Code

Hybrid dynamics#298

Code

Merged

jslee02 merged 38 commits intomasterdartsim/dart:masterfrom hybrid_dynamicsdartsim/dart:hybrid_dynamicsCopy head branch name to clipboardJan 8, 2015

+4,157-988

Commits

Commits on Jan 3, 2015

• Add hybrid dynamics routines, works only for SingleDofJoint

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  fd4df6d

• Add test app for hybrid dynamics

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  a15e6d3

• Deprecate castUIntToInt() and apply hybrid dynamics to joint constraints

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  844ea91

Commits on Jan 4, 2015

• Apply hybrid dynamics API to SoftBodyNode and PointMass

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  4b31757

• Fix typo

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  46c398d

• Implement hybrid dynamics routines to ZeroDofJoint and MultDofJoint

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  e9b9040

• Take own line for DEPRECATED for better doxygen output

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  4bca02c

• Disable gcc for Travis-CI because the gcc version is 4.6.3 while DART require 4.7.0 or greater

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  905d526

• Add joint damping and spring force option for inverse dynamics

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  b0e5370

• Rename Actuation to Actuator, and add some comment

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  6483a2a

• Add todo note

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  62614e5

• Use setInput() instead of setForce() or setAcceleration() to set the input

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  26d4189

• Implement passive joint actuator type

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• Add error message for unsupported joint actuator type

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  1df33bc

• Initialize mInput in the constructor

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  27cf4dc

Commits on Jan 5, 2015

• Implementing servo joint type (1)

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  2219b4c

• Add hybridDynamics2 app which is temporary for test

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  e68ce59

• Rename Input to Command

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  794cb82

• Merge hybrid dynamics into forward dynamics

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  1a58c96

• Clean up hybrid dynamics related function names

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  a634915

• Add velocity joint type that takes desired velocity

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Commits on Jan 6, 2015

• Deprecate Joint::mWrench

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  39ab55d

• Add command API to Skeleton

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  9efcffe

• Enable autobrief for doxygen

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  aa14117

• Parse joint "actuator" attribute from skel file

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  49565ac

• Add tests for hybrid dynamics

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  3d006d4

Commits on Jan 7, 2015

• Clean up hybrid dynamics test

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  435ae62

• Rename "torque" actuator type to "force" actuator type

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  64b78d8

• Clean up example app

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  79aa74f

• Clean up copyright of example app

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  3cffe2d

• Update comment on Joint::ActuatorType

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  438e680

• Merge remote-tracking branch 'origin/release-4.2' into hybrid_dynamics

  Show description for b6f7c91
  jslee02

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  b6f7c91

• Merge branch 'master' into hybrid_dynamics

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  0e72171

• Merge branch 'master' into hybrid_dynamics

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  90a52cc

Commits on Jan 8, 2015

• Add Joint::isMotionPrescribed() and update BodyNode::isReactive() to be aware of hybrid dynamics

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  08bf6e2

• Use NULL instead of nullptr until we totally migrate to C++11

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  3fa032f

• [Joint] Add "locked" actuator type

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  60af0bb

• [hybridDynamics app] Add harness by changing the actuator type of root body

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  958ea75