Libbarrett change log

Version 1.1.0

Change list:

• The systems::Wam::moveTo() member function can now be used to simultaneously control tool position and tool orientation using pose_type
• Updated examples/ex02_hold_position.cpp to demonstrate systems::Wam::moveTo(pose_type)
• Added systems::Wam::getLowLevelWam()
• Added a template specialization for math::Spline that can interpolate boost::tuple types
• API CHANGE: Removed the initialDirection parameter from the math::Spline constructor
• Added Puck::saveAllProperties() member function
• Added a python wrapper for the ProductManager class
• Added support for WAMs that have joint encoders
• Added sandbox utilities
• Changed linker configuration to support Ubuntu 12.04
• The sandbox/ folder is installed to ~/libbarrett_sandbox by default
• Python bindings for libbarrett are now compiled by default (use "cmake . -DWITH_PYTHON=OFF" to disable)
• Fixed a bug in the log::RealTimeWriter constructor
• Fixed a bug in systems::RealTimeMutex

Known issues:

(No additional issues.)

Version 1.0.0

Recent changes:

• Changed the following functions and constants to measure time in seconds:
  • log::RealTimeWriter::RealTimeWriter()
  • Hand::waitUntilDoneMoving()
  • Puck::tryGetProperty()
  • Puck::WAKE_UP_TIME
  • Puck::TURN_OFF_TIME
  • SafetyModule::waitForMode()
  • SafetyModule::waitForModeChange()
• Removed the non-static overloads for Puck::tryGetProperty()
• Updated Hand API
• Improved support for controlling two WAM systems from one PCI CAN card
• Renamed the "kinematics.world" config setting to "kinematics.world_to_base"
• Changed how configuration files access calibration information
• Updated the bt-wam-zerocal program
• Updated the bt-wam-gravitycal program
• Added wamdiscover utility to help identify WAMs and WAM-PCs on the local network
• Added a "make install" target to install the library to system directories
• Introduced a system for gracefully updating and installing configuration files (run: "make install_config")
• Added cmake option "-DWITH_PYTHON=ON" to build shared library with python bindings
• Added python bindings for the Puck class
• Added python bindings for the barrett::bus namespace
• Added auto-recovery features that reduce the number of failures on start-up due to CANbus errors
• Added a method for reading the state of a WAM's Display and Control Pendants (SafetyModule firmware versions >=197)
• Added the ability to Shift-idle or E-stop a WAM via software (SafetyModule firmware versions >=197)
• Added barrett/os.h to wrap Operating System facilities, like syslog() and usleep()
• Added accessor methods to systems::HapticBall and systems::HapticBox
• Added a new class called "barrett::systems::RateLimiter"
• Corrected the scale-factor for FTS accelerometer readings
• Fixed a bug that prevented multiple systems::RealTimeExecutionManager's from running real time loops concurrently
• Fixed a bug in systems::Wam::getJointVelocities()
• Fixed a bug in systems::Wam::moveHome(bool, double, double)

Known issues:

• The installed shared library is not in Python's module search path
• The CANbus auto-recover feature causes a one-time kernel assertion failure. (This is believed to be an issue with Xenomai 2.5.5.2.)
• The wamdiscover utility requires Python >=2.7, or separate installation of argparse module
• The bus::CommunicationsBus::getMutex() method does not have a python binding