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Fix for commit 41227 (Some opening comment tags (/*) were lost!).

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This commit is contained in:
Bastien Montagne
2011-10-23 19:39:20 +00:00
parent 82c84f4b58
commit 8a6a3dbb54
7 changed files with 22 additions and 22 deletions
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6
intern/itasc/ConstraintSet.cpp
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@@ -80,7 +80,7 @@ void ConstraintSet::modelUpdate(Frame& _external_pose,const Timestamp& timestamp
double ConstraintSet::getMaxTimestep(double& timestep) double ConstraintSet::getMaxTimestep(double& timestep)
{ {
e_scalar maxChidot = m_chidot.array().abs().maxCoeff(); e_scalar maxChidot = m_chidot.cwise().abs().maxCoeff();
if (timestep*maxChidot > m_maxDeltaChi) { if (timestep*maxChidot > m_maxDeltaChi) {
timestep = m_maxDeltaChi/maxChidot; timestep = m_maxDeltaChi/maxChidot;
} }
@@ -162,9 +162,9 @@ bool ConstraintSet::closeLoop(){
}else }else
m_B.row(i) = m_U.col(i)/m_S(i); m_B.row(i) = m_U.col(i)/m_S(i);
m_Jf_inv.noalias()=m_V*m_B; m_Jf_inv=(m_V*m_B).lazy();
m_chi.noalias()+=m_Jf_inv*m_tdelta; m_chi+=(m_Jf_inv*m_tdelta).lazy();
updateJacobian(); updateJacobian();
// m_externalPose-m_internalPose in end effector frame // m_externalPose-m_internalPose in end effector frame
// this is just to compare the pose, a different formula would work too // this is just to compare the pose, a different formula would work too

2
intern/itasc/ControlledObject.cpp
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@@ -54,7 +54,7 @@ const e_matrix& ControlledObject::getJq(unsigned int ee) const
double ControlledObject::getMaxTimestep(double& timestep) double ControlledObject::getMaxTimestep(double& timestep)
{ {
e_scalar maxQdot = m_qdot.array().abs().maxCoeff(); e_scalar maxQdot = m_qdot.cwise().abs().maxCoeff();
if (timestep*maxQdot > m_maxDeltaQ) { if (timestep*maxQdot > m_maxDeltaQ) {
timestep = m_maxDeltaQ/maxQdot; timestep = m_maxDeltaQ/maxQdot;
} }

2
intern/itasc/CopyPose.cpp
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@@ -473,7 +473,7 @@ double CopyPose::getMaxTimestep(double& timestep)
// CopyPose should not have any limit on linear velocity: // CopyPose should not have any limit on linear velocity:
// in case the target is out of reach, this can be very high. // in case the target is out of reach, this can be very high.
// We will simply limit on rotation // We will simply limit on rotation
e_scalar maxChidot = m_chidot.block(3,0,3,1).array().abs().maxCoeff(); e_scalar maxChidot = m_chidot.block(3,0,3,1).cwise().abs().maxCoeff();
if (timestep*maxChidot > m_maxDeltaChi) { if (timestep*maxChidot > m_maxDeltaChi) {
timestep = m_maxDeltaChi/maxChidot; timestep = m_maxDeltaChi/maxChidot;
} }

18
intern/itasc/Scene.cpp
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@@ -356,7 +356,7 @@ bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, b
m_Uf.col(i).setConstant(0.0); m_Uf.col(i).setConstant(0.0);
else else
m_Uf.col(i)*=(1/m_Sf(i)); m_Uf.col(i)*=(1/m_Sf(i));
project(m_Jf_inv,cs->featurerange,cs->featurerange).noalias()=m_Vf*m_Uf.transpose(); project(m_Jf_inv,cs->featurerange,cs->featurerange)=(m_Vf*m_Uf.transpose()).lazy();
//Get the robotjacobian associated with this constraintset //Get the robotjacobian associated with this constraintset
//Each jacobian is expressed in robot base frame => convert to world reference //Each jacobian is expressed in robot base frame => convert to world reference
@@ -410,11 +410,11 @@ bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, b
} }
//Calculate A //Calculate A
m_Atemp.noalias()=m_Cf*m_Jf_inv; m_Atemp=(m_Cf*m_Jf_inv).lazy();
m_A.noalias() = m_Cq-(m_Atemp*m_Jq); m_A = m_Cq-(m_Atemp*m_Jq).lazy();
if (m_nuTotal > 0) { if (m_nuTotal > 0) {
m_B.noalias()=m_Atemp*m_Ju; m_B=(m_Atemp*m_Ju).lazy();
m_ydot.noalias() += m_B*m_xdot; m_ydot += (m_B*m_xdot).lazy();
} }
//Call the solver with A, Wq, Wy, ydot to solver qdot: //Call the solver with A, Wq, Wy, ydot to solver qdot:
@@ -435,13 +435,13 @@ bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, b
//Calculate the twist of the world reference frame due to the robots (Jq*qdot+Ju*chiudot): //Calculate the twist of the world reference frame due to the robots (Jq*qdot+Ju*chiudot):
e_vector6 external_vel = e_zero_vector(6); e_vector6 external_vel = e_zero_vector(6);
if (ob1->jointrange.count > 0) if (ob1->jointrange.count > 0)
external_vel.noalias() += (project(m_Jq,cs->featurerange,ob1->jointrange)*project(m_qdot,ob1->jointrange)); external_vel += (project(m_Jq,cs->featurerange,ob1->jointrange)*project(m_qdot,ob1->jointrange)).lazy();
if (ob2->jointrange.count > 0) if (ob2->jointrange.count > 0)
external_vel.noalias() += (project(m_Jq,cs->featurerange,ob2->jointrange)*project(m_qdot,ob2->jointrange)); external_vel += (project(m_Jq,cs->featurerange,ob2->jointrange)*project(m_qdot,ob2->jointrange)).lazy();
if (ob1->coordinaterange.count > 0) if (ob1->coordinaterange.count > 0)
external_vel.noalias() += (project(m_Ju,cs->featurerange,ob1->coordinaterange)*project(m_xdot,ob1->coordinaterange)); external_vel += (project(m_Ju,cs->featurerange,ob1->coordinaterange)*project(m_xdot,ob1->coordinaterange)).lazy();
if (ob2->coordinaterange.count > 0) if (ob2->coordinaterange.count > 0)
external_vel.noalias() += (project(m_Ju,cs->featurerange,ob2->coordinaterange)*project(m_xdot,ob2->coordinaterange)); external_vel += (project(m_Ju,cs->featurerange,ob2->coordinaterange)*project(m_xdot,ob2->coordinaterange)).lazy();
//the twist caused by the constraint must be opposite because of the closed loop //the twist caused by the constraint must be opposite because of the closed loop
//estimate the velocity of the joints using the inverse jacobian //estimate the velocity of the joints using the inverse jacobian
e_vector6 estimated_chidot = project(m_Jf_inv,cs->featurerange,cs->featurerange)*(-external_vel); e_vector6 estimated_chidot = project(m_Jf_inv,cs->featurerange,cs->featurerange)*(-external_vel);

6
intern/itasc/WDLSSolver.cpp
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@@ -65,10 +65,10 @@ bool WDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& yd
if(ret<0) if(ret<0)
return false; return false;
m_WqV.noalias() = Wq*m_V; m_WqV = (Wq*m_V).lazy();
//Wy*ydot //Wy*ydot
m_Wy_ydot = Wy.array() * ydot.array(); m_Wy_ydot = Wy.cwise() * ydot;
//S^-1*U'*Wy*ydot //S^-1*U'*Wy*ydot
e_scalar maxDeltaS = e_scalar(0.0); e_scalar maxDeltaS = e_scalar(0.0);
e_scalar prevS = e_scalar(0.0); e_scalar prevS = e_scalar(0.0);
@@ -85,7 +85,7 @@ bool WDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& yd
} }
lambda = (S < m_epsilon) ? (e_scalar(1.0)-KDL::sqr(S/m_epsilon))*m_lambda*m_lambda : e_scalar(0.0); lambda = (S < m_epsilon) ? (e_scalar(1.0)-KDL::sqr(S/m_epsilon))*m_lambda*m_lambda : e_scalar(0.0);
alpha = m_U.col(i).dot(m_Wy_ydot)*S/(S*S+lambda); alpha = m_U.col(i).dot(m_Wy_ydot)*S/(S*S+lambda);
vmax = m_WqV.col(i).array().abs().maxCoeff(); vmax = m_WqV.col(i).cwise().abs().maxCoeff();
norm = fabs(alpha*vmax); norm = fabs(alpha*vmax);
if (norm > m_qmax) { if (norm > m_qmax) {
qdot += m_WqV.col(i)*(alpha*m_qmax/norm); qdot += m_WqV.col(i)*(alpha*m_qmax/norm);

8
intern/itasc/WSDLSSolver.cpp
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@@ -60,7 +60,7 @@ bool WSDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& y
e_scalar N, M; e_scalar N, M;
// Create the Weighted jacobian // Create the Weighted jacobian
m_AWq.noalias() = A*Wq; m_AWq = (A*Wq).lazy();
for (i=0; i<m_nc; i++) for (i=0; i<m_nc; i++)
m_WyAWq.row(i) = Wy(i)*m_AWq.row(i); m_WyAWq.row(i) = Wy(i)*m_AWq.row(i);
@@ -75,8 +75,8 @@ bool WSDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& y
if(ret<0) if(ret<0)
return false; return false;
m_Wy_ydot = Wy.array() * ydot.array(); m_Wy_ydot = Wy.cwise() * ydot;
m_WqV.noalias() = Wq*m_V; m_WqV = (Wq*m_V).lazy();
qdot.setZero(); qdot.setZero();
e_scalar maxDeltaS = e_scalar(0.0); e_scalar maxDeltaS = e_scalar(0.0);
e_scalar prevS = e_scalar(0.0); e_scalar prevS = e_scalar(0.0);
@@ -121,7 +121,7 @@ bool WSDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& y
M *= Sinv; M *= Sinv;
alpha = m_U.col(i).dot(m_Wy_ydot); alpha = m_U.col(i).dot(m_Wy_ydot);
_qmax = (N < M) ? m_qmax*N/M : m_qmax; _qmax = (N < M) ? m_qmax*N/M : m_qmax;
vmax = m_WqV.col(i).array().abs().maxCoeff(); vmax = m_WqV.col(i).cwise().abs().maxCoeff();
norm = fabs(Sinv*alpha*vmax); norm = fabs(Sinv*alpha*vmax);
if (norm > _qmax) { if (norm > _qmax) {
damp = Sinv*alpha*_qmax/norm; damp = Sinv*alpha*_qmax/norm;

2
source/blender/quicktime/quicktime_export.h
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@@ -1,4 +1,4 @@
* /*
* ***** BEGIN GPL LICENSE BLOCK ***** * ***** BEGIN GPL LICENSE BLOCK *****
* *
* This program is free software; you can redistribute it and/or * This program is free software; you can redistribute it and/or