:56 +1000 (Sun, 21 Oct 2012) | 1 line
Changed paths:
M /matlab/robot/trunk/RRT.m
Significant changes in path() method to make it work when start and goal are swapped around. Also required changes in PGraph
------------------------------------------------------------------------
r941 | peter.i.corke@gmail.com | 2012-10-21 12:23:47 +1000 (Sun, 21 Oct 2012) | 1 line
Changed paths:
D /matlab/robot/trunk/simulink/sl_quadcopter.mdl
D /matlab/robot/trunk/simulink/sl_quadcopter_vs.mdl
A /matlab/robot/trunk/simulink/sl_quadrotor.mdl (from /matlab/robot/trunk/simulink/sl_quadcopter.mdl:909)
A /matlab/robot/trunk/simulink/sl_quadrotor_vs.mdl (from /matlab/robot/trunk/simulink/sl_quadcopter_vs.mdl:819)
Change quadcopter to quadrotor
------------------------------------------------------------------------
r935 | peter.i.corke@gmail.com | 2012-10-06 21:14:32 +1000 (Sat, 06 Oct 2012) | 2 lines
Changed paths:
M /matlab/robot/trunk/Link.m
A /matlab/robot/trunk/Prismatic.m
A /matlab/robot/trunk/Revolute.m
Add 2 subclasses of Link, update comments for Link class.
------------------------------------------------------------------------
r934 | peter.i.corke@gmail.com | 2012-10-06 21:13:38 +1000 (Sat, 06 Oct 2012) | 2 lines
Changed paths:
M /matlab/robot/trunk/eul2jac.m
Bug in the Jacobian, thanks to Erik van Oene for the fix.
------------------------------------------------------------------------
r921 | peter.i.corke@gmail.com | 2012-09-29 15:27:31 +1000 (Sat, 29 Sep 2012) | 2 lines
Changed paths:
M /matlab/robot/trunk/mdl_puma560.m
Rewritten using new Link object creation signature
------------------------------------------------------------------------
r920 | peter.i.corke@gmail.com | 2012-09-29 15:26:46 +1000 (Sat, 29 Sep 2012) | 4 lines
Changed paths:
M /matlab/robot/trunk/@SerialLink/SerialLink.m
M /matlab/robot/trunk/@SerialLink/coriolis.m
M /matlab/robot/trunk/@SerialLink/fkine.m
A /matlab/robot/trunk/@SerialLink/gencoords.m
A /matlab/robot/trunk/@SerialLink/genforces.m
M /matlab/robot/trunk/@SerialLink/jacobn.m
M /matlab/robot/trunk/@SerialLink/rne_dh.m
M /matlab/robot/trunk/Link.m
Modifications to support generation of symbolic expressions.
Significant changes to Link to support symbolics and also a new way
of expressing parameters using key/value parameter notation.
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r919 | peter.i.corke@gmail.com | 2012-09-29 15:15:56 +1000 (Sat, 29 Sep 2012) | 2 lines
Changed paths:
A /matlab/robot/trunk/mdl_ball.m
A /matlab/robot/trunk/mdl_coil.m
New models with large numbers of joints.
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