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MatthijsBurghMatthijsBurgh
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Prepare release 1.5 (#333)
Prepare release 1.5
2 parents a2bbe91 + 8e6bca0 commit eef1f3a

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-11
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‎.github/workflows/main.yml

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@@ -86,6 +86,12 @@ jobs:
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ABICHECK_URL: github:orocos/orocos_kinematics_dynamics#release-1.4
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ABICHECK_MERGE: false
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branch: release-1.4
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- env:
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ROS_DISTRO: noetic
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ROS_REPO: ros
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ABICHECK_URL: github:orocos/orocos_kinematics_dynamics#release-1.5
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ABICHECK_MERGE: false
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branch: release-1.5
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env: ${{ matrix.env }}
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steps:
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- uses: actions/checkout@v1

‎orocos_kdl/CMakeLists.txt

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PROJECT(orocos_kdl)
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SET( KDL_VERSION 1.4.1)
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SET( KDL_VERSION 1.5.0)
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STRING( REGEX MATCHALL "[0-9]+" KDL_VERSIONS ${KDL_VERSION} )
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LIST( GET KDL_VERSIONS 0 KDL_VERSION_MAJOR)
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LIST( GET KDL_VERSIONS 1 KDL_VERSION_MINOR)

‎orocos_kdl/package.xml

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schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>orocos_kdl</name>
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<version>1.4.1</version>
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<version>1.5.0</version>
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<description>
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This package contains a recent version of the Kinematics and Dynamics
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Library (KDL), distributed by the Orocos Project.

‎python_orocos_kdl/CMakeLists.txt

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@@ -3,7 +3,7 @@ if(POLICY CMP0048)
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cmake_policy(SET CMP0048 NEW)
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endif()
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project(python_orocos_kdl VERSION 1.4.1)
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project(python_orocos_kdl VERSION 1.5.0)
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# find a matching version of orocos_kdl
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find_package(orocos_kdl ${PROJECT_VERSION} EXACT REQUIRED)

‎python_orocos_kdl/PyKDL/PyKDL.cpp

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//Author: Zihan Chen <zihan dot chen dot jhu at gmail dot com>
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//Author: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
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//Maintainer: Ruben Smits Ruben Smits <ruben dot smits at intermodalics dot eu>
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//Maintainer: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
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//URL: http://www.orocos.org/kdl
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//
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//This library is free software; you can redistribute it and/or

‎python_orocos_kdl/PyKDL/PyKDL.h

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//Author: Zihan Chen <zihan dot chen dot jhu at gmail dot com>
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//Author: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
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//Maintainer: Ruben Smits Ruben Smits <ruben dot smits at intermodalics dot eu>
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//Maintainer: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
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//URL: http://www.orocos.org/kdl
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//
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//This library is free software; you can redistribute it and/or

‎python_orocos_kdl/PyKDL/dynamics.cpp

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//Author: Zihan Chen <zihan dot chen dot jhu at gmail dot com>
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//Author: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
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//Maintainer: Ruben Smits Ruben Smits <ruben dot smits at intermodalics dot eu>
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//Maintainer: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
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//URL: http://www.orocos.org/kdl
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//
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//This library is free software; you can redistribute it and/or

‎python_orocos_kdl/PyKDL/frames.cpp

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//Author: Zihan Chen <zihan dot chen dot jhu at gmail dot com>
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//Author: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
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//Maintainer: Ruben Smits Ruben Smits <ruben dot smits at intermodalics dot eu>
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//Maintainer: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
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//URL: http://www.orocos.org/kdl
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//
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//This library is free software; you can redistribute it and/or

‎python_orocos_kdl/PyKDL/framevel.cpp

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//Author: Zihan Chen <zihan dot chen dot jhu at gmail dot com>
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//Author: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
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//Maintainer: Ruben Smits Ruben Smits <ruben dot smits at intermodalics dot eu>
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//Maintainer: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
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//URL: http://www.orocos.org/kdl
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//
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//This library is free software; you can redistribute it and/or

‎python_orocos_kdl/PyKDL/kinfam.cpp

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//Author: Zihan Chen <zihan dot chen dot jhu at gmail dot com>
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//Author: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
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//Maintainer: Ruben Smits Ruben Smits <ruben dot smits at intermodalics dot eu>
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//Maintainer: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
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//URL: http://www.orocos.org/kdl
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//
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//This library is free software; you can redistribute it and/or

‎python_orocos_kdl/doc/conf.py

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# (source start file, name, description, authors, manual section).
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man_pages = [
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('index', 'orocoskdlpythonbindings', u'Orocos KDL python bindings Documentation',
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[u'Ruben Smits'], 1)
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[u'Ruben Smits', u"Matthijs van der Burgh"], 1)
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]

‎python_orocos_kdl/package.xml

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schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>python_orocos_kdl</name>
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<version>1.4.1</version>
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<version>1.5.0</version>
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<description>
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This package contains the python bindings PyKDL for the Kinematics and Dynamics
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Library (KDL), distributed by the Orocos Project.
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</description>
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<maintainer email="[email protected]">Ruben Smits</maintainer>
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<maintainer email="[email protected]">Matthijs van der Burgh</maintainer>
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<url>http://wiki.ros.org/python_orocos_kdl</url>
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<license>LGPL</license>
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>orocos_kdl</build_depend>
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<depend condition="$ROS_PYTHON_VERSION == 2">python</depend>
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<depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
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‎python_orocos_kdl/tests/PyKDLtest.py

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# Version: 1.0
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# Author: Ruben Smits <ruben dot smits at intermodalics dot eu>
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# Maintainer: Ruben Smits <ruben dot smits at intermodalics dot eu>
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# Maintainer: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
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# URL: http://www.orocos.org/kdl
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# This library is free software; you can redistribute it and/or

‎python_orocos_kdl/tests/dynamicstest.py

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# Copyright (C) 2007 Ruben Smits <ruben dot smits at intermodalics dot eu>
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# Copyright (C) 2020 Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
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# Version: 1.0
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# Author: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
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# Maintainer: Ruben Smits <ruben dot smits at intermodalics dot eu>
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# Maintainer: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
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# URL: http://www.orocos.org/kdl
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# This library is free software; you can redistribute it and/or

‎python_orocos_kdl/tests/framestest.py

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# Author: Ruben Smits <ruben dot smits at intermodalics dot eu>
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# Author: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
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# Maintainer: Ruben Smits <ruben dot smits at intermodalics dot eu>
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# Maintainer: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
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# URL: http://www.orocos.org/kdl
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# This library is free software; you can redistribute it and/or

‎python_orocos_kdl/tests/frameveltest.py

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# Author: Ruben Smits <ruben dot smits at intermodalics dot eu>
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# Author: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
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# Maintainer: Ruben Smits <ruben dot smits at intermodalics dot eu>
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# Maintainer: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
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# URL: http://www.orocos.org/kdl
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# This library is free software; you can redistribute it and/or

‎python_orocos_kdl/tests/jointtypetest.py

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# Version: 1.0
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# Author: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
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# Maintainer: Ruben Smits <ruben dot smits at intermodalics dot eu>
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# Maintainer: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
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# URL: http://www.orocos.org/kdl
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# This library is free software; you can redistribute it and/or

‎python_orocos_kdl/tests/kinfamtest.py

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# Author: Ruben Smits <ruben dot smits at intermodalics dot eu>
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# Author: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
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# Maintainer: Ruben Smits <ruben dot smits at intermodalics dot eu>
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# Maintainer: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
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# URL: http://www.orocos.org/kdl
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# This library is free software; you can redistribute it and/or
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q_dqdt = JntArray(q)
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for i in range(q.rows()):
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q_dqdt[i] += dt * qdot[i]
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F_bs_ee_q = Frame.Identity()
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F_bs_ee_q_dqdt = Frame.Identity()
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changeJacRepresentation(jac_q, F_bs_ee_q, representation)
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changeJacRepresentation(jac_q_dqdt, F_bs_ee_q_dqdt, representation)
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Jdot_diff(jac_q, jac_q_dqdt, dt, jdot_by_diff)
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jdot_by_solver = Jacobian(NrOfJoints)
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self.jacdotsolver.setRepresentation(representation)
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self.jacdotsolver.JntToJacDot(JntArrayVel(q_dqdt, qdot), jdot_by_solver)
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jdot_qdot_by_solver = Twist()
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MultiplyJacobian(jdot_by_solver, qdot, jdot_qdot_by_solver)
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"err: {}".format(jdot_qdot_solver, jdot_qdot_diff, representation, dt,
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eps_diff_vs_solver, err))
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dt *= 10
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class KinfamTestTree(unittest.TestCase):
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