http://www.tekkotsu.org/cvslog2web/tekkotsu-cvs.xml Tekkotsu CVS History 2008-07-23T15:32:58.512566+00:00 cvslog2web tag:tekkotsu.org,2008-07-23:55978.512566 Tekkotsu: fixing warnings, increasing time of initial leg placement so it doesn't "stomp" 2008-07-23T15:32:58.512566+00:00 Ethan Tira-Thompsonejt@cs.cmu.edu
tag:tekkotsu.org,2008-07-23:55168.641284 Tekkotsu: lockLegsInPlace in progress 2008-07-23T15:19:28.641284+00:00 Ethan Tira-Thompsonejt@cs.cmu.edu
Modified: Motion/{XWalkMC.cc, XWalkMC.h}
 tag:tekkotsu.org,2008-07-23:55114.823542 Tekkotsu: SubVector operations are all const because we're operating through a pointer (the data pointer never changes) 2008-07-23T15:18:34.823542+00:00 Ethan Tira-Thompsonejt@cs.cmu.edu
tag:tekkotsu.org,2008-07-18:71984.159390 Tekkotsu: fixing bugs in getMaxAVel (sign error) and resetPeriod (rotationCenter has class scope, don't abs() it!) 2008-07-18T19:59:44.159390+00:00 Ethan Tira-Thompsonejt@cs.cmu.edu
tag:tekkotsu.org,2008-07-18:63045.920896 Tekkotsu: fixing some kinematics bugs (bad length calculation on 3rd link, missing edge condition on 1st link) 2008-07-18T17:30:45.920896+00:00 Ethan Tira-Thompsonejt@cs.cmu.edu
tag:tekkotsu.org,2008-07-18:08420.604312 Tekkotsu: scaling against max velocity functions instead of arbitrary hardcoded values 2008-07-18T02:20:20.604312+00:00 Ethan Tira-Thompsonejt@cs.cmu.edu
tag:tekkotsu.org,2008-07-18:08389.260119 Tekkotsu: adding functions to compute max velocities with respect to current parameters, also fixing bug in resetting leg state while in air (avoid instantaneous movement) 2008-07-18T02:19:49.260119+00:00 Ethan Tira-Thompsonejt@cs.cmu.edu
Modified: Motion/{XWalkMC.cc, XWalkMC.h}
 tag:tekkotsu.org,2008-07-16:14407.501456 Tekkotsu: splitting parameters for stride length into x and y components 2008-07-16T04:00:07.501456+00:00 Ethan Tira-Thompsonejt@cs.cmu.edu
Modified: Motion/{XWalkMC.cc, XWalkMC.h}
 tag:tekkotsu.org,2008-07-13:14764.171106 Tekkotsu: minor bug fixing and adding some statistics on foot fall height 2008-07-13T04:06:04.171106+00:00 Ethan Tira-Thompsonejt@cs.cmu.edu
tag:tekkotsu.org,2008-07-13:13345.093182 Tekkotsu: minor cleanup 2008-07-13T03:42:25.093182+00:00 Ethan Tira-Thompsonejt@cs.cmu.edu
tag:tekkotsu.org,2008-07-13:05532.486115 Tekkotsu: switching loadCompensation to directly be the parameter instead of auto-fitting servoDeflection 2008-07-13T01:32:12.486115+00:00 Ethan Tira-Thompsonejt@cs.cmu.edu
Modified: local/DeviceDrivers/{Dynamixel.cc, Dynamixel.h}
 tag:tekkotsu.org,2008-07-13:03493.424085 Tekkotsu: legs raising or lowering don't count for support 2008-07-13T00:58:13.424085+00:00 Ethan Tira-Thompsonejt@cs.cmu.edu
tag:tekkotsu.org,2008-07-13:00812.479891 Tekkotsu: convert jacobian from mm to m 2008-07-13T00:13:32.479891+00:00 Ethan Tira-Thompsonejt@cs.cmu.edu
tag:tekkotsu.org,2008-07-13:00564.479653 Tekkotsu: syntax error in previous, forgot trailing \\ 2008-07-13T00:09:24.479653+00:00 Ethan Tira-Thompsonejt@cs.cmu.edu
tag:tekkotsu.org,2008-07-13:00410.604987 Tekkotsu: now ensuring we use target positions for controlled joints, and sensed positions for uncontrolled joints when computing pressures 2008-07-13T00:06:50.604987+00:00 Ethan Tira-Thompsonejt@cs.cmu.edu
tag:tekkotsu.org,2008-07-13:00234.421721 Tekkotsu: removing zeroQ() workaround, now have a workaround in IKThreeLink::computeSecondLink itself 2008-07-13T00:03:54.421721+00:00 Ethan Tira-Thompsonejt@cs.cmu.edu
tag:tekkotsu.org,2008-07-13:00170.634710 Tekkotsu: working around bug in second link computation which causes joint drift unless we zero the joint first (inefficient) 2008-07-13T00:02:50.634710+00:00 Ethan Tira-Thompsonejt@cs.cmu.edu
tag:tekkotsu.org,2008-07-12:82314.313573 Tekkotsu: center of mass should be based on current servo positions for non-leg joints (like the arm, was being zeroed) 2008-07-12T22:51:54.313573+00:00 Ethan Tira-Thompsonejt@cs.cmu.edu
We'll want to use target instead of current positions for the leg joints, but need to fix IK bug first
 tag:tekkotsu.org,2008-07-12:81173.340260 Tekkotsu: reverting previous, was testing runpath stuff doesn't actually work 2008-07-12T22:32:53.340260+00:00 Ethan Tira-Thompsonejt@cs.cmu.edu
tag:tekkotsu.org,2008-07-12:78829.315189 Tekkotsu: fixing compiler warning 2008-07-12T21:53:49.315189+00:00 Ethan Tira-Thompsonejt@cs.cmu.edu