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Version history

version 1.20
(2007/07/02)

The following changes have been contributed by Ethan Tira-Thompson

The following changes have been contributed by Etienne Lachance

The program files in this version are the following revisions:

Id: bench.cpp,v 1.15 2004/07/06 02:16:36
Id: clik.cpp,v 1.5 2004/07/06 02:16:36
Id: comp_dq.cpp,v 1.17 2004/07/06 02:16:36
Id: comp_dqp.cpp,v 1.16 2004/07/06 02:16:36
Id: config.cpp,v 1.11 2004/07/06 02:16:36
Id: controller.cpp,v 1.1 2004/07/06 02:16:36
Id: control_select.cpp,v 1.1 2004/07/06 02:16:36
Id: delta_t.cpp,v 1.16 2004/07/06 02:16:36
Id: demo_2dof_pd.cpp,v 1.1 2004/07/06 02:16:36
Id: demo.cpp,v 1.28 2004/07/06 02:16:36
Id: dynamics.cpp,v 1.31 2004/07/06 02:16:36
Id: dynamics_sim.cpp,v 1.1 2004/07/06 02:16:36
Id: gnugraph.cpp,v 1.36 2004/07/06 02:16:36
Id: homogen.cpp,v 1.12 2004/07/06 02:16:36
Id: invkine.cpp,v 1.2 2004/07/06 02:16:36
Id: kinemat.cpp,v 1.29 2004/07/06 02:16:36
Id: quaternion.cpp,v 1.16 2004/07/06 02:16:36
Id: robot.cpp,v 1.39 2004/07/06 02:16:37
Id: rtest.cpp,v 1.13 2004/07/06 02:16:37
Id: sensitiv.cpp,v 1.13 2004/07/06 02:16:37
Id: trajectory.cpp,v 1.5 2004/07/06 02:16:37
Id: utils.cpp,v 1.22 2004/07/06 02:16:37
Id: clik.h,v 1.5 2004/07/06 02:16:36
Id: config.h,v 1.11 2004/07/06 02:16:36
Id: controller.h,v 1.1 2004/07/06 02:16:36
Id: control_select.h,v 1.1 2004/07/06 02:16:36
Id: dynamics_sim.h,v 1.1 2004/07/06 02:16:36
Id: gnugraph.h,v 1.8 2004/07/06 02:16:36
Id: quaternion.h,v 1.10 2004/07/06 02:16:36
Id: robot.h,v 1.45 2004/07/06 02:16:37
Id: trajectory.h,v 1.7 2004/07/06 02:16:37
Id: utils.h,v 1.6 2004/07/06 02:16:37
Id: makefile.bc5,v 1.14 2004/07/07 02:47:43
Id: makefile.gcc,v 1.14 2004/07/04 03:11:53
Id: makefile.gw32,v 1.11 2004/07/04 03:11:53
Id: makefile.vcpp,v 1.9 2004/07/07 02:47:43

version 1.19
(2004/05/12) Upgraded the matrix library from NEWMAT10 to NEWMAT11 (beta). Visual C++ .NET and Borland C++ Builder 6 compilers are now supported. Updated documentation.

version 1.18
(2004/05/05) ROBOOP is relicensed to the GNU Lesser General Public License. Updated documentation.

The following changes have been contributed by Vincent Drolet and Etienne Lachance:

version 1.17
(2004/04/02) Numerous warning messages were corrected under VC++. Updated documentation.

The following changes have been contributed by Etienne Lachance:

version 1.16
(2003/09/24) The OpenWatcom C++ compiler is now supported. Updated documentation.
version 1.15
(2003/06/18) The following changes have been contributed by Etienne Lachance:
version 1.14
(2003/04/17) Updated documentation. The Watcom compiler is no longer supported (problems with STL and streams). The following changes have been contributed by Etienne Lachance:

version 1.13
(2002/08/09) Moved the arrays of ColumnVector to the constructors for the dynamics and linearized dynamics for a $\approx 10 \%$ gain in speed (thanks to Etienne Lachance for the suggestion). Added the mRobot and mRobotMotor classes using the modified Denavit-Hartenberg notation. Updated documentation.

version 1.12
(2002/02/04) Upgraded the matrix library from NEWMAT09 to NEWMAT10.

version 1.11
(2001/06/06) Fixed bugs for prismatic joints in the dynamics routines (reported by Hassan Abedi). Updated documentation.

version 1.10
(2001/04/30) Changed the license to GNU General Public License. Workspace for MS Visual C++ 6.0. New makefiles using implicit rules. New class RobotMotor that includes motors parameters (rotor inertia, gear ratio and friction coefficients). Updated documentation.

version 1.09
(98/09/27) Makefile for MS Visual C++ 6.0.

version 1.08
(98/06/1) Changes to robot.cpp and robot.h to avoid the warning messages:

initialization of non-const reference `*' from rvalue `*'

Fixed function ieulzxz in homogen.cpp thanks to Kilian Pohl.

version 1.07
(98/05/12) The bench.cpp program is more portable. Simpler makefile for Borland C++. New targets in makefiles (clean and veryclean). Removed the CVS Log tags from the sources. Compiler option -O now works under gcc 2.7.2 thanks to the new newmat.h provided by Robert Davies.

version 1.06
(97/11/21) The function inv_kin modified to use the Jacobian by default in the iterative procedure ( $\approx 1.8\times$ faster). Updated documentation.

version 1.05
(97/11/17) Added make file for GNU G++ under Windows 95/NT using Cygnus GNU-Win32 compiler. Added optimization flags under GNU G++. Updated documentation.

version 1.04
(97/11/14) Added make file for GNU G++ and graphic support through gnuplot (2d plots). Updated documentation.

version 1.03
(97/11/01) Added adaptive step size integration. Changes to the documentation.

version 1.02
(97/10/21) Upgraded the matrix library from NEWMAT08A to NEWMAT09. New directory structure : newmat08 is replaced by newmat. Conditional compilation of delete [] for pre 2.1 C++ compilers has been removed since NEWMAT09 no longer supports these compilers. Minor changes to the documentation.

version 1.01
(97/01/17) Conditional compilation of delete [] for pre 2.1 C++ compilers. Changes to the documentation.

version 1.0
(96/12/15) First public release of the package.


next up previous contents
Next: Files in the distribution Up: Introduction Previous: Copyright   Contents
Richard Gourdeau 2004-07-06