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Migration.md

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DART 3.0 to 4.0

Additions

  1. dart/math/Helpers.h
  • bool isNan(double _v)
  • bool isNan(const Eigen::MatrixXd& _m)
  • bool isInf(double _v)
  • bool isInf(const Eigen::MatrixXd& _m)
  1. dart/dynamics/GenCoord.h
  • void setConstraintForce(double _constForce)
  • double getConstraintForce() const
  • void setVelChange(double _velChange)
  • double getVelChange() const
  • void setImpulse(double _impulse)
  • double getImpulse() const
  • void integrateConfig(double _dt)
  • void integrateVel(double _dt)
  1. dart/dynamics/GenCoordSystem
  • void setConstraintForces(const Eigen::VectorXd& _constForces)
  • Eigen::VectorXd getConstraintForces() const
  • virtual void setVelsChange(const Eigen::VectorXd& _velsChange)
  • virtual Eigen::VectorXd getVelsChange() const
  • virtual void setImpulses(const Eigen::VectorXd& _impulses)
  • virtual Eigen::VectorXd getImpulses() const
  • virtual void integrateConfigs(double _dt)
  • virtual void integrateGenVels(double _dt)
  1. dart/dynamics/BodyNode.h
  • enum InverseKinematicsPolicy
  • class TransformObjFunc
  • class VelocityObjFunc
  • void setFrictionCoeff(double _coeff)
  • double getFrictionCoeff() const
  • void fitWorldTransform(const Eigen::Isometry3d& _target, InverseKinematicsPolicy _policy = IKP_PARENT_JOINT, bool _jointLimit = true)
  • void fitWorldLinearVel(const Eigen::Vector3d& _targetLinVel, InverseKinematicsPolicy _policy = IKP_PARENT_JOINT, bool _jointVelLimit = true)
  • void fitWorldAngularVel(const Eigen::Vector3d& _targetAngVel, InverseKinematicsPolicy _policy = IKP_PARENT_JOINT, bool _jointVelLimit = true)
  • void fitWorldTransformParentJointImpl(BodyNode* _body, const Eigen::Isometry3d& _target, bool _jointLimit = true)
  • void fitWorldTransformAncestorJointsImpl(BodyNode* _body, const Eigen::Isometry3d& _target, bool _jointLimit = true)
  • void fitWorldTransformAllJointsImpl(BodyNode* _body, const Eigen::Isometry3d& _target, bool _jointLimit = true)
  • bool isImpulseReponsible() const
  • void updateImpBiasForce()
  • void updateJointVelocityChange()
  • void updateBodyVelocityChange()
  • void updateBodyImpForceFwdDyn()
  • void setConstraintImpulse(const Eigen::Vector6d& _constImp)
  • void addConstraintImpulse(const Eigen::Vector6d& _constImp)
  • void clearConstraintImpulse()
  • const Eigen::Vector6d& getConstraintImpulse()
  1. dart/dynamics/Joint.h
  • virtual void setConfig(size_t _idx, double _config, bool _updateTransforms = true, bool _updateVels = true, bool _updateAccs = true)
  • virtual void setConfigs(const Eigen::VectorXd& _configs, bool _updateTransforms = true, bool _updateVels = true, bool _updateAccs = true)
  • virtual void setGenVel(size_t _idx, double _genVel, bool _updateVels = true, bool _updateAccs = true)
  • virtual void setGenVels(const Eigen::VectorXd& _genVels, bool _updateVels = true, bool _updateAccs = true)
  • virtual void setGenAcc(size_t _idx, double _genAcc, bool _updateAccs = true)
  • virtual void setGenAccs(const Eigen::VectorXd& _genAccs, bool _updateAccs = true)
  1. dart/dynamics/BallJoint.h
  • virtual void setTransformFromChildBodyNode(const Eigen::Isometry3d& _T)
  • virtual void integrateConfigs(double _dt)
  1. dart/dynamics/FreeJoint.h
  • virtual void setTransformFromChildBodyNode(const Eigen::Isometry3d& _T)
  • virtual void integrateConfigs(double _dt)
  1. dart/dynamics/Skeleton.h
  • virtual void setGenVels(const Eigen::VectorXd& _genVels, bool _updateVels = true, bool _updateAccs = true)
  • virtual void setGenAccs(const Eigen::VectorXd& _genAccs, bool _updateAccs = true)
  • virtual void integrateConfigs(double _dt)
  • virtual void integrateGenVels(double _dt)
  • void computeForwardKinematics(bool _updateTransforms = true, bool _updateVels = true, bool _updateAccs = true)
  • void clearImpulseTest()
  • void updateImpBiasForce(BodyNode* _bodyNode, const Eigen::Vector6d& _imp)
  • void updateVelocityChange()
  • void setImpulseApplied(bool _val)
  • bool isImpulseApplied() const
  • void computeImpulseForwardDynamics()
  • void clearConstraintImpulses()
  1. dart/collision/CollisionDetector
  • virtual void addSkeleton(dynamics::Skeleton* _skeleton)
  • virtual void removeSkeleton(dynamics::Skeleton* _skeleton)
  • virtual void removeAllSkeletons()
  1. dart/simulation/World.h
  • virtual void integrateConfigs(const Eigen::VectorXd& _genVels, double _dt)
  • virtual void integrateGenVels(const Eigen::VectorXd& _genAccs, double _dt)
  1. dart/integration/Integrator.h
  • virtual void integrateConfigs(const Eigen::VectorXd& _genVels, double _dt) = 0
  • virtual void integrateGenVels(const Eigen::VectorXd& _genAccs, double _dt) = 0
  1. dart/utils/SkelParser.h
  • static dynamics::Skeleton* readSkeleton(const std::string& _filename)
  1. dart/utils/SoftSkelParser.h
  • static dynamics::SoftSkeleton* readSoftSkeleton(const std::string& _filename)

Deletions

  1. dart/dynamics/BodyNode.h
  • virtual void updateTransform_Issue122(double _timeStep)
  • virtual void updateEta_Issue122()
  1. dart/dynamics/Joint.h
  • virtual void updateTransform_Issue122(double _timeStep)
  • virtual void updateEta_Issue122()
  • virtual void updateJacobianTimeDeriv_Issue122()
  1. dart/dynamics/Skeleton.h
  • Eigen::VectorXd getConfig() const
  1. dart/math/Geometry.h
  • bool isNan(const Eigen::MatrixXd& _m)
    • Note: moved to dart/math/Helpers.h

Modifications

  1. dart/dynamics/BodyNode.h
  • From: int getNumContactForces() const
    • To: int getNumContacts() const
  1. dart/dynamics/Joint.h
  • From: void setTransformFromParentBodyNode(const Eigen::Isometry3d& _T)
    • To: virtual void setTransformFromParentBodyNode(const Eigen::Isometry3d& _T)
  1. dart/dynamics/Skeleton.h
  • From: void setConfig(const std::vector& _id, const Eigen::VectorXd& _config)
    • To: void setConfigSegs(const std::vector& _id, const Eigen::VectorXd& _configs, bool _updateTransforms = true, bool _updateVels = true, bool _updateAccs = true)
  • From: Eigen::VectorXd getConfig(const std::vector& _id) const
    • To: Eigen::VectorXd getConfigSegs(const std::vector& _id) const
  • From: void setConfig(const Eigen::VectorXd& _config)
    • To: virtual void setConfigs(const Eigen::VectorXd& _configs, bool _updateTransforms = true, bool _updateVels = true, bool _updateAccs = true)
  • From: void setState(const Eigen::VectorXd& _state)
    • To: void setState(const Eigen::VectorXd& _state, bool _updateTransforms = true, bool _updateVels = true, bool _updateAccs = true)
  • From: Eigen::VectorXd getState()
    • To: Eigen::VectorXd getState() const
  1. dart/simulation/World.h
  • From: virtual void setState(const Eigen::VectorXd &_newState)
    • To: virtual void setConfigs(const Eigen::VectorXd& _configs)
    • To: virtual void setGenVels(const Eigen::VectorXd& _genVels)
  • From: virtual Eigen::VectorXd getState() const
    • To: virtual Eigen::VectorXd getConfigs() const
    • To: virtual Eigen::VectorXd getGenVels() const
  • From: virtual Eigen::VectorXd evalDeriv()
    • To: virtual Eigen::VectorXd evalGenAccs()
  1. dart/integration/Integrator.h
  • From: virtual void setState(const Eigen::VectorXd &_newState) = 0
    • To: virtual void setConfigs(const Eigen::VectorXd& _configs) = 0
    • To: virtual void setGenVels(const Eigen::VectorXd& _genVels) = 0
  • From: virtual Eigen::VectorXd getState() const = 0
    • To: virtual Eigen::VectorXd getConfigs() const = 0
    • To: virtual Eigen::VectorXd getGenVels() const = 0
  • From: virtual Eigen::VectorXd evalDeriv() = 0
    • To: virtual Eigen::VectorXd evalGenAccs() = 0
  • From: virtual void integrate(IntegrableSystem* system, double dt) const = 0
    • To: virtual void integrate(IntegrableSystem* system, double dt) = 0
  1. dart/integration/EulerIntegrator.h
  • From: virtual void integrate(IntegrableSystem* system, double dt) const = 0
    • To: virtual void integrate(IntegrableSystem* system, double dt) = 0
  1. dart/integration/RK4Integrator.h
  • From: virtual void integrate(IntegrableSystem* system, double dt) const = 0
    • To: virtual void integrate(IntegrableSystem* system, double dt) = 0

New Deprecations