Add beep sound for CollisionDetector

[snozawa]

CollisionDetectorで干渉時にビープ音がなるようにしました。
音は１秒間に
　ピッピッ（休み）
を繰り返します（SoftErrroLimiterなども含めて、document?が必要なきがしました）。

よろしくお願いします。

[k-okada]

Refer to this link for build results (access rights to CI server needed):
http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/hrpsys-qnx/1754/

Build Log
last 10 lines

[...truncated 5356 lines...]
    at org.jenkinsci.plugins.ghprb.GhprbRepository.createCommitStatus(GhprbRepository.java:122)
    at org.jenkinsci.plugins.ghprb.GhprbBuilds.onCompleted(GhprbBuilds.java:118)
    at org.jenkinsci.plugins.ghprb.GhprbBuildListener.onCompleted(GhprbBuildListener.java:27)
    at org.jenkinsci.plugins.ghprb.GhprbBuildListener.onCompleted(GhprbBuildListener.java:12)
    at hudson.model.listeners.RunListener.fireCompleted(RunListener.java:199)
    at hudson.model.Run.execute(Run.java:1769)
    at hudson.model.FreeStyleBuild.run(FreeStyleBuild.java:43)
    at hudson.model.ResourceController.execute(ResourceController.java:89)
    at hudson.model.Executor.run(Executor.java:240)

Test FAILed.

[k-okada]

some function is not found on QNX, check if they include Hrpsys.h https://github.com/fkanehiro/hrpsys-base/blob/master/lib/util/Hrpsys.h#L10

:Vector3&, hrp::Vector3&, const hrp::Vector3&, const hrp::Vector3&)':
/tmp/hrpsys-source-476-2015-02-11/src/hrpsys-base-476/rtc/KalmanFilter/RPYKalmanFilter.h:82: error: 'sqrt' was not declared in this scope
/tmp/hrpsys-source-476-2015-02-11/src/hrpsys-base-476/rtc/KalmanFilter/RPYKalmanFilter.h:85: error: 'atan2' was not declared in this scope
In file included from /tmp/hrpsys-source-476-2015-02-11/src/hrpsys-base-476/rtc/KalmanFilter/testKalmanFilterEstimation.cpp:13:
/tmp/hrpsys-source-476-2015-02-11/src/hrpsys-base-476/rtc/KalmanFilter/EKFilter.h: In member function 'Eigen::Matrix<double, 3, 1, 0, 3, 1> EKFilter::accelerationToRpy(const double&, const double&, const double&)':
/tmp/hrpsys-source-476-2015-02-11/src/hrpsys-base-476/rtc/KalmanFilter/EKFilter.h:31: error: 'atan2' was not declared in this scope
/tmp/hrpsys-source-476-2015-02-11/src/hrpsys-base-476/rtc/KalmanFilter/EKFilter.h:32: error: 'sqrt' was not declared in this scope
/tmp/hrpsys-source-476-2015-02-11/src/hrpsys-base-476/rtc/KalmanFilter/testKalmanFilterEstimation.cpp: In function 'int main(int, char**)':
/tmp/hrpsys-source-476-2015-02-11/src/hrpsys-base-476/rtc/KalmanFilter/testKalmanFilterEstimation.cpp:32: error: 'atof' was not declared in this scope
/tmp/hrpsys-source-476-2015-02-11/src/hrpsys-base-476/rtc/KalmanFilter/testKalmanFilterEstimation.cpp:34: error: 'atof' was not declared in this scope
/tmp/hrpsys-source-476-2015-02-11/src/hrpsys-base-476/rtc/KalmanFilter/testKalmanFilterEstimation.cpp:36: error: 'atof' was not declared in this scope
/tmp/hrpsys-source-476-2015-02-11/src/hrpsys-base-476/rtc/KalmanFilter/testKalmanFilterEstimation.cpp:38: error: 'atof' was not declared in this scope
/tmp/hrpsys-source-476-2015-02-11/src/hrpsys-base-476/rtc/KalmanFilter/testKalmanFilterEstimation.cpp:82: error: 'FILE' was not declared in this scope
/tmp/hrpsys-source-476-2015-02-11/src/hrpsys-base-476/rtc/KalmanFilter/testKalmanFilterEstimation.cpp:82: error: 'gp' was not declared in this scope
/tmp/hrpsys-source-476-2015-02-11/src/hrpsys-base-476/rtc/KalmanFilter/testKalmanFilterEstimation.cpp:84: error: 'size_t' was not declared in this scope
/tmp/hrpsys-source-476-2015-02-11/src/hrpsys-base-476/rtc/KalmanFilter/testKalmanFilterEstimation.cpp:84: error: expected ';' before 'ii'
/tmp/hrpsys-source-476-2015-02-11/src/hrpsys-base-476/rtc/KalmanFilter/testKalmanFilterEstimation.cpp:84: error: 'ii' was not declared in this scope
/tmp/hrpsys-source-476-2015-02-11/src/hrpsys-base-476/rtc/KalmanFilter/testKalmanFilterEstimation.cpp:86: error: 'fprintf' was not declared in this scope
/tmp/hrpsys-source-476-2015-02-11/src/hrpsys-base-476/rtc/KalmanFilter/testKalmanFilterEstimation.cpp:91: error: 'fflush' was not declared in this scope
/tmp/hrpsys-source-476-2015-02-11/src/hrpsys-base-476/rtc/KalmanFilter/testKalmanFilterEstimation.cpp:96: error: expected ';' before 'j'
/tmp/hrpsys-source-476-2015-02-11/src/hrpsys-base-476/rtc/KalmanFilter/testKalmanFilterEstimation.cpp:96: error: 'j' was not declared in this scope

[snozawa]

@k-okada さん
上記のように，QNXでのエラーメッセージがでてるようです．
jenkins内でのビルドでエラーがでてるということでしょうか．

該当箇所の例えば

/tmp/hrpsys-source-476-2015-02-11/src/hrpsys-base-476/rtc/KalmanFilter/RPYKalmanFilter.h:82: error: 'sqrt' was not declared in this scope

の箇所は，最近ファイルを分割したくらいで，もともとsqrt関数はだいぶまえからのKalmanFilterにはいっており，
特にこのようなエラーがでてなかったきがします．
どうなおしたらよいでしょうか．

[k-okada]

https://github.com/fkanehiro/hrpsys-base/blob/master/rtc/KalmanFilter/RPYKalmanFilter.h#L4
あたりでinclude "util/Hrpsys.h"とかしないとだめなんじゃないかな．

◉ Kei Okada

2015-02-11 22:18 GMT+09:00 Shunichi Nozawa notifications@github.com:

@k-okada https://github.com/k-okada さん
上記のように，QNXでのエラーメッセージがでてるようです．
jenkins内でのビルドでエラーがでてるということでしょうか．

該当箇所の例えば

/tmp/hrpsys-source-476-2015-02-11/src/hrpsys-base-476/rtc/KalmanFilter/RPYKalmanFilter.h:82: error: 'sqrt' was not declared in this scope

の箇所は，最近ファイルを分割したくらいで，もともとsqrt関数はだいぶまえからのKalmanFilterにはいっており，
特にこのようなエラーがでてなかったきがします．
どうなおしたらよいでしょうか．

—
Reply to this email directly or view it on GitHub
#476 (comment).

[snozawa]

ありがとうございます、
#478
で修正してみました。

[k-okada]

k-okada@58b0293

みたいなのが必要かな．

[snozawa]

#498
で対応できましたので、closeします。
ありがとうございました。