Support v1.0

.travis.yml

@@ -4,9 +4,9 @@ os:
   - linux
   - osx
 julia:
-  - 0.6
   - 0.7
   - 1.0
+  - nightly
 matrix:
   allow_failures:
     - julia: nightly

README.md

@@ -1,10 +1,10 @@
-[![Robotlib](http://pkg.julialang.org/badges/Robotlib_0.5.svg)](http://pkg.julialang.org/?pkg=Robotlib)
 [![Robotlib](http://pkg.julialang.org/badges/Robotlib_0.6.svg)](http://pkg.julialang.org/?pkg=Robotlib)
 [![Build Status](https://travis-ci.org/baggepinnen/Robotlib.jl.svg?branch=master)](https://travis-ci.org/baggepinnen/Robotlib.jl)
 [![codecov](https://codecov.io/gh/baggepinnen/Robotlib.jl/branch/master/graph/badge.svg)](https://codecov.io/gh/baggepinnen/Robotlib.jl)
 
 
-Update to support julia v0.7 / v1.0 is ongoing
+Now supporting Julia v0.7/v1.0.
+Dependency MAT.jl is currently not building on Julia v1.0 and hence all file loading functionality and some tests have been deactivated.
 
 # Robotlib
 This is a library of functions to help out in a robotics lab. At present stage, it contains functions for forward kinematics, jacobians, iterative inverse kinematics and for a few robotics related calibration problems. The library also contains a number of functions to convert from various orientation representations and other robotics related helper functions.

REQUIRE

@@ -1,5 +1,5 @@
 julia 0.7
-MAT
+# MAT
 DataFrames
 RecipesBase
 StatsBase

src/Frames.jl

@@ -56,15 +56,15 @@ println("Wrote T_TAB_SEAM, T_T_SEAM, T_RB_TAB to files in \$path")
 """
 module Frames
 
-using StaticArrays, RecipesBase, LinearAlgebra
-
+using StaticArrays, RecipesBase, LinearAlgebra, Statistics
+using ..Robotlib
 
 export Frame, Point, Plane, Points, Line, GeometricObject, add_frame_name!
 export readcloud, readTmatrix, readplane, fitline, fitplane, framefromfeatures, project
 export plot3Dsmart, display, show, print
 export inv, *,+,-,/,\,transpose,ctranspose, dot
 
-import Base: print, zeros, length, size, getindex, setindex!, convert, promote_rule, push!, show, display, iterate, +, *, .*, /, ./, -, \, inv
+import Base: print, zeros, length, size, getindex, setindex!, convert, promote_rule, push!, show, display, +, *, .*, /, ./, -, \, inv
 import LinearAlgebra: ×, transpose, ctranspose, dot, ⋅, det
 # using LaTeXStrings
 import Robotlib: T2R, T2t, I3, I4

src/Robotlib.jl

@@ -29,10 +29,11 @@ const I3 = SMatrix{3, 3, Float64, 9}(Matrix{Float64}(I, 3, 3))
 include("DH.jl")
 include("utils.jl")
 include("kinematics.jl")
+include("Frames.jl") # Must come before robotplot
 include("robotplot.jl")
-include("Frames.jl")
-include("read_log.jl")
-include("csv2mat.jl")
+# https://github.com/JuliaIO/MAT.jl/issues/90
+# include("read_log.jl")# Re-enable when MAT.jl builds under Julia v1.0. Then add MAT to require
+# include("csv2mat.jl") # Re-enable when MAT.jl builds under Julia v1.0. Then add MAT to require
 include("posDepFric.jl")
 
 module Calibration

src/applications/FRIDAcalibForce.jl

@@ -8,7 +8,7 @@ function demo_calibforce(filename = "")
     h          = 0.004032;
     dh         = DHYuMi()
 
-    if if filename != "" # Use this option if you have a textbased logfile
+    if filename != "" # Use this option if you have a textbased logfile
         pathopen   = filename
         pathsave   = "log.mat"
         data       = orcalog2mat(pathopen, pathsave)

src/calibLPOE.jl

@@ -458,6 +458,7 @@ if false
     ei = 0.0
     ec = 0.0
     for i = 1:N
+        global ei,ec
         T1 = fkineLPOE(Tn0mod,xin,q[i,:,1])
         T2 = fkineLPOE(Tn0mod,xin,q[i,:,2])
         ei += norm(twistcoords(log(Ta[:,:,i]*trinv(T1))))

src/calibNAXP.jl

@@ -86,11 +86,11 @@ function get_matrices(N_RB, POSES, points_S, lines_S)
         Ta     = POSES[1:3,4,i]
         Pi     = points_S[:,i]
         y[i]   = norm(Ni)^2-Ni'Ta
-        A[i,:] = (reshape(repmat(Ni'Ra,3,1)',9,1).*[reshape(repmat(Pi[1:2],1,3)',6,1);1;1;1])' #TODO: rewrite
+        A[i,:] = (reshape(repeat(Ni'Ra,3,1)',9,1).*[reshape(repeat(Pi[1:2],1,3)',6,1);1;1;1])' #TODO: rewrite
         # Sample one additional point along line
         Pi = points_S[:,i] + 1lines_S[:,i]
         y[i+N_poses] = norm(N_RB[:,i])^2-Ni'Ta
-        A[i+N_poses,:] = (reshape(repmat(Ni'Ra,3,1)',9,1) .*[reshape(repmat(Pi[1:2],1,3)',6,1);1;1;1])'
+        A[i+N_poses,:] = (reshape(repeat(Ni'Ra,3,1)',9,1) .*[reshape(repeat(Pi[1:2],1,3)',6,1);1;1;1])'
     end
     A,y
 end
@@ -116,14 +116,14 @@ function findplanes(planes, points)
     for j = 1:N_planes
         ind          = planes .== j
         μᵢ           = mean(points[1:3,ind],dims=2)[:]
-        μ_RB[:,ind]  = repmat(μᵢ,1,sum(ind))
-        D,V          = eig(cov(points[1:3,ind]')) # PCA
+        μ_RB[:,ind]  = repeat(μᵢ,1,sum(ind))
+        D,V          = eigen(cov(points[1:3,ind]')) # PCA
         N_RBi        = V[:,1] # Eigenvector of smalles eigval is the normal of the plane
         if μᵢ'N_RBi < 0 # Make sure all normals point in same direction
             N_RBi = -1*N_RBi
         end
         N_RBi        = N_RBi*(N_RBi'μᵢ)
-        N_RB[:,ind]  = repmat(N_RBi,1,sum(ind)) # Repeat plane normal for all planes with same ind
+        N_RB[:,ind]  = repeat(N_RBi,1,sum(ind)) # Repeat plane normal for all planes with same ind
         normals[j,:] = N_RBi
     end
     normals, N_RB

test/runtests.jl

@@ -1,6 +1,7 @@
 using Robotlib, LinearAlgebra, Random, Statistics
 using Test
 import Robotlib: ad, adi, I4
+Random.seed!(1)
 
 include("testCalibNAXP.jl")
 include("testForce.jl")
@@ -112,6 +113,7 @@ end
     # xic,et,er = Robotlib.Calibration.calibPOE(xinmod,Ta,q,maxiter=150, λ = 10000.0)
     # display(norm(xin[:,1:7]-xinmod[:,1:7]))
     # display(norm(xin[:,1:7]-xic[:,1:7]))
+
     N = 100
     println("===== Testing calibLPOE =====")
     q, xin,Tn0,Tn0mod, Ta = simulateCalibrationLPOE(N)
@@ -129,9 +131,10 @@ end
         sqrt(sum((Tn0[1:3,4,:]-Tn0mod[1:3,4,:,1]).^2+(Tn0[1:3,4,:]-Tn0mod[1:3,4,:,2]).^2)/N))
     println("Error between Tn0 and Tn0c  : ",
         sqrt(sum((Tn0[1:3,4,:]-Tn0c[1:3,4,:,1]).^2+(Tn0[1:3,4,:]-Tn0c[1:3,4,:,2]).^2)/N))
-    ei = 0.0
-    ec = 0.0
+    global ei = 0.0
+    global ec = 0.0
     for i = 1:N
+        global ei, ec
         T1 = fkineLPOE(Tn0mod[:,:,:,1],xin[:,:,1],q[i,:,1])
         T2 = fkineLPOE(Tn0mod[:,:,:,2],xin[:,:,2],q[i,:,2])
         ei += norm(twistcoords(log(Ta[:,:,i]*trinv(T1))))
@@ -147,4 +150,5 @@ end
 
 
 println("===== Testing frames =====")
-include("testFrames.jl")
+@warn("Testing of Frames is inactivated since MAT.jl didn't build. Re-enable when this is resolved https://github.com/JuliaIO/MAT.jl/issues/90")
+# include("testFrames.jl")

test/testCalibNAXP.jl

@@ -135,9 +135,9 @@ function run_calib()
         # Generate nominal transformation
         T_TF_S_real = copy(T_TF_S)
         if true
-            T_TF_S0 = Rt2T(rpy2R(60π/180*(rand(3)-0.5)),0.4*(rand(3)-0.5))*T_TF_S_real
-            # T_TF_S0 = Rt2T(rpy2R(10π/180*(rand(3)-0.5)),0.1*(rand(3)-0.5))*T_TF_S_real
-            #         T_TF_S0 = rt2tr(rpy2R(2*(rand(1,3)-0.5),'deg'),0.01*(rand(3,1)-0.5))*T_TF_S_real;
+            T_TF_S0 = Rt2T(rpy2R(60π/180*(rand(3).-0.5)),0.4*(rand(3).-0.5))*T_TF_S_real
+            # T_TF_S0 = Rt2T(rpy2R(10π/180*(rand(3).-0.5)),0.1*(rand(3).-0.5))*T_TF_S_real
+            #         T_TF_S0 = rt2tr(rpy2R(2*(rand(1,3).-0.5),'deg'),0.01*(rand(3,1).-0.5))*T_TF_S_real;
         else
             T_TF_S0 = copy(T_TF_S_real)
         end
@@ -173,13 +173,13 @@ end
 
 SSEStart, normStart, distStart, rotStart, distEnd, rotEnd, SSEMC, normMC = run_calib()
 
-iters = size(SSEMC,2)
-using StatPlots
-gr(legend=false)
-plot(0:iters,copy([normStart normMC]'),yscale=:log10,c=:black, xlabel="Number of iterations", layout=2, subplot=1)
-hline!([sigma_n, sigma_n],l=:dash, c=:red, subplot=1)
-plot!(0:iters,[SSEStart SSEMC]',yscale=:log10,c=:black, xlabel="Number of iterations",title="RMS distance from points to plane [m]", subplot=2)
-hline!([sigma_n sigma_n],l=:dash,c=:red, subplot=2)
+# iters = size(SSEMC,2)
+# using StatPlots
+# gr(legend=false)
+# plot(0:iters,copy([normStart normMC]'),yscale=:log10,c=:black, xlabel="Number of iterations", layout=2, subplot=1)
+# hline!([sigma_n, sigma_n],l=:dash, c=:red, subplot=1)
+# plot!(0:iters,[SSEStart SSEMC]',yscale=:log10,c=:black, xlabel="Number of iterations",title="RMS distance from points to plane [m]", subplot=2)
+# hline!([sigma_n sigma_n],l=:dash,c=:red, subplot=2)
 
 # boxplot(["Before" "After"],([distStart distEnd]), title="Distance error [m]", yscale=:log10, layout=2, subplot=1)
 # hline!([sigma_n sigma_n],c=:red)