The first major-version KDL-Release is being prepared. KDL-1.0 will contain
algorithms for rigid-body positions/velocity/force calculations and
transformations. This part of KDL is not changed with respect to the previous
versions. There is a major rewrite and API change in the kinematic family
section:
* The representation of a chain is changed.
* The usage of all the kinematic solvers is changed.
For now there are solvers for forward and inverse position and velocity
kinematics of regular serial chains. Kinematic algorithms for special cases
(serial321, zxxzxz) and different kinds of inverse velocity kinematic solvers
(damped least squares, selectively damped least squares, dynamically
consistent pseudo inverse solutions etc.) will be added. There is a toolkit
for usage with Orocos-RTT, KDL-objects becomes usable in your RTT-scripts and
programs. There are also bindings for python, so you can use all the
rigid-body algorithms and all the kinematic solvers in python. You can find
the API-documentation on
sources are available on:
If you find any bugs or have any comments, please contact us on the
orocos-dev mailinglist or submit your bugs on the bugzilla-page.
Ruben
--
Ir. Ruben Smits
Robotics Group, Mechanical Engineering,
KULeuven
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program execution
I have a simple problem: I have just implemented some code in KDL, and I also have a main.cpp with the test code in.I made a cmake . and after a make from terminal, it built without errors. A file with .so extension was generated. Could anyone tell me how to run the main program to test my code?
program execution
On Friday 16 November 2007 18:48:43 z01ee wrote:
> I have a simple problem: I have just implemented some code in KDL, and I
> also have a main.cpp with the test code in.I made a cmake . and after a
> make from terminal, it built without errors. A file with .so extension was
> generated. Could anyone tell me how to run the main program to test my
> code?
Can you be more specific ? How did you write your CMakeLists.txt file ? If
you're making a program, you should use ADD_EXECUTABLE. See 'man cmake'.
Peter
KDL-1.0.0-beta1 Release!!!
On Monday 20 August 2007 15:44:14 Ruben Smits wrote:. The sources are available on:
> You can find the API-documentation on
>
>
> orocos-dev mailinglist or submit your bugs on the bugzilla-page.
When you make the final 1.0.0 release, please consider using
$ svn export https://svn.mech.kuleuven.be/repos/orocos/branches/kdl/kdl-1.0
kdl-1.0.0
$ tar -cvjf orocos-kdl-1.0.0.src.tar.gz kdl-1.0.0
and not using 'cpack', as it does not add any value to the above method and
has an unconventional directory/package name, not suitable for creating
debian packages afterwards (without modification).
Peter
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Peter Soetens -- FMTC --
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KDL-1.0.0-beta1 Release!!!
On Monday 20 August 2007 15:44:14 Ruben Smits wrote:
> The first major-version KDL-Release is being prepared. KDL-1.0 will contain
> algorithms for rigid-body positions/velocity/force calculations and
> transformations. This part of KDL is not changed with respect to the
> previous versions. There is a major rewrite and API change in the kinematic
> family section:
>
> * The representation of a chain is changed.
> * The usage of all the kinematic solvers is changed.
We discussed earlier bindings to other matrix libraries, such as boost::ublas.
What effort needs to be done before these bindings are available ?
Peter
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Peter Soetens -- FMTC --
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