Skip to content

Commit 049d469

Browse files
artnieartnie
authored
Merge pull request #9 from cram2/boxy-melodic
Boxy melodic
2 parents a84915e + 55cbde3 commit 049d469

File tree

626 files changed

+100624
-15386
lines changed

Some content is hidden

Large Commits have some content hidden by default. Use the searchbox below for content that may be hidden.

626 files changed

+100624
-15386
lines changed

‎.gitignore

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2,4 +2,5 @@
22
build
33
*#
44
latest_asdf_check
5-
.#*
5+
.#*
6+
*~

‎LICENSE

Lines changed: 30 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,30 @@
1+
2+
Copyright (c) 2009 - 2021, CRAM team
3+
All rights reserved.
4+
5+
Redistribution and use in source and binary forms, with or without
6+
modification, are permitted provided that the following conditions are met:
7+
8+
* Redistributions of source code must retain the above copyright
9+
notice, this list of conditions and the following disclaimer.
10+
* Redistributions in binary form must reproduce the above copyright
11+
notice, this list of conditions and the following disclaimer in the
12+
documentation and/or other materials provided with the distribution.
13+
* Neither the name of the Intelligent Autonomous Systems Group/
14+
Technische Universitaet Muenchen, nor the name of the
15+
Institute for Artificial Intelligence/Universitaet Bremen,
16+
nor the names of their contributors may be used to
17+
endorse or promote products derived from this software without
18+
specific prior written permission.
19+
20+
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
21+
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
22+
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
23+
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
24+
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
25+
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
26+
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
27+
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
28+
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
29+
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30+
POSSIBILITY OF SUCH DAMAGE.

‎cram-18.04.rosinstall

Lines changed: 21 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,21 @@
1+
# THIS IS AN AUTOGENERATED FILE, LAST GENERATED USING wstool ON 2018-10-16
2+
- git:
3+
local-name: cram
4+
uri: https://github.com/cram2/cram.git
5+
version: master-melodic
6+
- git:
7+
local-name: giskard_msgs
8+
uri: https://github.com/SemRoCo/giskard_msgs.git
9+
version: 5bfb2a2dc0d58635fab4eceaf93a43c2729a4cdf
10+
- git:
11+
local-name: iai_common_msgs
12+
uri: https://github.com/code-iai/iai_common_msgs.git
13+
version: 46d6e9b9be386de9cf5e153f489c382e0c66f74c
14+
- git:
15+
local-name: iai_maps
16+
uri: https://github.com/code-iai/iai_maps.git
17+
version: 497632f5bbf8f028b5cf25470efeefbaaf9ce388
18+
- git:
19+
local-name: genlisp
20+
uri: https://github.com/ros/genlisp.git
21+
version: 3ac633abacdf5ab321d23ed013c7d5b7da97736d

‎cram_3d_world/cl_bullet/cl-bullet-examples.asd

Lines changed: 0 additions & 1 deletion
This file was deleted.

‎cram_3d_world/cl_bullet/cl-bullet-examples.asd

Lines changed: 39 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,39 @@
1+
;;;
2+
;;; Copyright (c) 2010, Lorenz Moesenlechner <[email protected]>
3+
;;; All rights reserved.
4+
;;;
5+
;;; Redistribution and use in source and binary forms, with or without
6+
;;; modification, are permitted provided that the following conditions are met:
7+
;;;
8+
;;; * Redistributions of source code must retain the above copyright
9+
;;; notice, this list of conditions and the following disclaimer.
10+
;;; * Redistributions in binary form must reproduce the above copyright
11+
;;; notice, this list of conditions and the following disclaimer in the
12+
;;; documentation and/or other materials provided with the distribution.
13+
;;; * Neither the name of the Intelligent Autonomous Systems Group/
14+
;;; Technische Universitaet Muenchen nor the names of its contributors
15+
;;; may be used to endorse or promote products derived from this software
16+
;;; without specific prior written permission.
17+
;;;
18+
;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
19+
;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
20+
;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
21+
;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
22+
;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
23+
;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
24+
;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
25+
;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
26+
;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
27+
;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
28+
;;; POSSIBILITY OF SUCH DAMAGE.
29+
;;;
30+
31+
(defsystem cl-bullet-examples
32+
:author "Lorenz Moesenlechner <[email protected]>"
33+
:license "BSD"
34+
:depends-on (cl-bullet cl-transforms)
35+
:components
36+
((:module "src/lisp/examples"
37+
:components
38+
((:file "package")
39+
(:file "hello-world" :depends-on ("package"))))))

‎cram_3d_world/cl_bullet/cl-bullet.asd

Lines changed: 0 additions & 1 deletion
This file was deleted.

‎cram_3d_world/cl_bullet/cl-bullet.asd

Lines changed: 67 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,67 @@
1+
;;;
2+
;;; Copyright (c) 2010, Lorenz Moesenlechner <[email protected]>
3+
;;; All rights reserved.
4+
;;;
5+
;;; Redistribution and use in source and binary forms, with or without
6+
;;; modification, are permitted provided that the following conditions are met:
7+
;;;
8+
;;; * Redistributions of source code must retain the above copyright
9+
;;; notice, this list of conditions and the following disclaimer.
10+
;;; * Redistributions in binary form must reproduce the above copyright
11+
;;; notice, this list of conditions and the following disclaimer in the
12+
;;; documentation and/or other materials provided with the distribution.
13+
;;; * Neither the name of the Intelligent Autonomous Systems Group/
14+
;;; Technische Universitaet Muenchen nor the names of its contributors
15+
;;; may be used to endorse or promote products derived from this software
16+
;;; without specific prior written permission.
17+
;;;
18+
;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
19+
;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
20+
;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
21+
;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
22+
;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
23+
;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
24+
;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
25+
;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
26+
;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
27+
;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
28+
;;; POSSIBILITY OF SUCH DAMAGE.
29+
;;;
30+
31+
(defsystem cl-bullet
32+
:author "Lorenz Moesenlechner <[email protected]>"
33+
:license "BSD"
34+
:description "A common lisp wrapper for the bullet library"
35+
36+
:depends-on (:cffi
37+
:cffi-ros-utils
38+
:trivial-garbage
39+
:ros-load-manifest
40+
:cram-utilities
41+
:split-sequence
42+
:cl-transforms)
43+
:components
44+
((:module "src/lisp"
45+
:components
46+
((:file "package")
47+
(:file "foreign-types" :depends-on ("package"))
48+
(:file "cffi" :depends-on ("package" "foreign-types"))
49+
(:file "foreign-class" :depends-on ("package"))
50+
(:file "debug-draw" :depends-on ("package" "foreign-types" "cffi" "foreign-class"))
51+
(:file "bt-world" :depends-on ("package" "cffi" "foreign-class" "rigid-body" "contact-manifold"))
52+
(:file "contact-manifold" :depends-on ("package"))
53+
(:file "motion-state" :depends-on ("package" "cffi" "foreign-class"))
54+
(:file "rigid-body" :depends-on ("package" "cffi" "foreign-class" "motion-state"))
55+
(:file "collision-shapes" :depends-on ("package" "cffi" "foreign-class"))
56+
(:file "constraints" :depends-on ("package" "cffi" "foreign-class"))
57+
(:file "point-2-point-constraint" :depends-on ("package" "cffi" "constraints"))
58+
(:file "hinge-constraint" :depends-on ("package" "cffi" "constraints"))
59+
(:file "slider-constraint" :depends-on ("package" "cffi" "constraints"))
60+
(:file "world-state" :depends-on ("package"
61+
"bt-world"
62+
"rigid-body"
63+
"collision-shapes"
64+
"point-2-point-constraint"
65+
"hinge-constraint"
66+
"slider-constraint"))))))
67+

‎cram_3d_world/cl_bullet/src/lisp/cl-bullet.asd

Lines changed: 0 additions & 65 deletions
This file was deleted.

‎cram_3d_world/cl_bullet_vis/src/math-function-visualization.lisp

Lines changed: 6 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -86,9 +86,12 @@
8686
(gl:mult-matrix (pose->gl-matrix pose))
8787
(loop for x from (- (/ width 2)) to (- (/ width 2) step-size) by step-size do
8888
(loop for y from (- (/ height 2)) to (- (/ height 2) step-size) by step-size do
89-
(let ((pt-1 (get-point x y)))
90-
(when pt-1
91-
(let* ((value (cl-transforms:z pt-1))
89+
(let ((middle-pt (get-point (+ x (/ step-size 2))
90+
(+ y (/ step-size 2)))))
91+
(when middle-pt
92+
(let* ((value (cl-transforms:z middle-pt))
93+
(pt-1 (cl-transforms:make-3d-vector
94+
x y value))
9295
(pt-2 (cl-transforms:make-3d-vector
9396
(+ x step-size) y value))
9497
(pt-3 (cl-transforms:make-3d-vector

0 commit comments

Comments
 (0)