Code

MuscleNP#99

Code

Merged

brtietz merged 163 commits intomasterNASA-Tensegrity-Robotics-Toolkit/NTRTsim:masterfrom MuscleNPNASA-Tensegrity-Robotics-Toolkit/NTRTsim:MuscleNPCopy head branch name to clipboardNov 26, 2014

+6,936-1,696

Commits

Commits on Jun 18, 2014

• Adding folder and header file for new models

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• Define elements

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• Adding cpp file for CordeModel

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Commits on Jun 19, 2014

• Adding main and CMakeLists file for Corde testing

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• Prepping variables in ComputeInternalForces

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Commits on Jun 20, 2014

• Defining parameters in header file

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• A few comments for corde, mostly testing branching

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Commits on Jun 23, 2014

• working config, partial implementation of forces

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• Adding other x equations, error checking for config

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• Constructors for the position and quaternion elements

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• Simple constructor and destructor

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• Running corde internal forces in one dimension, blows up

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• Adding double precision to build, causes faults. Will debug on another branch

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• Making Corde model double precision, note this breaks everything else for now

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• Working corde model (for 1 s of simulation in 1D), Need to examine dissipation term further, it appears to add energy

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Commits on Jun 24, 2014

• Proper definition of Use_Double_Precision flag

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• Messing around with Corde more

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• Merged with master

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• Noticed the units on Spillman's dissipation constants

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• Completed force loop

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• quaternion stiffnesses, renamed quaternion elements

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• q1 torques finished, q2 in progress

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Commits on Jun 25, 2014

• All torque equations

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• Apply all torques

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• Complete equations for unconstrained motion. Boundry condition issues still need to be addressed

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• Updated debugging printouts and using proper quaternion matrix

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• Fixed bug, now stable along z axis

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Commits on Jun 27, 2014

• Corrected a numerical instability in constraint equations

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Commits on Jun 30, 2014

• Merge branch 'master' of https://github.com/NASA-Tensegrity-Robotics-Toolkit/NTRTsim

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• Updating to corde latest Merge branch 'corde' of https://github.com/NASA-Tensegrity-Robotics-Toolkit/NTRTsim

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• pre merge commit

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• Merged with setup_bullet.sh

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Commits on Oct 20, 2014

• Catching up this repo with origin master

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• Basic classes to utilize ghost objects for collision detection

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• Modifications to run with the object. Currently segfaults due to lack of collision shape

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Commits on Oct 21, 2014

• Functional overlapping pair cache

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• Better overlapping pair tests

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• split muscle2P and muscleAnchor into seperate files

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• Cleanup of includes for tgRigidInfo, updating transforms for ghost objects

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• Fixed rendering for new ghost objects

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• Preliminary narrow-phase code, need to debug

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Commits on Oct 22, 2014

• Comments

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Commits on Oct 23, 2014

• Fixed broadphase error for proper use of ghost objects

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• More debugging info for MuscleNP

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• Preliminary collision resolution model

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Commits on Oct 24, 2014

• Quick model demonstrating contact dynamics

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• New data for muscleAnchor, const correctness for muscleAnchor, testing necessity of RB checks for new contacts

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• Comparison object for muscle anchors, more const correctness

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• Correct capitilzation for muscleAnchor files, towards anchor lists for muscleNP

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• Rendering for MuscleNP, required modifications to Muscle2P to avoid nasty casting

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  fbc5554

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• Bugfix in anchor definition

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Commits on Oct 25, 2014

• Updating bounding boxes for anchors. Needs improvement

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Commits on Oct 27, 2014

• First cut point pruning algorithm

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Commits on Oct 28, 2014

• Sketch of force application, bugfixes, improved pruning algorithm, updating center of bounding boxes

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• Updated abs, correct way of centering AABB for MuscleNP

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  19f5a07

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• Fixed force direction for traditional anchors

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• Fixed force direction for traditional anchors

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Commits on Oct 29, 2014

• Working contact dynamics with poor collision shape updates

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• Adding a new Ghost Info class, minor changes to MuscleNP, etc

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• Upcasting for tgRigidInfo to store as a btCollisionObject

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• Building version using ghost objects and the builder tools- still need to work out details to get it working

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• Working builder tool ghost objects

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Commits on Oct 30, 2014

• Compounding boxes for collision objects

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• Compounding boxes for collision objects

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• Merge branch 'MuscleNP' of https://github.com/NASA-Tensegrity-Robotics-Toolkit/NTRTsim into MuscleNP

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• Minor changes

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• Avoid leaking collision objects that are created at runtime

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• Remove unncessary conditional compiles

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• Two point builder tools option, just a simple box

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• Sanity checks on force magnitude

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• Reduced couts in MuscleNP

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• Profiling for MuscleNP

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• Additional profiling

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• Stripped down collision object creation

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• Compound Objects without the builder tools

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Commits on Oct 31, 2014

• Bugfixes so more collisions are detected

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• Updating contact normals for muscle anchors, MuscleNP considers the length between its anchors, prunes accordingly, max force computations adjusted

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• Improved anchor contact normal tracking

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  bdc318d

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• Better determination of contact point

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  a255054

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• Improved pruning for redundant contacts

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• ifdef guards for couts

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  bbff5e9

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• Pruning based on relative normal directions, reduced length threshold

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• Prune all pushing nodes in a first pass, increases quality of remaining nodes

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  daee1d1

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• some additional debugging phrases

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Commits on Nov 1, 2014

• Pruning by radius of curvature...

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Commits on Nov 3, 2014

• Testing a single contact per manifold

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• Checking contact lengths before insertion into the vector

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Commits on Nov 4, 2014

• Improved force application

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• Previous commit, but with less pruning

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• Check normals before inserting new contacts

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Commits on Nov 5, 2014

• Sliding anchors, which are deleted based on AABB. Had to make anchors non-const do do this

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• Limiting force on a rigid body basis

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• Remove manifold tracking from muscleAnchor

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• Zero g testing for simpleMuscleNP, remove unnecessary includes for MuscleNP

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• Working TetraSpine with collisions - note, the change to tgSphereInfo _will_ change ICRA2015 applications

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• Profiling info

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  a415021

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• Clean up collision shapes on deletion of MuscleNP

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  5ab43ed

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• Fixing merge error in setup.sh

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• Ensure tgMultiPointStringInfo actually adds the ghost object to the world, removed unnecessary deletion from updateCollisionObject

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Commits on Nov 6, 2014

• Energy testing for MuscleNP. Some comments in tgUtil about issues I'm finding

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• Changes to tgBulletGround to make sure values are initialized, better cleanup for Muscle2P and MuscleNP

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• Some conditional compiles in MuscleNP and related, a fix for a hack in tgUtil

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• Completely remove getArbitraryVector function

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• Better reporting of total forces on objects

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Commits on Nov 7, 2014

• Update compound objects instead of adding/removing from simulation

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• More fixes for tgMultiPointStringInfo

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Commits on Nov 8, 2014

• Improved force application, plus some crazy ideas for better contact detection in the conditional compiles

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Commits on Nov 10, 2014

• New patch file containing additional changes to tgDemoApplication

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• Merge branch 'master' of https://github.com/NASA-Tensegrity-Robotics-Toolkit/NTRTsim into MuscleNP

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• Manifold updating for anchors. Improvement for momentum case, still testing others. Also now building bullet at double precision, may need to work this into bin/build.sh

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• Merge branch 'MuscleNP' of https://github.com/NASA-Tensegrity-Robotics-Toolkit/NTRTsim into MuscleNP

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• Making a second effort to copy the manifold before deleting the anchor

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• Always update - best across the board performance

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Commits on Nov 12, 2014

• Scaling force vectors by components

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• Better contact normal updates, forces conserving momentum 1.5%

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  5d4e2f9

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• Pruning after adding new anchors improves performance

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• A few different tests. Minor bugfixes to conserve momentum across more cases

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• Update contact normal more frequently reduces the number of contacts

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Commits on Nov 13, 2014

• Clean up anchor functions we're no longer using

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• More cleanup for muscleAnchor

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Commits on Nov 14, 2014

• Check to make sure this is the closest manifold, also local sorting scheme

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• Accurate local search for new anchor order

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  6d7e801

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• Final implementation of line pos sort - kind of explosive

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• First cut of improvements and bugfixes from anchorPositions branch

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• Fixed insertion point

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  1e0d27f

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• ifdefs for debugging, improved anchor deletion scheme

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• Merge remaining pieces of anchorPositions

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  0e1f460

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• Include dist deletion again

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• Change simpleMuscleNP back over, comments

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Commits on Nov 17, 2014

• Remove unused cable position functions

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• Remove string position from anchor constructor and data members (difficult to keep up to date)

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  19eedf0

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• Simplification of logic for muscleAnchor updates

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  e701198

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• Comments for muscleAnchor, cleanup of getManifoldDistance

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  5bea533

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• Improvements to pruning procedure and manifold updates, comments

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  c5fe861

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• Deleting overlapping pair cache helps full structures

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  917df30

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• Changing return type of calculateAndApplyForce since no one looks at that force vector, many comments for MuscleNP

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  1d5d1a7

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• Two string test, silence couts from MuscleNP

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Commits on Nov 18, 2014

• First cut at 'backwards' iterations to determine position. Minor stability improvements

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• First cut at 'backwards' iterations to determine position. Minor stability improvements

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• Bugfixes for new iteratons, added stability

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  0dc58b8

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• Finished with MuscleNP, cleaned up some unnecessary includes

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• Comments for muscleAnchor, returning a reference for force instead of a copy

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• Merge in latest commits to master

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Commits on Nov 19, 2014

• Remove height variable from muscleAnchor, as its redundant with the heightSensor class in dev/atil

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• Change muscleAnchor exception to printout, add terrain for tetraspine, update controls

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• Testing MuscleNP on a wall and hilly ground. Needs further tuning

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Commits on Nov 20, 2014

• Increase number of solver iterations, stabilize hilly terrain for Tetraspine, change contact threshold to value for double precision

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• Further investigation onto solver iterations

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  4e72394

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• Tuning for the tetraspine on terrain, new code for tetrahedral complex on terrain

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• Mostly comments

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Commits on Nov 24, 2014

• Comments and reduced dependancies for tgcreator, updated comments for integration tests, testing library for tgUtil (no real tests)

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• Hybrid solution for tgUtil, handle up vector with the right quaternion, use arbitrary when that one doesn't work

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• Updated value for integration test for double precision

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Commits on Nov 25, 2014

• Anchor based Muscle2P construction with pretension

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• MuscleNP also uses anchor based constructor

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• Remove old constructors, update comments

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  1cc37a5

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• Merge branch 'MuscleNP' of https://github.com/NASA-Tensegrity-Robotics-Toolkit/NTRTsim into MuscleNP

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  473ca01

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• Better naming for tgUtil test

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• Make muscleNPEnergy into a unit tests. Currently segfaults, debugging

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• Further testing for MuscleNP, made some changes to containsNode that make it more robust

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Commits on Nov 26, 2014

• Merge branch 'master' of https://github.com/NASA-Tensegrity-Robotics-Toolkit/NTRTsim into MuscleNP

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• Update base string construction parameters to include pretension

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• Pretension in an example

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