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rlhatton wants to merge 133 commits intofound-on-imacOSU-LRAM/GeometricSystemPlotter:found-on-imacfrom RossOSU-LRAM/GeometricSystemPlotter:RossCopy head branch name to clipboard

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Commits

Commits on Oct 11, 2018

• Added flag for gait optimization to system files and switch in gait_gui_optimize for flag state

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• Merging Ross's bug fixes into inertial optimization code from master

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Commits on Oct 16, 2018

• Merge with latest master build

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Commits on Oct 31, 2018

• Code runs, but not as Hossein expects - likely an interpolation/starting-point-of-gait issue - committing before merging master into branch

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• Need to merge in new fixes from master. Merge branch 'master' into Zach's-Branch

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Commits on Nov 8, 2018

• Running version, but result of inertial optimizer is unexpected.

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Commits on Jan 2, 2019

• Merge pull request #84 from OSU-LRAM/Ross

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• Merge pull request #85 from OSU-LRAM/Ross

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Commits on Jan 13, 2019

• Merge pull request #86 from OSU-LRAM/Ross

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Commits on Jan 29, 2019

• Merge pull request #88 from OSU-LRAM/Ross

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Commits on Feb 6, 2019

• Merge branch 'master' into Zach's-Branch

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Commits on Apr 2, 2019

• Added inertial first pass code from Ross's Branch

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Commits on Apr 5, 2019

• Added lie bracket and jacobian derivative calculators, added pullback of mass matrix to shape variable basis in Inertial_connection_discrete

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Commits on Apr 8, 2019

• renamed fixed jacobian derivative file

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• Added calculator for derivative of full mobile Jacobian

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Commits on May 6, 2019

• New utilities and functions to calculate mass and coriolis matrices

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Commits on Aug 13, 2019

• debugging modal n-link chain

  

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• got modal code working correctly

  

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• working modal linkages, and updated system file examples

  

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• Merge pull request #90 from OSU-LRAM/Ross

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Commits on Oct 4, 2019

• Functioning version of inertial optimizer, but output doesn't seem to be working correctly; also very slow. Added several functions to aid in matrix precalculation, modified sys_calcsystem function…

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Commits on Oct 16, 2019

• Version that calculates gradient on its own

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Commits on Oct 31, 2019

• Inertia cost as the square root of torque squared version

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Commits on Dec 25, 2019

• Committing results of scaling time period to square root of path length before moving on to using time period as cost

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Commits on Jan 22, 2020

• Minimum viable product

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• Removed old files, updated documentation

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Commits on Apr 2, 2020

• Updating system file for rotational three-link swimmer

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Commits on May 6, 2020

• Added default for system type flag in sys_calcsystem and restored default plotting behavior for sysplotter when optimizing

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• Fixed merge conflicts

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Commits on May 19, 2020

• Merge pull request #91 from OSU-LRAM/inertia-optimizer

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Commits on May 21, 2020

• Integrating metric surface option into sysplotter

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• files missed during previous commit of metric surface button

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• more files

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Commits on May 22, 2020

• Fixing issues with optimize gait button

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Commits on May 26, 2020

• added tissot crosses to mfield_draw and metricellipsefield, and secondary-frame-specifications to N_link_conversion_factors

  

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Commits on May 27, 2020

• have general baseframe transforms added

  

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Commits on May 28, 2020

• basic multi-chain functionality working; some debugging left

  

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• debugging optimized-coordinate display

  

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• fixed optimized-coordinate display; made internal code use new composite body frame specification

  

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Commits on May 29, 2020

• branching n-link chain code works for position

  

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• Collected Jacobians working

  

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Commits on May 30, 2020

• some final debugging to do on the conversion factor

  

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• branched chain up and running

  

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• all checks on branched chain seem to have passed

  

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• Merge pull request #92 from OSU-LRAM/Ross

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• merged the updates that I had put into the master branch into this review branch

  

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Commits on Jun 17, 2020

• Fixing bugs in metric surface option

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• fixed backbone conversion functions to match new ability to handle multiple conversions in sequence

  

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• Merge pull request #94 from OSU-LRAM/Ross

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• Merge pull request #95 from OSU-LRAM/master

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• fixed indenting

  

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• suppressing isomap output

  

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• Merge branch 'ReviewBrach-April20' of https://github.com/OSU-LRAM/GeometricSystemPlotter into ReviewBrach-April20

  

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• fixed some plotting bugs, suppressed iteration count in the multi-dimensional scaling

  

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Commits on Jun 18, 2020

• refactored metric conversion and surface plotting. Now need to figure out why surface is coming back 2d

  

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Commits on Jun 19, 2020

• fixed isomap, made some speed improvements, got contour-on-surface working

  

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• made isomap favor domes rathter than bowls

  

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• have shape change overlays workign with ccf_draw

  

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• most of metric field plot refactoring done

  

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• metrics on surfaces now plot, a little clipping where they duck under the surface

  

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Commits on Jun 20, 2020

• initial vector-field-on-surface working, need to make sure z component and clipping are fixed

  

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• got proper mapping of vectors onto surfaces

  

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• vectors on surface working with shape change overlay, now checking what happens with higher-dimensional systems

  

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• UI tests passed

  

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Commits on Jun 21, 2020

• refactored optimalgaitgenerator slightly

  

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• Merge pull request #96 from OSU-LRAM/ReviewBrach-April20

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• Merge pull request #97 from OSU-LRAM/master

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Commits on Nov 15, 2020

• Made metric ellipse field draw in the spot color

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• Made inertial calculations work with higher dimension systems

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Commits on Nov 19, 2020

• Added New Optimization Costs

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Commits on Nov 20, 2020

• Merge pull request #100 from OSU-LRAM/Ross

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Commits on Dec 31, 2020

• Multi-Dimensional Fixes

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Commits on Jan 5, 2021

• Batch Interp GetVelocities

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Commits on Jan 7, 2021

• Batch Interpolation on Gradients

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Commits on Mar 18, 2021

• Modify default config files

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• Fixes failed loading of large data files

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• Merge branch 'Nathan's-Branch' of https://github.com/OSU-LRAM/GeometricSystemPlotter into Nathan's-Branch

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• Fixes startup/animation crash

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Commits on Mar 19, 2021

• Merge pull request #102 from OSU-LRAM/Matlab-r2020b-crashfix

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Commits on Mar 22, 2021

• Fixes Matlab r2020b crash

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Commits on Mar 23, 2021

• Merged optimizer bugfixes and resolved conflicts

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Commits on May 6, 2021

• Stops Saving Optimal Gaits

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Commits on May 7, 2021

• Export Data Button

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• Fix refresh button autoresize

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• Merge pull request #106 from OSU-LRAM/Nathan's-Branch

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Commits on May 18, 2021

• added old animate_locomotor changes

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• Merge pull request #107 from OSU-LRAM/master

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• Merge branch 'Ross' of https://github.com/OSU-LRAM/GeometricSystemPlotter into Ross

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Commits on Nov 18, 2021

• made some changes to display of CCF in high-dim spaces

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• Merge pull request #108 from OSU-LRAM/Ross

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Commits on Nov 24, 2021

• Generalized hypercube_mesh.m to any number of dimensions

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• Updated hypercube_element_shape_functions.m to use arbitrary dimensions

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• Added twin-rotor test case

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• Moved SO(3) capability into sysplotter

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• Moved coordinate optimizers to dedicated folder (requires reconfiguration)

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• Added dedicated unit test directory

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• Reorganized some Utilities, Tests

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• Updated gitignore

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• Removed RefPoint, Hemholtz directories from configuration

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• Added choice of configuration space, enforced on initialization

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• Bug fix, optimizer choice for Lie groups

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• Made domain-specific changes (wrappers) for updated functions

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• Updated sys_calcsystem to respect coordinate choice

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• Removed singularity case (ratios no longer relevant)

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• Removed unused stretch parameter

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• Added SO(3) path integration

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• Did first pass SO(3) bug test, fixed function naming

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• Jumped over drawing for non-SE2 systems

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• Updated CCF sign choice for cBVI consistency

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Commits on Nov 29, 2021

• Merge pull request #109 from Capprin/more-groups

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Commits on Dec 17, 2021

• Merge pull request #110 from OSU-LRAM/master

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• fixed metric stretch 2-d overlay bug

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• removed extraneous frame from stretched surface plots

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• fixed zero-augmentation of gaits being executed by systems with more dimensions than specified in the gait

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• updated propertyDataMacOS to prevent start-up bug

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• Merge pull request #111 from OSU-LRAM/Ross

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Commits on Dec 18, 2021

• rescaled the animation to better fit the snake size

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• fixed bug in handling systems with fewer shape variables than the gait they are executing

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• initial (non-working) code for locomotor race

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Commits on Dec 19, 2021

• almost have the race working. transform to optimal coordinates has gone wonky

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• racing animation works for viscous swimmers

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• split out functions from optimalgaitgenerator

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• new calculation for efficiency implemented, numbers in pathlength cost don't look right

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• swimming race code operational for drag-based systems

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Commits on Jan 6, 2022

• Fix optimization bugs for 4+D systems

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• Merge pull request #113 from OSU-LRAM/master

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• committing locomotor_race changes

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• Merge branch 'Ross' of github.com:OSU-LRAM/GeometricSystemPlotter into Ross

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• fixed optimization saving and plotting bugs for 5-dof systems

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Commits on Jan 7, 2022

• some more fixes for processing 5-dof gaits. Optimizer outputs still seem off

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Commits on Jan 13, 2022

• locomotor race files and direction-constrained optimization are present

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Commits on Mar 9, 2022

• added prismatic link support in N_link_chain.m and its support files

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• added a simplification term to N_link_conversion_move_chain

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