Merge remote-tracking branch 'origin/master' into use_cmake

Conflicts:
	test/test_SequencePlayer.cpp

.travis.sh

@@ -82,7 +82,7 @@ case $TEST_PACKAGE in
         sudo apt-get install -qq -y freeglut3-dev python-tk jython doxygen libboost-all-dev libsdl1.2-dev libglew1.6-dev libqhull-dev libirrlicht-dev libxmu-dev libcv-dev libhighgui-dev libopencv-contrib-dev
         # check rtmros_common
         pkg=$TEST_PACKAGE
-        sudo apt-get install -qq -y python-wstool ros-hydro-catkin ros-hydro-mk ros-hydro-rostest ros-hydro-rtmbuild
+        sudo apt-get install -qq -y python-wstool ros-hydro-catkin ros-hydro-mk ros-hydro-rostest ros-hydro-rtmbuild ros-hydro-roslint
 
         sudo apt-get install -qq -y ros-hydro-$pkg
 

CMakeLists.txt

@@ -84,7 +84,7 @@ set(CPACK_PACKAGE_VENDOR "AIST")
 set(CPACK_PACKAGE_CONTACT "Fumio Kanehiro <f-kanehiro@aist.go.jp>")
 set(CPACK_PACKAGE_VERSION_MAJOR 315)
 set(CPACK_PACKAGE_VERSION_MINOR 2)
-set(CPACK_PACKAGE_VERSION_PATCH 5)
+set(CPACK_PACKAGE_VERSION_PATCH 7)
 execute_process(
   COMMAND date +%Y%m%d%H%M
   OUTPUT_VARIABLE CPACK_PACKAGE_DATE

doc/CMakeLists.txt

@@ -24,6 +24,11 @@ set(input_files package.h utilities.h
 		      ../rtc/VirtualCamera/VirtualCamera.txt
 		      ../rtc/VirtualForceSensor/VirtualForceSensor.txt
 		      ../rtc/WavPlayer/WavPlayer.txt
+		      ../rtc/Stabilizer/Stabilizer.txt
+		      ../rtc/AutoBalancer/AutoBalancer.txt
+		      ../rtc/KalmanFilter/KalmanFilter.txt
+		      ../rtc/ImpedanceController/ImpedanceController.txt
+		      ../rtc/RemoveForceSensorLinkOffset/RemoveForceSensorLinkOffset.txt
 		      ../lib/io/iob.h
 		      ../idl/CollisionDetectorService.idl
 		      ../idl/DataLoggerService.idl
@@ -37,6 +42,10 @@ set(input_files package.h utilities.h
 		      ../idl/StateHolderService.idl
 		      ../idl/TimeKeeperService.idl
 		      ../idl/WavPlayerService.idl
+		      ../idl/AutoBalancerService.idl
+		      ../idl/StabilizerService.idl
+		      ../idl/KalmanFilterService.idl
+		      ../idl/RemoveForceSensorLinkOffsetService.idl
 		      )
 configure_file(Doxyfile.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
 set(output_dir ${CMAKE_CURRENT_BINARY_DIR}/html)

doc/Doxyfile.in

@@ -468,29 +468,52 @@ INPUT		      =  @CMAKE_CURRENT_SOURCE_DIR@/package.h \
 		      @CMAKE_CURRENT_SOURCE_DIR@/utilities.h \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../python/hrpsys_config.py \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../python/rtm.py \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/AutoBalancer \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/AverageFilter \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/CameraImageViewer \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/CaptureController \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/CollisionDetector \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/DataLogger \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/ExtractCameraImage \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/ForwardKinematics \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/GraspController \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/HGcontroller \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/ImageData2CameraImage \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/ImpedanceController \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/Joystick \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/Joystick2PanTiltAngles \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/Joystick2Velocity2D \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/Joystick2Velocity3D \
-		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/Joystick2PanTiltAngles \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/JpegDecoder \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/JpegEncoder \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/KalmanFilter \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/NullComponent \
-		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/OccupancyGridMap3D \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/OGMap3DViewer \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/OccupancyGridMap3D \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/PCDLoader \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/PlaneRemover \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/RGB2Gray \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/Range2PointCloud \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/RangeDataViewer \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/RangeNoiseMixer \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/RemoveForceSensorLinkOffset \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/ResizeImage \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/RobotHardware \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/SORFilter \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/SequencePlayer \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/ServoController \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/Simulator \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/SoftErrorLimiter \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/Stabilizer \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/StateHolder \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/ThermoEstimator \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/ThermoLimiter \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/TorqueController \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/TorqueFilter \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/VideoCapture \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/Viewer \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/VirtualCamera \
+		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/VirtualForceSensor \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../rtc/WavPlayer \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../lib/io/iob.h \
 		      @CMAKE_CURRENT_SOURCE_DIR@/../idl \

doc/package.h

@@ -8,7 +8,7 @@ Basic RT components and utilities to control robots using <a href=http://www.ope
 \section requirements System requirements
 
 <a href=http://www.ubuntu.com>ubuntu</a> 12.04LTS is supported. <br>
-<a href=http://www.openrtp.jp/openhrp3>%OpenHRP</a> version 3.1.4 or later is required.<br>
+<a href=http://www.openrtp.jp/openhrp3>%OpenHRP</a> version 3.1.5 or later is required.<br>
 To use python scripts to create RT components, connect ports and get/set properties, <a href=http://www.openrtm.org>OpenRTM-aist-python</a> is also required.<br>
 
 \section contents Contents of the package
@@ -20,27 +20,49 @@ To use python scripts to create RT components, connect ports and get/set propert
   This library helps to create/delete and activate/deactivate RT components and connect/disconnect ports.</li>
   <li>Basic RT components</li>
   <ul>
+    <li>\ref AutoBalancer</li>
+    <li>\ref AverageFilter</li>
     <li>\ref CameraImageViewer</li>
+    <li>\ref CaptureController</li>
     <li>\ref CollisionDetector</li>
     <li>\ref DataLogger</li>
+    <li>\ref ExtractCameraImage</li>
     <li>\ref ForwardKinematics</li>
     <li>\ref GraspController</li>
     <li>\ref HGcontroller</li>
+    <li>\ref ImageData2CameraImage</li>
     <li>\ref ImpedanceController</li>
     <li>\ref Joystick</li>
     <li>\ref Joystick2Velocity2D</li>
     <li>\ref Joystick2Velocity3D</li>
     <li>\ref Joystick2PanTiltAngles</li>
     <li>\ref JpegDecoder</li>
+    <li>\ref JpegEncoder</li>
+    <li>\ref KalmanFilter</li>
     <li>\ref NullComponent</li>
-    <li>\ref OccupancyGridMap3D</li>
     <li>\ref OGMap3DViewer</li>
+    <li>\ref OccupancyGridMap3D</li>
+    <li>\ref PCDLoader</li>
+    <li>\ref PDcontroller</li>
+    <li>\ref PlaneRemover</li>
+    <li>\ref RGB2Gray</li>
     <li>\ref Range2PointCloud</li>
+    <li>\ref RangeDataViewer</li>
+    <li>\ref RangeNoiseMixer</li>
+    <li>\ref RemoveForceSensorLinkOffset</li>
+    <li>\ref ResizeImage</li>
     <li>\ref RobotHardware</li>
+    <li>\ref SORFilter</li>
     <li>\ref SequencePlayer</li>
+    <li>\ref ServoController</li>
     <li>\ref Simulator</li>
     <li>\ref SoftErrorLimiter</li>
+    <li>\ref Stabilizer</li>
     <li>\ref StateHolder</li>
+    <li>\ref ThermoEstimator</li>
+    <li>\ref ThermoLimiter</li>
+    <li>\ref TorqueController</li>
+    <li>\ref TorqueFilter</li>
     <li>\ref VideoCapture</li>
     <li>\ref Viewer</li>
     <li>\ref VirtualCamera</li>
@@ -49,18 +71,27 @@ To use python scripts to create RT components, connect ports and get/set propert
   </ul>
   <li>Services provided by basic RT components</li>
   <ul>
+    <li>\ref OpenHRP::AutoBalancerService</li>
     <li>\ref OpenHRP::CollisionDetectorService</li>
     <li>\ref OpenHRP::DataLoggerService</li>
     <li>\ref OpenHRP::ExecutionProfileService</li>
     <li>\ref OpenHRP::ForwardKinematicsService</li>
     <li>\ref OpenHRP::GraspControllerService</li>
+    <li>\ref Img::CameraCaptureService</li>
     <li>\ref OpenHRP::ImpedanceControllerService</li>
+    <li>\ref OpenHRP::KalmanFilterService</li>
     <li>\ref OpenHRP::OGMap3DService</li>
+    <li>\ref OpenHRP::RemoveForceSensorLinkOffsetService</li>
     <li>\ref OpenHRP::RobotHardwareService</li>
     <li>\ref OpenHRP::SequencePlayerService</li>
-    <li>\ref OpenHRP::SeftErrorLimiterService</li>
+    <li>\ref OpenHRP::ServoControllerService</li>
+    <li>\ref OpenHRP::SoftErrorLimiterService</li>
+    <li>\ref OpenHRP::StabilizerService</li>
     <li>\ref OpenHRP::StateHolderService</li>
     <li>\ref OpenHRP::TimeKeeperService</li>
+    <li>\ref OpenHRP::TorqueControllerService</li>
+    <li>\ref OpenHRP::TorqueFilterService</li>
+    <li>\ref OpenHRP::VirtualForceSensorService</li>
     <li>\ref OpenHRP::WavPlayerService</li>
   </ul>
   <li>Utilities</li>

doc/utilities.h

@@ -23,13 +23,26 @@ hrpsys-simulator [project file] [options]
 -max-log-length length[s] set length of ring buffer<br>
 -exit-on-finish exit this program when the simulation finishes
 
-Note:NameSever and openhrp-model-loader must be running
+Note:NameServer and openhrp-model-loader must be running
+
+In order to change timestep (ex 0.002), you need to change SampleRobot.conf to
+
+  dt: 0.002
+
+and SampleRobot.xml to
+
+  <property name="SampleRobot(Robot)0.period" value="0.002"/>
+  <property name="timeStep" value="0.002"/>
+
+
+dt of SampleRobot.conf and XX.period of SampleRobot.xml should be same. 
+timeStep of SampleRobot.xml is not larger than these values.
 
 \section hrpsys-simulator-jython hrpsys-simulator-jython
 
 read a project file and execute simulation and a jython script
 
-Note:NameSever and openhrp-model-loader must be running
+Note:NameServer and openhrp-model-loader must be running
 
 hrpsys-simulator-jython [project file] [jython script] [options]
 
@@ -57,7 +70,7 @@ size [size] set window size<br>
 bg [r] [g] [b] background color
 max-log-length length[s] set length of ring buffer<br>
 
-Note:NameSever and openhrp-model-loader must be running
+Note:NameServer and openhrp-model-loader must be running
 
 \section hrpsys-viewer hrpsys-viewer
 
@@ -69,7 +82,7 @@ hrpsys-viewer [model file] [-size size]
 -no-default-lights turn off default lights<br>
 -max-edge-length divide large triangles which have longer edges than this value<br>
 
-Note:NameSever and openhrp-model-loader must be running
+Note:NameServer and openhrp-model-loader must be running
 
 \section hrpsys-monitor hrpsys-monitor
 
@@ -82,7 +95,7 @@ hrpsys-monitor [project file] [-rh rtcName] [-sh rtcName] [-size size]
 -size initial window size<br>
 -bg r g b background color
 
-Note:NameSever and openhrp-model-loader must be running
+Note:NameServer and openhrp-model-loader must be running
 
 \section hrpsysjy hrpsysjy
 

idl/AutoBalancerService.idl

@@ -13,54 +13,100 @@ module OpenHRP
     typedef double DblArray3[3];
     typedef double DblArray4[4];
 
-    // Foot Step
+    /**
+     * @struct Footstep
+     * @brief Foot step for one leg.
+     */
     struct Footstep
     {
-      DblArray3 pos; // Foot position [m]
-      DblArray4 rot; // Foot orientation by quaternion (w,x,y,z)
-      string leg; // Leg name (rleg or lleg)
+      /// Foot position [m]
+      DblArray3 pos;
+      /// Foot orientation by quaternion (w,x,y,z)
+      DblArray4 rot;
+      /// Leg name (rleg or lleg)
+      string leg;
     };
+
+    /**
+     * @struct FootstepSequence
+     * @brief Sequence of foot step.
+     */
     typedef sequence<Footstep> FootstepSequence;
 
+    /**
+     * @enum SupportLegState
+     * @brief State of support leg.
+     */
     enum SupportLegState {
       RLEG,
       LLEG,
       BOTH
     };
 
+    /**
+     * @enum OrbitType
+     * @brief Orbit type of swing foot.
+     */
     enum OrbitType {
       SHUFFLING,
       CYCLOID,
       RECTANGLE
     };
 
+    /**
+     * @struct FootstepParam
+     * @brief Foot step parameters.
+     */
     struct FootstepParam
     {
-      Footstep rleg_coords; // Current right foot coords
-      Footstep lleg_coords; // Current left foot coords
-      Footstep support_leg_coords; // Support foot coords
-      Footstep swing_leg_coords; // Swing foot coords, which is interpolation betwee swing_leg_src_coords and swing_leg_dst_coords
-      Footstep swing_leg_src_coords; // Source coords for swing foot
-      Footstep swing_leg_dst_coords; // Destination coords for swing foot
-      Footstep dst_foot_midcoords; // Destination foot midcoords
-      SupportLegState support_leg; // RLEG or LLEG
-      SupportLegState support_leg_with_both; // RLEG, LLEG, or BOTH
+      /// Current right foot coords
+      Footstep rleg_coords;
+      /// Current left foot coords
+      Footstep lleg_coords;
+      /// Support foot coords
+      Footstep support_leg_coords;
+      /// Swing foot coords, which is interpolation betwee swing_leg_src_coords and swing_leg_dst_coords
+      Footstep swing_leg_coords;
+      /// Source coords for swing foot
+      Footstep swing_leg_src_coords;
+      /// Destination coords for swing foot
+      Footstep swing_leg_dst_coords;
+      /// Destination foot midcoords
+      Footstep dst_foot_midcoords;
+      /// RLEG or LLEG
+      SupportLegState support_leg;
+      /// RLEG, LLEG, or BOTH
+      SupportLegState support_leg_with_both;
     };
 
     typedef sequence<string> StrSequence;
 
-    struct GaitGeneratorParam // Parameters for GaitGenerator
+    /**
+     * @struct GaitGeneratorParam
+     * @brief Parameters for GaitGenerator.
+     */
+    struct GaitGeneratorParam
     {
-      double default_step_time; // Step time [s]
-      double default_step_height; // Step height [m]
-      double default_double_support_ratio; // Ratio of double support period. Ratio is included in (0, 1). Double support period time is default_double_support_ratio*default_step_time.
-      sequence<double, 3> stride_parameter; // Stride limitation of x[m], y[m], and theta[deg] for goPos
-      OrbitType default_orbit_type; // Default OrbitType
+      /// Step time [s]
+      double default_step_time;
+      /// Step height [m]
+      double default_step_height;
+      /// Ratio of double support period. Ratio is included in (0, 1). Double support period time is default_double_support_ratio*default_step_time.
+      double default_double_support_ratio;
+      /// Stride limitation of x[m], y[m], and theta[deg] for goPos
+      sequence<double, 3> stride_parameter;
+      /// Default OrbitType
+      OrbitType default_orbit_type;
     };
 
-    struct AutoBalancerParam // Parameters for AutoBalancer
+    /**
+     * @struct AutoBalancerParam
+     * @brief Parameters for AutoBalancer
+     */
+    struct AutoBalancerParam
     {
-      sequence<DblSequence3, 2> default_zmp_offsets; // ZMP offset vectors[m] for rleg and lleg (<-please set by this order)
+      /// ZMP offset vectors[m] for rleg and lleg (<-please set by this order)
+      sequence<DblSequence3, 2> default_zmp_offsets;
       double move_base_gain;
     };