sot-core package from sot-core repo

sot-core

Package Summary

Tags No category tags.
Version 4.11.2
License BSD
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/stack-of-tasks/sot-core.git
VCS Type git
VCS Version devel
Last Updated 2020-11-18
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Hierarchical task solver plug-in for dynamic-graph

Additional Links

Maintainers

  • Olivier Stasse

Authors

  • Olivier Stasse
  • ostasse laas.fr

sot-core

License Pipeline status Coverage report

This software provides a set of dynamic graph plug-ins which can be used to define and solve hierarchical tasks.

Setup

To compile this package, it is recommended to create a separate build directory:

mkdir _build
cd _build
cmake [OPTIONS] ..
make install

Please note that CMake produces a CMakeCache.txt file which should be deleted to reconfigure a package from scratch.

CHANGELOG
CHANGELOG
----------------------


[v2.9.0]
 * Correct the exception catching
 * Fixes issue #19 : Remove wrong commands of python metatask FeaturePosition
 * Remove useless header.
 * Added type and dimension case for reference vector
 * Added possible posture ranges
 * Merge pull request #20 from francesco-morsillo/master
 * Correct documentation generation by adding sphinx.
 * Correct LD_LIBRARY_PATH for test and remove hard-coded 'plugin'
 * Synchronize.
 * Correct doxygen installation.
 * Correct sphinx documentation.
 * Add trajectory.hh in the installation scheme.
 * Add trajectory data structure.
 * First workable version of trajectories.
 * [cmake] Synchronize
 * Taking into account Thomas comments
 * Improved coding style.
 * Merge pull request #21 from olivier-stasse/master
 * Replace signals in/out by sin/sout to avoid python error.
 * Correct documentation.
 * [trajectory] Add waist signal + squash several commits.
 * Fix bug in reading initial trajectory from command line + minor fixes.
 * [tools] Add queue of trajectories in joint-trajectory-entity.
 * [cmake] Remove debug message in src/CMakeLists.txt

[v2.8.0]
 * Update CMakeLists.txt
 * Synchronize
 * Update lib installation path (multiarch portability).
 * Fix exportation of graph in a file
 * Fix a bug in FeaturePoint6dRelative
 * Add a command to clear features in Task class.
 * Merge pull request #12 from francesco-morsillo/master
 * Remove blank line at beggining of comment in command.
 * class MetaTaskRelative added to library with goto functions redefinition
 * Added tuple-matrix to generic6dReference conversion
 * Fixed bug in last commit
 * Added tuple-matrix to generic6dReference conversion
 * Merge branch 'master' of github.com:francesco-morsillo/sot-core
 * second order integration added in device
 * Working second order integration on device.cpp
 * Control in acceleration mode added in Device
 * Merge branch 'master' of git://github.com/jrl-umi3218/sot-core
 * Indentation adjustments
 * dummy commit
 * Changed command name from setNbDofs to setSize in sot.cpp
 * Working control on robot but dirty
 * Working 2nd_ord integration with command to set of velocity size
 * Deleted command to set velocity size (automatically set by setState)
 * Corrected commentary in thread_interruptible_loop.py
 * Added explicit set of velocity in device.cpp
 * [travis] Add Travis and coveralls.io support
 * [travis] Fix push URL
 * Update README.md
 * Remove unwanted files.
 * [travis] Add push token
 * Synchronize
 * Rename test traces into test_traces.
 * Fix test_traces dependencies
 * Merge pull request #11 from pal-robotics/master
 * Synchronize
 * Remove useless code (copy-pasted and unreachable).
 * Update Reader: add the python interface, remove the old one.
 * Update GripperControl: add the python interface, remove the old one.
 * Reintroduce WeightAdder.
 * Correct the path to the plugin directory of dynamic-graph.
 * Synchronize

[v2.7.0]
 * Do not import SE3, SO3 and R3 anymore
 * Move se3.py to sot-tools.
 * Add left multiplication by a float
 * Modify posture feature
 * Synchronize.
 * New python scripts.
 * Added the point 2d projecter in the python init list.
 * Minor modif of Meta task.
 * Added the oppoint modifier in the metatask 6d.
 * Added the quaternion among the python operator.
 * IVIGIT: added visual point projecter entity.
 * Fix bug in computation of error derivative when flags are not all set to 1.
 * Synchronize.
 * Add computation of error time derivative wrt to reference velocity
 * Fix sign of feedforward term in Task::computeTaskExponentialDecrease.
 * Import entity Add_of_vector.
 * Fix some assertion in operator.cpp
 * Initialize state estimation signal with initial state provided by command
 * Refactor Kalman filter
 * Add signal cast registerer for types VectorUTheta and VectorRollPitchYaw.
 * Rename FIRFilter signals to fix syntax error in python
 * Refactor FIRFilter template class
 * Fix Ubuntu 12.04 (64 bits) portability issues.
 * Enhance Adder operator
 * Fix documentation of Component_of_vector.
 * Add documentation in the operators.
 * Add a unary operator to select a component of vector as output of type double.
 * Do not create entities at module importation.
 * Optimize code to avoid dynamic allocation in control loop.
 * Fix force signal update.
 * Move signals errordotSIN and errordotSOUT up to class FeatureAbstract.
 * Add documentation for Task and Features.
 * Synchronize cmake submodule.
 * ivigit.
 * Enhance exception reporting in device.
 * Synchronize.
 * Correct the link with boost on Ubuntu 11.04.
 * Remouve output to standard output.
 * Fix gripper control
 * Add a wrapper around FeaturePoint6dRelative
 * Catch exceptions thrown by periodic calls.
 * Add selectDof method to FeaturePosture, install header.
 * Use DYNAMIC_GRAPH_ENTITY_DECL() when needed.
 * Synchronize python submodule.
 * Do not create entities at module importation.
 * Remove patch aimed at ensuring backward compatibility in sot/core/__init__.py.
 * Synchronize.
 * Completion of commit 2719691b816cc87.
 * GripperControl is not an entity.
 * Add copy constructor and make the destructor virtual for matrices/vectors.
 * Remove extra semi-colon
 * Remove warning
 * Correct a typo
 * Create a library for the integrators
 * Win32: force the creation of a library for the class fir-filter.
 * Win32: force the creation of a library for the class derivator
 * Correct solver-h-in for win32: correct header name and remove warnings
 * Correct sotMailBox for win32
 * Win32 comp: Correct the API of feature-posture.h
 * Correct the handling of python modules
 * Correct dependency of the unittests
 * Correct the link with boost
 * Some plugins can not be compiled with win32 for now...
 * Add missing symbol exportation
 * Correct the link with boost for Mac systems
 * Correct the suffix of the dynamic lib loaded according to the OS
 * For MacOsX and win32, use the definition of isnan provided by boost
 * Correct the link flags for mac OS X
 * Correct the Python_module handling
 * Clean cmake files by using the routines in cmake/python.cmake
 * Win32: Add missing header inclusion
 * Add missing using namespace
 * Win32: add the missing symbol import/export for some plugins
 * Do not cast signal into value, use accessCopy ().
 * Add boost-options to specify robot-controller library for testing purposes.
 * Test the intialization of a loadable library.

[v2.6.0]
 * Update FeaturePosition to recent changes in Entity class.
 * Do not generate files in the source directory.
 * Fix dummy test.
 * Update NEWS.
 * Explicit increment of the state signal to keep a safe behavior in problematic situation.  #Please enter the commit message for your changes. Lines starting
 * Minor correction on the graph dependency for error dot computation.
 * Added a patch to keep the previous behavior of the sdes signal.
 * Added a derivative term into the classical P.
 * Applied the withErrorDot pattern to the error generic.
 * Add the abstraction to get the errordotin from a heritance.
 * Added the WITH_ERRORDOT syntaxt for the generic features.
 * Account for the modif in feature.sdes.
 * Propagate the modif in the tasks and the solver.
 * Account for the modif in the feature.
 * Account for the modifs in the feature.
 * Modify the task and solver to account for the new policy of the feature.
 * Modify the policy to handle reference feature.
 * Rebase conflicts.
 * Synchronize cmake submodule.
 * Do not link to gfortran.
 * Do not define PYTHON_SITELIB.
 * Fix compilation issues on x86_64 architectures.
 * Install headers in include/sot/core.
 * Change vector to map, and make more general the control part.
 * Add abstract SoT external interface for robot/simulator specific implementation.
 * Remove PYTHON-SITE computation (now in cmake/python.cmake)
 * Synchronize
 * Remove feature-posture from the inclusion with python.
 * Revert "The suffix for dynamic libraries for mac is .dylib"
 * Revert "Correct the link flags for mac OS X"
 * Revert "std::min(unsigned, size_t) is not standard: forcing the cast in std:min(unsigned, unsigned)"
 * Revert "isnan is not defined for mac, defining one"
 * Revert "Temporary patch: deactivate some tests for mac for link reasons"
 * Revert "Correct the link with Boost for Apple"
 * Revert "Correct the definition of isnan for not unix systems: use Boost's one"
 * Revert "Mac: Reintroduce the two deactivated unit tests"
 * ivigit.
 * Fix temporary the tools/smooth-reach issue.
 * Mac: Reintroduce the two deactivated unit tests
 * Correct the definition of isnan for not unix systems: use Boost's one
 * Correct the link with Boost for Apple
 * Temporary patch: deactivate some tests for mac for link reasons
 * isnan is not defined for mac, defining one
 * std::min(unsigned, size_t) is not standard: forcing the cast in std:min(unsigned, unsigned)
 * Correct the link flags for mac OS X
 * The suffix for dynamic libraries for mac is .dylib
 * [debian] Correct the librarie name for installing.
 * [debian] Change version number needed for libsotcore
 * [debian] Fix pb of dependencies version.
 * [debian] Update de shlibs.
 * Modify changelog.
 * Update rules for debian binaries.
 * [debian] Fix shlibs, rules, install directives and version for package generation.
 * Uses DYNAMIC_GRAPH_ENTITY_DECL() when needed.
 * Add selectDof method to FeaturePosture, install header.
 * Changes feature-posture.h to feature-posture.hh
 * Synchronize from the state time rather than the control time.
 * Added a getter for reading the frame type.
 * Corrected the call to the former syntax of the pool.
 * Added smooth reach.
 * ivigit.
 * Synchronize submodule.

[v2.5]
 * Removing trailing ws.
 * Account for the Entity::getClassName becoming pure virtual.
 * dynamicgraph::sot is now a singleton
 * Merge unary-op and binary op in the same plug-in
 * Fix inclusion guards.
 * Do not import unary-op and binary-op at python module initialization
 * PoolStorage and FactoryStorage are now singletons.
 * Make valgrind happier
 * Pass tests with success
 * Specialize MatrixHomogeneous::inverse and add test.
 * Overload MatrixHomogeneous::operator*.
 * Fix test matrix-twist.
 * Outline constructor of MatrixHomogeneous.
 * Add FeaturePosture to control robot posture.
 * Fix computation of joint limitator
 * Port joint-limitator to Python.
 * Add clear command to sot.
 * Add display command
 * IVIGIT.
 * Passed tsak-pd to sot-py.
 * Added new-style commands.
 * Corrected small-math entities after previous modifs.
 * Correction of capital letter in matrixHomo name.
 * Corrected indentation.
 * Removed trailing white spaces.
 * Minor rewriting.
 * Reforge for new-style command.
 * Add commands "remove", "up" and "down" in SOT entity.
 * Added some doc.
 * Corrected a big bug for multiple-feature task.
 * Op-point modifior for world-ref jacobian modif(oJA, aMb) = oJb.
 * Temptative with world-ref jacobian as input.
 * Corrected the world-ref jacobian modification.
 * Added a modifior for world-ref jacobian.
 * Added a tracer for matrix homo.
 * Added an initializer from passing point.
 * Refactoring of the unitary ops.
 * Passed 'integration' as virtual.
 * Added construction from matrix (conversion).
 * Correct typo: select -> selec.
 * Add cross product for R3.
 * Add a member to store the free flyer pose in Device.
 * Add method to output vector and matrices as tuples.
 * Replace . by _ in signal and entity names.
 * Add periodic calls in Device.
 * Add debug output.
 * Fix namespace issue: sot:: -> dynamicgraph::sot::.
 * Add missing dynamicgraph:: in debug.hh.
 * Add support for debug output (sotDEBUG).
 * Fix Entity.__setattr___ and feature_position crash.
 * Fix OpPointModifier and add test cases.
 * Passed the periodic call class to python new-style command.
 * Use namespace dynamicgraph::sot where required.
 * Upgrade to previous changes.
 * Include new headers.
 * Insert new classes in dynamicgraph::sot.
 * Add test cases for MatrixTwist.
 * Fix MatrixTwist inversion implementation.
 * sot-core/periodic-call[-entity].h -> sot/core/periodic-call[-entity].hh
 * Remove remaining >>>>> in include/CMakeLists.
 * Move headers in new directories.
 * Device::state -> Device.state_.
 * Move headers in include/sot/core and rename .h into .hh.
 * Reintroduce robot-simu.cpp.
 * Reintroduce robotSimu.
 * Make Device destructor virual.
 * Use api.hh.
 * Insert classes into dynamicgraph::sot namespace
 * Rename class RobotSimu into Device.
 * Add tests for MatrixTwist.
 * Link against Boost unit test framework.
 * Export FeatureVisualPoint entity in Python.
 * Specify full namespace ::sot::sotDEBUGFLOW for compatibility with dg::sot.
 * Put back the dirty removal of periodic call, that is usefull indeed.
 * Removed signal-cast.h from the cmakelist.
 * Removed noew unecessary header.
 * Added ignore on matlab bak files.
 * Reforge the implementation of the standards sot-core cast.
 * Solve a #include problem with new-style command.
 * Removed unnecessary header.
 * Correct "caps" error.
 * Modify the indentation.
 * Modify the writting of new-style commands.
 * Revert "Set version number as 1.99."
 * Added all small entities to python initial loading.
 * remove "<>" style of entities name.
 * Remove warning "empty macro args."
 * Rename the signals for all small math entities: in/out -> sin/sout.
 * Removed trailing white space.
 * Changed the name of the small math entity "derivator": in/out -> sin/sout.
 * Modified the initialiazor of python, to add various small math entities such as Derivator_matrix.
 * IVIGIT.
 * Simplify the command.
 * Set version number as 1.99.
 * Remove tools/periodic-call from src/CMakeLists.txt
 * Remove periodic call related files.
 * Corrected op-point-modifier to fit the new command rules.
 * Put back periodic call inside the lib, to avoid undefined symbols.
 * Update with recent changes in dynamic-graph
 * Removed trailing white spaces.
 * Removed trailing white spaces.
 * Added the OpPointModifier in the python initialisation.
 * Changed the name of the factory constructor, to comply with the name of the c++ objects and files.
 * Added the servoCurrentPosition method, and the associated command.
 * Added an accessor on the feature list.
 * Make FeaturePosition derive from Entity.
 * Fix error in OpPointModifier constructor.
 * Upgrade FeaturePosition
 * Synchronize cmake submodule.
 * By default all DOFs are on in feature_position.py.
 * Add feature_position.py.
 * Synchronize.
 * Add BOOST_ROOT/lib to the CTest LD_LIBRARY_PATH environment variable.
 * When solver has no contraint, control vector and state vector have same size.
 * Cosmetic changes: add comments here and there.
 * If constructor of SO3 is empty, return identity matrix.
 * Document and install se3.py file
 * Import MatrixHomoToPoseRollPitchYaw entity class at initialization.
 * Implement homogeneous matrix in python.
 * Add signal cast registration for matrix rotation.
 * Cosmetic change.
 * Replace const FeatureAbstract*& by FeatureAbstract*
 * Do not register function setflag anymore.
 * Expand some macros for better readablility.
 * Comment some more python bindings.
 * Add documentation for python bindings.
 * Add and bind commands addConstraint, setNumberDofs and push to Sot Entity class.
 * Add and bind command addJacobian to Constraint entity class.
 * Add and bind command actuate to FeatureJointLimits.
 * Add and bind command frame to FeaturePoint6d.
 * Add commands SetConstant and Set to GainAdaptive
 * Add command AddFeature in sot::Task
 * Declare MatrixHomogeneous as signal compatible type
 * Remove declaration of maal matrix and vector types -> moved into dynamic-graph.
 * Remove AdditionalFunctions::cmdMatrixDisplay.
 * Replace SOT_FACTORY_TASK_PLUGIN by DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN.
 * Merge feature and task factory with entity factory.
 * Rename entity classes that have bracket in the name.
 * Add a namespace in front of command class name.
 * Bind class MatrixConstant
 * Synchronize cmake submodule.
 * Build python modules in the same directory hierarchy as when installed
 * Add a command to set the value of a constant vector signal
 * Bind tools/robot-simu.
 * Bind matrix/vector-constant
 * Synchronize
 * Install one python module for sot-core and one submodule per plugin
 * Remove trailing whitespaces.
 * Add namespace command before class Increment.
 * Bind RobotSimu in python
 * Synchronize

[v1.1.1]
 * Add BOOST_ROOT/lib to the CTest LD_LIBRARY_PATH environment variable.
 * Synchronize.
 * Replace #ifdef DEBUG by #ifndef NDEBUG
 * Fix cmake url.
 * Change cmake url.
 * Synchronize
 * Synchronize
 * Synchronize
 * Synchronize
 * Synchronize
 * Add index switching for proper interaction matrix initialization.
 * Correct wrong initialization of the 6D interaction matrix.
 * Set LD_LIBRARY_PATH when being in cmake mode.
 * Changed plugin paths.
 * Add missing SETUP_PROJECT_CPACK()
 * Corrected search for boost.
 * Synchronize.
 * Remove unnecessary folder
 * Correct the suffix for the link with an external library
 * Start cleaning the submodules
 * Fix unused parameters warnings
 * Fix unwanted race condition in test_mailbox
 * Fix warnings
 * Remove HAVE_LIBBOOST_THREAD
 * Remove useless ;
 * Remove the macro HAVE_LIBBOOST_THREAD
 * Add cmake submodule.
 * Remove cmake directory.
 * Remove useless ;
 * Synchronize
 * Corrected wrong library suffix for plugins (by definition, always *shared* libraries)
 * Fix warnings.
 * Correct the links for the tests
 * Synchronize.
 * Fix header path.
 * Set PROJECT_URL in CMakeListst.txt.
 * Fix TAGFILES in Doxyfile.extra.in.
 * Fix pkg-config file: add -lsot-core to libs.
 * Updated documentation; corrected the output location of package.dox
 * Updated documentation.
 * Synchronize.
 * Fix plug-in dependencies.
 * Rename MatrixAbstractLayer to jrl-mal, enhance documentation.
 * Synchronize.
 * Synchronize.
 * Switch to submodule.
 * Updated documentation.
 * Reintroduction of the patch for fortran/win32/cmake
 * Added default option for documentation generation (temporary, will disappear with the standardized cmake submodule)
 * Added documentation (ha ha).
 * Correct the generation of the documentation
 * Added missing link library.
 * Revert "Fix linking and compilation to fix undefined symbols problems." - the undefined symbols problems warrant further investigation.
 * Fix linking and compilation to fix undefined symbols problems.
 * Removed import commands from sot-core.
 * Add missing dependencies.
 * Update build number of the debian package.

[v1.1.0]
 * Release 1.1
 * Add missing build dependencies.
 * Extend description of Debian package.
 * Packages libraries in Debian package.
 * Fix debian package.
 * Fix debian rules file.
 * Fix documentation generation.
 * Disable test and enable doc while building debian package.
 * Fix dependency version number in Debian package.
 * Update version number to 1.0.0.99.
 * Clean documentation CMakeLists.txt
 * Debianize package.
 * Add license header.
 * Add mailmap file.
 * Add license file.
 * Enhance README using Markdown syntax.
 * Uniformize NEWS file.
 * Rewrite AUTHORS file.
 * Remove obsolete autogen.sh file.

[v1.1]

[release-1-1]
 * Made exceptions derive from std::exception
 * Win32: LoadLibrary loads *dynamic* libraries.
 * Removed all references to new entities.
 * Re-added accidentally deleted entity.
 * Re-added deleted overload of Matrixhomo::extract
 * - Added new test test_ptrcast to try (and fail) to reproduce signal casting issue in simulation - Added 2 new entities, HomoToRotation/Twist2 whose output is a ('standard') ml::Matrix
 * Added helper entity "MatrixRotToMatrix" to convert types where the dynamic type verification system fails.
 * Removed debug trace initiator which caused a segfault.
 * Changed MatrixRotation in signal cast.
 * Namespace missing.
 * Namespace missing.
 * Corrected opening of trace files.
 * Removed VP_DEBUG references.
 * Added doxytag reference to dynamic-graph.
 * Added documentation to sot-core
 * - Removed last occurences of CMAKE_INSTALL_PREFIX - Updated documentation pictures
 * Removed CMAKE_INSTALL_PREFIX in INSTALL directive.
 * Added gfortran CMake linking.
 * Added gfortran as a link library.
 * Changed import-default-paths configuration to generate the file in source include directory *then* install.
 * sotFeatureTask depends on sotTask, not sotAbstractTask
 * Revert "Ported commit 53ef45d27b77 from StackOfTasks."
 * Ported commit 53ef45d27b77 from StackOfTasks.
 * Renamed sotVectorRotation
 * Removed distant shell (now in dg-middleware)
 * Fix Mailbox once and for all
 * Clean the code
 * There is no reason to define mailvect in the template file
 * Settled down the case of mailbox.
 * Add missing CXX flags for the unit tests.
 * More tests for test_mailbox
 * Split the declaration and the imnplementation in mailbox
 * Still fighting with mailbox
 * Correct macro name
 * Settle the case of Mailbox
 * Win32: the command link_directories has a wrong behaviour
 * Removed redundant definition -pthread
 * Added pthread definition on UNIX.
 * Added pthread *compilation* flag; for UNIX.
 * Modified pthread linking following compilation error with boost::thread.
 * Made sure pthreads were included. Simplified the unit test test_mailbox that previously *required user input*.
 * Added boost thread library. Added pthread library and compilation & link flags. Corrected multiple small bugs. Added CMakeModules for pthread and boost numeric bindings. Corrected some tests.
 * Clean the unitTesting/CMakeLists
 * Correct inclusions for win32
 * Correct the inclusion of utils-windows.h
 * Correct the inclusion of utils-windows.h
 * Correct the declaration of operator <<
 * Added control entities to sot-core.
 * Made boost_thread inclusion optional and dependent on HAVE_LIBBOOST_THREAD
 * Removed wrong include in CMakeLists.
 * Added three tests for tools and renamed one.
 * Remove warnings (during conversion unsigned -> bool)
 * Remove warning (fabsf -> fabs)
 * Revert "kalman must use the API of sot-core"
 * Revert "joint-limitator must use the API of sot-core"
 * Revert "Gripper-control must use the API of sot-core"
 * Revert "Distant-shell must use the API of sot-core"
 * Revert "com-freezer must use the API of sot-core"
 * Revert "clamp must use the API of sot-core"
 * Added some necessary comments in Cmakelists
 * Got some tools out of the main library and into plugins, as they should have been.
 * kalman must use the API of sot-core
 * joint-limitator must use the API of sot-core
 * Gripper-control must use the API of sot-core
 * Distant-shell must use the API of sot-core
 * com-freezer must use the API of sot-core
 * clamp must use the API of sot-core
 * Add a gitignore file.
 * The dependency in tracer is OS specific
 * These commands are unix specific
 * Win32: Correct link flags for unittesting
 * Win32: correct the linkage
 * Added forgotten file.
 * Inter-plugins dependency: set the compilation order
 * Added plugins and exceptions.
 * Add dependencies between plugins
 * In this specific case, link_directories is only for UNIX
 * The boost library 'system' is also required
 * Win32: add definitions that disable verbose warnings
 * Remove a header generated by cmake from git repository
 * Correct the inclusion and use of utils-windows.h
 * Correct typo in macro name
 * SHI must use the API of sot-core
 * Correct typo in macro name
 * Rotation-simple must use the API of sot-core
 * Correct typo in macro name
 * Correct typo in macro name
 * Memory-task must use the API of sot-API
 * Contiifstream must use the API of sot-API
 * Added MotionPeriod, NeckLimitation and PeriodicCallEntity plugins.
 * Added three tools.
 * Added uninstall.
 * Added 3 tools. Some minor corrections (such as correctly exporting classes in plugins)
 * Modified CMakeLists.txt to remove multiple definitions and include dirs.
 * Task-related unit tests and corrections.
 * Corrected a bug that stemmed from the renaming of GainAdaptive (thanks unit testing!) Added unit tests for filesystem and tracing.
 * Added plugin "Reader" to read files generated by "Tracer".
 * Fix dependancy to dependency
 * Corrected typo in gain-adaptative and related names.
 * Corrected typo in op-point-modifier.
 * Changed all instances of 'dependancy' to 'dependency'
 * Corrected an error in test_factory
 * Added new test test_factory
 * Added two unit tests, removed a tool
 * Removed "using dynamicgraph" directives in headers, implemented resulting changes.
 * Added forgotten test file test_ptr.cpp
 * Added forgotten test file test_depend.cpp
 * Added forgotten test file test_dep.cpp
 * Added tools in sot-core
 * Added tools/ directory for... tools. Some corrections in the unit testing facility.
 * Corrected installation path and name of plugins. Some minor bugfixes.
 * Added plugins compilation and installation to CMakeFiles. Started separating plugins from sot-core.
 * Added LAPACK library dependencies in FORTRAN. Adjusted for a change in singletons names from dynamicgraph.
 * More refactoring. Removed undertermination between sot::Pool and dynamicgraph::Pool in pool.cpp. Added cmake configure for import-default-paths.
 * Finished renaming of SOT objects.
 * Removed test test_shell which was already included in dynamic graph.
 * Only generate documentation if GENERATE_DOC is ON.
 * Added forgotten file test_signal.cpp
 * Added forgotten cpp files.
 * Changed order of compilation of some .cpp files to prevent mysterious Segmentation Fault(s) from appearing.
 * Some bug fixes.
 * Put everything in namespace sot (global objects included). Corrected some resulting bugs.
 * Begin renamind classes and putting them into namespace sot.
 * Renaming of sot and tasks (renaming complete).
 * Renamed math and matrix files. Added files forgotten in last commit.
 * Renamed factory files
 * Renamed exceptions, signals and debug to conform to new naming convention.
 * Added source files for library sot-core taken from sot.
 * Created package sot-core.


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sot-core package from sot-core repo

sot-core

Package Summary

Tags No category tags.
Version 4.11.2
License BSD
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/stack-of-tasks/sot-core.git
VCS Type git
VCS Version devel
Last Updated 2020-11-18
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Hierarchical task solver plug-in for dynamic-graph

Additional Links

Maintainers

  • Olivier Stasse

Authors

  • Olivier Stasse
  • ostasse laas.fr

sot-core

License Pipeline status Coverage report

This software provides a set of dynamic graph plug-ins which can be used to define and solve hierarchical tasks.

Setup

To compile this package, it is recommended to create a separate build directory:

mkdir _build
cd _build
cmake [OPTIONS] ..
make install

Please note that CMake produces a CMakeCache.txt file which should be deleted to reconfigure a package from scratch.

CHANGELOG
CHANGELOG
----------------------


[v2.9.0]
 * Correct the exception catching
 * Fixes issue #19 : Remove wrong commands of python metatask FeaturePosition
 * Remove useless header.
 * Added type and dimension case for reference vector
 * Added possible posture ranges
 * Merge pull request #20 from francesco-morsillo/master
 * Correct documentation generation by adding sphinx.
 * Correct LD_LIBRARY_PATH for test and remove hard-coded 'plugin'
 * Synchronize.
 * Correct doxygen installation.
 * Correct sphinx documentation.
 * Add trajectory.hh in the installation scheme.
 * Add trajectory data structure.
 * First workable version of trajectories.
 * [cmake] Synchronize
 * Taking into account Thomas comments
 * Improved coding style.
 * Merge pull request #21 from olivier-stasse/master
 * Replace signals in/out by sin/sout to avoid python error.
 * Correct documentation.
 * [trajectory] Add waist signal + squash several commits.
 * Fix bug in reading initial trajectory from command line + minor fixes.
 * [tools] Add queue of trajectories in joint-trajectory-entity.
 * [cmake] Remove debug message in src/CMakeLists.txt

[v2.8.0]
 * Update CMakeLists.txt
 * Synchronize
 * Update lib installation path (multiarch portability).
 * Fix exportation of graph in a file
 * Fix a bug in FeaturePoint6dRelative
 * Add a command to clear features in Task class.
 * Merge pull request #12 from francesco-morsillo/master
 * Remove blank line at beggining of comment in command.
 * class MetaTaskRelative added to library with goto functions redefinition
 * Added tuple-matrix to generic6dReference conversion
 * Fixed bug in last commit
 * Added tuple-matrix to generic6dReference conversion
 * Merge branch 'master' of github.com:francesco-morsillo/sot-core
 * second order integration added in device
 * Working second order integration on device.cpp
 * Control in acceleration mode added in Device
 * Merge branch 'master' of git://github.com/jrl-umi3218/sot-core
 * Indentation adjustments
 * dummy commit
 * Changed command name from setNbDofs to setSize in sot.cpp
 * Working control on robot but dirty
 * Working 2nd_ord integration with command to set of velocity size
 * Deleted command to set velocity size (automatically set by setState)
 * Corrected commentary in thread_interruptible_loop.py
 * Added explicit set of velocity in device.cpp
 * [travis] Add Travis and coveralls.io support
 * [travis] Fix push URL
 * Update README.md
 * Remove unwanted files.
 * [travis] Add push token
 * Synchronize
 * Rename test traces into test_traces.
 * Fix test_traces dependencies
 * Merge pull request #11 from pal-robotics/master
 * Synchronize
 * Remove useless code (copy-pasted and unreachable).
 * Update Reader: add the python interface, remove the old one.
 * Update GripperControl: add the python interface, remove the old one.
 * Reintroduce WeightAdder.
 * Correct the path to the plugin directory of dynamic-graph.
 * Synchronize

[v2.7.0]
 * Do not import SE3, SO3 and R3 anymore
 * Move se3.py to sot-tools.
 * Add left multiplication by a float
 * Modify posture feature
 * Synchronize.
 * New python scripts.
 * Added the point 2d projecter in the python init list.
 * Minor modif of Meta task.
 * Added the oppoint modifier in the metatask 6d.
 * Added the quaternion among the python operator.
 * IVIGIT: added visual point projecter entity.
 * Fix bug in computation of error derivative when flags are not all set to 1.
 * Synchronize.
 * Add computation of error time derivative wrt to reference velocity
 * Fix sign of feedforward term in Task::computeTaskExponentialDecrease.
 * Import entity Add_of_vector.
 * Fix some assertion in operator.cpp
 * Initialize state estimation signal with initial state provided by command
 * Refactor Kalman filter
 * Add signal cast registerer for types VectorUTheta and VectorRollPitchYaw.
 * Rename FIRFilter signals to fix syntax error in python
 * Refactor FIRFilter template class
 * Fix Ubuntu 12.04 (64 bits) portability issues.
 * Enhance Adder operator
 * Fix documentation of Component_of_vector.
 * Add documentation in the operators.
 * Add a unary operator to select a component of vector as output of type double.
 * Do not create entities at module importation.
 * Optimize code to avoid dynamic allocation in control loop.
 * Fix force signal update.
 * Move signals errordotSIN and errordotSOUT up to class FeatureAbstract.
 * Add documentation for Task and Features.
 * Synchronize cmake submodule.
 * ivigit.
 * Enhance exception reporting in device.
 * Synchronize.
 * Correct the link with boost on Ubuntu 11.04.
 * Remouve output to standard output.
 * Fix gripper control
 * Add a wrapper around FeaturePoint6dRelative
 * Catch exceptions thrown by periodic calls.
 * Add selectDof method to FeaturePosture, install header.
 * Use DYNAMIC_GRAPH_ENTITY_DECL() when needed.
 * Synchronize python submodule.
 * Do not create entities at module importation.
 * Remove patch aimed at ensuring backward compatibility in sot/core/__init__.py.
 * Synchronize.
 * Completion of commit 2719691b816cc87.
 * GripperControl is not an entity.
 * Add copy constructor and make the destructor virtual for matrices/vectors.
 * Remove extra semi-colon
 * Remove warning
 * Correct a typo
 * Create a library for the integrators
 * Win32: force the creation of a library for the class fir-filter.
 * Win32: force the creation of a library for the class derivator
 * Correct solver-h-in for win32: correct header name and remove warnings
 * Correct sotMailBox for win32
 * Win32 comp: Correct the API of feature-posture.h
 * Correct the handling of python modules
 * Correct dependency of the unittests
 * Correct the link with boost
 * Some plugins can not be compiled with win32 for now...
 * Add missing symbol exportation
 * Correct the link with boost for Mac systems
 * Correct the suffix of the dynamic lib loaded according to the OS
 * For MacOsX and win32, use the definition of isnan provided by boost
 * Correct the link flags for mac OS X
 * Correct the Python_module handling
 * Clean cmake files by using the routines in cmake/python.cmake
 * Win32: Add missing header inclusion
 * Add missing using namespace
 * Win32: add the missing symbol import/export for some plugins
 * Do not cast signal into value, use accessCopy ().
 * Add boost-options to specify robot-controller library for testing purposes.
 * Test the intialization of a loadable library.

[v2.6.0]
 * Update FeaturePosition to recent changes in Entity class.
 * Do not generate files in the source directory.
 * Fix dummy test.
 * Update NEWS.
 * Explicit increment of the state signal to keep a safe behavior in problematic situation.  #Please enter the commit message for your changes. Lines starting
 * Minor correction on the graph dependency for error dot computation.
 * Added a patch to keep the previous behavior of the sdes signal.
 * Added a derivative term into the classical P.
 * Applied the withErrorDot pattern to the error generic.
 * Add the abstraction to get the errordotin from a heritance.
 * Added the WITH_ERRORDOT syntaxt for the generic features.
 * Account for the modif in feature.sdes.
 * Propagate the modif in the tasks and the solver.
 * Account for the modif in the feature.
 * Account for the modifs in the feature.
 * Modify the task and solver to account for the new policy of the feature.
 * Modify the policy to handle reference feature.
 * Rebase conflicts.
 * Synchronize cmake submodule.
 * Do not link to gfortran.
 * Do not define PYTHON_SITELIB.
 * Fix compilation issues on x86_64 architectures.
 * Install headers in include/sot/core.
 * Change vector to map, and make more general the control part.
 * Add abstract SoT external interface for robot/simulator specific implementation.
 * Remove PYTHON-SITE computation (now in cmake/python.cmake)
 * Synchronize
 * Remove feature-posture from the inclusion with python.
 * Revert "The suffix for dynamic libraries for mac is .dylib"
 * Revert "Correct the link flags for mac OS X"
 * Revert "std::min(unsigned, size_t) is not standard: forcing the cast in std:min(unsigned, unsigned)"
 * Revert "isnan is not defined for mac, defining one"
 * Revert "Temporary patch: deactivate some tests for mac for link reasons"
 * Revert "Correct the link with Boost for Apple"
 * Revert "Correct the definition of isnan for not unix systems: use Boost's one"
 * Revert "Mac: Reintroduce the two deactivated unit tests"
 * ivigit.
 * Fix temporary the tools/smooth-reach issue.
 * Mac: Reintroduce the two deactivated unit tests
 * Correct the definition of isnan for not unix systems: use Boost's one
 * Correct the link with Boost for Apple
 * Temporary patch: deactivate some tests for mac for link reasons
 * isnan is not defined for mac, defining one
 * std::min(unsigned, size_t) is not standard: forcing the cast in std:min(unsigned, unsigned)
 * Correct the link flags for mac OS X
 * The suffix for dynamic libraries for mac is .dylib
 * [debian] Correct the librarie name for installing.
 * [debian] Change version number needed for libsotcore
 * [debian] Fix pb of dependencies version.
 * [debian] Update de shlibs.
 * Modify changelog.
 * Update rules for debian binaries.
 * [debian] Fix shlibs, rules, install directives and version for package generation.
 * Uses DYNAMIC_GRAPH_ENTITY_DECL() when needed.
 * Add selectDof method to FeaturePosture, install header.
 * Changes feature-posture.h to feature-posture.hh
 * Synchronize from the state time rather than the control time.
 * Added a getter for reading the frame type.
 * Corrected the call to the former syntax of the pool.
 * Added smooth reach.
 * ivigit.
 * Synchronize submodule.

[v2.5]
 * Removing trailing ws.
 * Account for the Entity::getClassName becoming pure virtual.
 * dynamicgraph::sot is now a singleton
 * Merge unary-op and binary op in the same plug-in
 * Fix inclusion guards.
 * Do not import unary-op and binary-op at python module initialization
 * PoolStorage and FactoryStorage are now singletons.
 * Make valgrind happier
 * Pass tests with success
 * Specialize MatrixHomogeneous::inverse and add test.
 * Overload MatrixHomogeneous::operator*.
 * Fix test matrix-twist.
 * Outline constructor of MatrixHomogeneous.
 * Add FeaturePosture to control robot posture.
 * Fix computation of joint limitator
 * Port joint-limitator to Python.
 * Add clear command to sot.
 * Add display command
 * IVIGIT.
 * Passed tsak-pd to sot-py.
 * Added new-style commands.
 * Corrected small-math entities after previous modifs.
 * Correction of capital letter in matrixHomo name.
 * Corrected indentation.
 * Removed trailing white spaces.
 * Minor rewriting.
 * Reforge for new-style command.
 * Add commands "remove", "up" and "down" in SOT entity.
 * Added some doc.
 * Corrected a big bug for multiple-feature task.
 * Op-point modifior for world-ref jacobian modif(oJA, aMb) = oJb.
 * Temptative with world-ref jacobian as input.
 * Corrected the world-ref jacobian modification.
 * Added a modifior for world-ref jacobian.
 * Added a tracer for matrix homo.
 * Added an initializer from passing point.
 * Refactoring of the unitary ops.
 * Passed 'integration' as virtual.
 * Added construction from matrix (conversion).
 * Correct typo: select -> selec.
 * Add cross product for R3.
 * Add a member to store the free flyer pose in Device.
 * Add method to output vector and matrices as tuples.
 * Replace . by _ in signal and entity names.
 * Add periodic calls in Device.
 * Add debug output.
 * Fix namespace issue: sot:: -> dynamicgraph::sot::.
 * Add missing dynamicgraph:: in debug.hh.
 * Add support for debug output (sotDEBUG).
 * Fix Entity.__setattr___ and feature_position crash.
 * Fix OpPointModifier and add test cases.
 * Passed the periodic call class to python new-style command.
 * Use namespace dynamicgraph::sot where required.
 * Upgrade to previous changes.
 * Include new headers.
 * Insert new classes in dynamicgraph::sot.
 * Add test cases for MatrixTwist.
 * Fix MatrixTwist inversion implementation.
 * sot-core/periodic-call[-entity].h -> sot/core/periodic-call[-entity].hh
 * Remove remaining >>>>> in include/CMakeLists.
 * Move headers in new directories.
 * Device::state -> Device.state_.
 * Move headers in include/sot/core and rename .h into .hh.
 * Reintroduce robot-simu.cpp.
 * Reintroduce robotSimu.
 * Make Device destructor virual.
 * Use api.hh.
 * Insert classes into dynamicgraph::sot namespace
 * Rename class RobotSimu into Device.
 * Add tests for MatrixTwist.
 * Link against Boost unit test framework.
 * Export FeatureVisualPoint entity in Python.
 * Specify full namespace ::sot::sotDEBUGFLOW for compatibility with dg::sot.
 * Put back the dirty removal of periodic call, that is usefull indeed.
 * Removed signal-cast.h from the cmakelist.
 * Removed noew unecessary header.
 * Added ignore on matlab bak files.
 * Reforge the implementation of the standards sot-core cast.
 * Solve a #include problem with new-style command.
 * Removed unnecessary header.
 * Correct "caps" error.
 * Modify the indentation.
 * Modify the writting of new-style commands.
 * Revert "Set version number as 1.99."
 * Added all small entities to python initial loading.
 * remove "<>" style of entities name.
 * Remove warning "empty macro args."
 * Rename the signals for all small math entities: in/out -> sin/sout.
 * Removed trailing white space.
 * Changed the name of the small math entity "derivator": in/out -> sin/sout.
 * Modified the initialiazor of python, to add various small math entities such as Derivator_matrix.
 * IVIGIT.
 * Simplify the command.
 * Set version number as 1.99.
 * Remove tools/periodic-call from src/CMakeLists.txt
 * Remove periodic call related files.
 * Corrected op-point-modifier to fit the new command rules.
 * Put back periodic call inside the lib, to avoid undefined symbols.
 * Update with recent changes in dynamic-graph
 * Removed trailing white spaces.
 * Removed trailing white spaces.
 * Added the OpPointModifier in the python initialisation.
 * Changed the name of the factory constructor, to comply with the name of the c++ objects and files.
 * Added the servoCurrentPosition method, and the associated command.
 * Added an accessor on the feature list.
 * Make FeaturePosition derive from Entity.
 * Fix error in OpPointModifier constructor.
 * Upgrade FeaturePosition
 * Synchronize cmake submodule.
 * By default all DOFs are on in feature_position.py.
 * Add feature_position.py.
 * Synchronize.
 * Add BOOST_ROOT/lib to the CTest LD_LIBRARY_PATH environment variable.
 * When solver has no contraint, control vector and state vector have same size.
 * Cosmetic changes: add comments here and there.
 * If constructor of SO3 is empty, return identity matrix.
 * Document and install se3.py file
 * Import MatrixHomoToPoseRollPitchYaw entity class at initialization.
 * Implement homogeneous matrix in python.
 * Add signal cast registration for matrix rotation.
 * Cosmetic change.
 * Replace const FeatureAbstract*& by FeatureAbstract*
 * Do not register function setflag anymore.
 * Expand some macros for better readablility.
 * Comment some more python bindings.
 * Add documentation for python bindings.
 * Add and bind commands addConstraint, setNumberDofs and push to Sot Entity class.
 * Add and bind command addJacobian to Constraint entity class.
 * Add and bind command actuate to FeatureJointLimits.
 * Add and bind command frame to FeaturePoint6d.
 * Add commands SetConstant and Set to GainAdaptive
 * Add command AddFeature in sot::Task
 * Declare MatrixHomogeneous as signal compatible type
 * Remove declaration of maal matrix and vector types -> moved into dynamic-graph.
 * Remove AdditionalFunctions::cmdMatrixDisplay.
 * Replace SOT_FACTORY_TASK_PLUGIN by DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN.
 * Merge feature and task factory with entity factory.
 * Rename entity classes that have bracket in the name.
 * Add a namespace in front of command class name.
 * Bind class MatrixConstant
 * Synchronize cmake submodule.
 * Build python modules in the same directory hierarchy as when installed
 * Add a command to set the value of a constant vector signal
 * Bind tools/robot-simu.
 * Bind matrix/vector-constant
 * Synchronize
 * Install one python module for sot-core and one submodule per plugin
 * Remove trailing whitespaces.
 * Add namespace command before class Increment.
 * Bind RobotSimu in python
 * Synchronize

[v1.1.1]
 * Add BOOST_ROOT/lib to the CTest LD_LIBRARY_PATH environment variable.
 * Synchronize.
 * Replace #ifdef DEBUG by #ifndef NDEBUG
 * Fix cmake url.
 * Change cmake url.
 * Synchronize
 * Synchronize
 * Synchronize
 * Synchronize
 * Synchronize
 * Add index switching for proper interaction matrix initialization.
 * Correct wrong initialization of the 6D interaction matrix.
 * Set LD_LIBRARY_PATH when being in cmake mode.
 * Changed plugin paths.
 * Add missing SETUP_PROJECT_CPACK()
 * Corrected search for boost.
 * Synchronize.
 * Remove unnecessary folder
 * Correct the suffix for the link with an external library
 * Start cleaning the submodules
 * Fix unused parameters warnings
 * Fix unwanted race condition in test_mailbox
 * Fix warnings
 * Remove HAVE_LIBBOOST_THREAD
 * Remove useless ;
 * Remove the macro HAVE_LIBBOOST_THREAD
 * Add cmake submodule.
 * Remove cmake directory.
 * Remove useless ;
 * Synchronize
 * Corrected wrong library suffix for plugins (by definition, always *shared* libraries)
 * Fix warnings.
 * Correct the links for the tests
 * Synchronize.
 * Fix header path.
 * Set PROJECT_URL in CMakeListst.txt.
 * Fix TAGFILES in Doxyfile.extra.in.
 * Fix pkg-config file: add -lsot-core to libs.
 * Updated documentation; corrected the output location of package.dox
 * Updated documentation.
 * Synchronize.
 * Fix plug-in dependencies.
 * Rename MatrixAbstractLayer to jrl-mal, enhance documentation.
 * Synchronize.
 * Synchronize.
 * Switch to submodule.
 * Updated documentation.
 * Reintroduction of the patch for fortran/win32/cmake
 * Added default option for documentation generation (temporary, will disappear with the standardized cmake submodule)
 * Added documentation (ha ha).
 * Correct the generation of the documentation
 * Added missing link library.
 * Revert "Fix linking and compilation to fix undefined symbols problems." - the undefined symbols problems warrant further investigation.
 * Fix linking and compilation to fix undefined symbols problems.
 * Removed import commands from sot-core.
 * Add missing dependencies.
 * Update build number of the debian package.

[v1.1.0]
 * Release 1.1
 * Add missing build dependencies.
 * Extend description of Debian package.
 * Packages libraries in Debian package.
 * Fix debian package.
 * Fix debian rules file.
 * Fix documentation generation.
 * Disable test and enable doc while building debian package.
 * Fix dependency version number in Debian package.
 * Update version number to 1.0.0.99.
 * Clean documentation CMakeLists.txt
 * Debianize package.
 * Add license header.
 * Add mailmap file.
 * Add license file.
 * Enhance README using Markdown syntax.
 * Uniformize NEWS file.
 * Rewrite AUTHORS file.
 * Remove obsolete autogen.sh file.

[v1.1]

[release-1-1]
 * Made exceptions derive from std::exception
 * Win32: LoadLibrary loads *dynamic* libraries.
 * Removed all references to new entities.
 * Re-added accidentally deleted entity.
 * Re-added deleted overload of Matrixhomo::extract
 * - Added new test test_ptrcast to try (and fail) to reproduce signal casting issue in simulation - Added 2 new entities, HomoToRotation/Twist2 whose output is a ('standard') ml::Matrix
 * Added helper entity "MatrixRotToMatrix" to convert types where the dynamic type verification system fails.
 * Removed debug trace initiator which caused a segfault.
 * Changed MatrixRotation in signal cast.
 * Namespace missing.
 * Namespace missing.
 * Corrected opening of trace files.
 * Removed VP_DEBUG references.
 * Added doxytag reference to dynamic-graph.
 * Added documentation to sot-core
 * - Removed last occurences of CMAKE_INSTALL_PREFIX - Updated documentation pictures
 * Removed CMAKE_INSTALL_PREFIX in INSTALL directive.
 * Added gfortran CMake linking.
 * Added gfortran as a link library.
 * Changed import-default-paths configuration to generate the file in source include directory *then* install.
 * sotFeatureTask depends on sotTask, not sotAbstractTask
 * Revert "Ported commit 53ef45d27b77 from StackOfTasks."
 * Ported commit 53ef45d27b77 from StackOfTasks.
 * Renamed sotVectorRotation
 * Removed distant shell (now in dg-middleware)
 * Fix Mailbox once and for all
 * Clean the code
 * There is no reason to define mailvect in the template file
 * Settled down the case of mailbox.
 * Add missing CXX flags for the unit tests.
 * More tests for test_mailbox
 * Split the declaration and the imnplementation in mailbox
 * Still fighting with mailbox
 * Correct macro name
 * Settle the case of Mailbox
 * Win32: the command link_directories has a wrong behaviour
 * Removed redundant definition -pthread
 * Added pthread definition on UNIX.
 * Added pthread *compilation* flag; for UNIX.
 * Modified pthread linking following compilation error with boost::thread.
 * Made sure pthreads were included. Simplified the unit test test_mailbox that previously *required user input*.
 * Added boost thread library. Added pthread library and compilation & link flags. Corrected multiple small bugs. Added CMakeModules for pthread and boost numeric bindings. Corrected some tests.
 * Clean the unitTesting/CMakeLists
 * Correct inclusions for win32
 * Correct the inclusion of utils-windows.h
 * Correct the inclusion of utils-windows.h
 * Correct the declaration of operator <<
 * Added control entities to sot-core.
 * Made boost_thread inclusion optional and dependent on HAVE_LIBBOOST_THREAD
 * Removed wrong include in CMakeLists.
 * Added three tests for tools and renamed one.
 * Remove warnings (during conversion unsigned -> bool)
 * Remove warning (fabsf -> fabs)
 * Revert "kalman must use the API of sot-core"
 * Revert "joint-limitator must use the API of sot-core"
 * Revert "Gripper-control must use the API of sot-core"
 * Revert "Distant-shell must use the API of sot-core"
 * Revert "com-freezer must use the API of sot-core"
 * Revert "clamp must use the API of sot-core"
 * Added some necessary comments in Cmakelists
 * Got some tools out of the main library and into plugins, as they should have been.
 * kalman must use the API of sot-core
 * joint-limitator must use the API of sot-core
 * Gripper-control must use the API of sot-core
 * Distant-shell must use the API of sot-core
 * com-freezer must use the API of sot-core
 * clamp must use the API of sot-core
 * Add a gitignore file.
 * The dependency in tracer is OS specific
 * These commands are unix specific
 * Win32: Correct link flags for unittesting
 * Win32: correct the linkage
 * Added forgotten file.
 * Inter-plugins dependency: set the compilation order
 * Added plugins and exceptions.
 * Add dependencies between plugins
 * In this specific case, link_directories is only for UNIX
 * The boost library 'system' is also required
 * Win32: add definitions that disable verbose warnings
 * Remove a header generated by cmake from git repository
 * Correct the inclusion and use of utils-windows.h
 * Correct typo in macro name
 * SHI must use the API of sot-core
 * Correct typo in macro name
 * Rotation-simple must use the API of sot-core
 * Correct typo in macro name
 * Correct typo in macro name
 * Memory-task must use the API of sot-API
 * Contiifstream must use the API of sot-API
 * Added MotionPeriod, NeckLimitation and PeriodicCallEntity plugins.
 * Added three tools.
 * Added uninstall.
 * Added 3 tools. Some minor corrections (such as correctly exporting classes in plugins)
 * Modified CMakeLists.txt to remove multiple definitions and include dirs.
 * Task-related unit tests and corrections.
 * Corrected a bug that stemmed from the renaming of GainAdaptive (thanks unit testing!) Added unit tests for filesystem and tracing.
 * Added plugin "Reader" to read files generated by "Tracer".
 * Fix dependancy to dependency
 * Corrected typo in gain-adaptative and related names.
 * Corrected typo in op-point-modifier.
 * Changed all instances of 'dependancy' to 'dependency'
 * Corrected an error in test_factory
 * Added new test test_factory
 * Added two unit tests, removed a tool
 * Removed "using dynamicgraph" directives in headers, implemented resulting changes.
 * Added forgotten test file test_ptr.cpp
 * Added forgotten test file test_depend.cpp
 * Added forgotten test file test_dep.cpp
 * Added tools in sot-core
 * Added tools/ directory for... tools. Some corrections in the unit testing facility.
 * Corrected installation path and name of plugins. Some minor bugfixes.
 * Added plugins compilation and installation to CMakeFiles. Started separating plugins from sot-core.
 * Added LAPACK library dependencies in FORTRAN. Adjusted for a change in singletons names from dynamicgraph.
 * More refactoring. Removed undertermination between sot::Pool and dynamicgraph::Pool in pool.cpp. Added cmake configure for import-default-paths.
 * Finished renaming of SOT objects.
 * Removed test test_shell which was already included in dynamic graph.
 * Only generate documentation if GENERATE_DOC is ON.
 * Added forgotten file test_signal.cpp
 * Added forgotten cpp files.
 * Changed order of compilation of some .cpp files to prevent mysterious Segmentation Fault(s) from appearing.
 * Some bug fixes.
 * Put everything in namespace sot (global objects included). Corrected some resulting bugs.
 * Begin renamind classes and putting them into namespace sot.
 * Renaming of sot and tasks (renaming complete).
 * Renamed math and matrix files. Added files forgotten in last commit.
 * Renamed factory files
 * Renamed exceptions, signals and debug to conform to new naming convention.
 * Added source files for library sot-core taken from sot.
 * Created package sot-core.


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