Rb system get rigid body tree #2
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amcastro-tri
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Dec 1, 2016
* First commit. * Error controlled functions no longer static. * Renamed supports_accuracy_estimation() to supports_error_estimation() and removed supports_error_control(). * Merge branch 'master' of https://github.com/RobotLocomotion/drake into error-controlled-integrator3 * Documentation updates, preparing for pull request. * Further documentation update * Fixed RK3 test (now that minimum step size throws an exception) * Final doc update * Merge branch 'error-controlled-integrator3' of https://github.com/edrumwri/drake into edrumwri-err-controlled-integrator3 # Conflicts: # drake/systems/analysis/integrator_base.h * Update comments about weighting. Use "weight" consistently rather than "scale". Fix a few minor problems. * One small update * Fixed merge conflict * Fixed merge conflict * Updated documentation on erweighting * Workaround for clang related issue? * Workaround for clang related issue? Try two. * Workaround for clang related issue? Try three. * Updated integrator documentation based on reviewable comments. * Integrated David German's reviewable feedback. * Merge branch 'master' of https://github.com/RobotLocomotion/drake into error-controlled-integrator3 * Clang-formatted integrator_base.h * Addressed v_weight to qbar_weight issue. * Teeny documentation update. * Doc/readability updates based on reviewable comments * Merge branch 'error-controlled-integrator3' of https://github.com/edrumwri/drake into error-controlled-integrator3 * Updated tests based on david-german-tri's feedback through Reviewable. * Clang formatted. * Merge branch 'master' of https://github.com/RobotLocomotion/drake into error-controlled-integrator3 * Added explicit keyword to constructor * Testing updates based on reviewable feedback. * Merge branch 'master' of https://github.com/RobotLocomotion/drake into error-controlled-integrator3 * Merge branch 'error-controlled-integrator3' of https://github.com/edrumwri/drake into error-controlled-integrator3 * Merge branch 'master' of https://github.com/RobotLocomotion/drake into error-controlled-integrator3 * Added error estimation test; integrator Reset() function. * Succumbed to lint's pedantic nature. * Fixed integrator test. * Added test for error controlled integration performance (testing code correctness through CI) * Added test for error controlled integration performance (testing code correctness through CI, attempt #2) * Tried decreasing accuracy on error controlled integration test * Tried decreasing accuracy on error controlled integration test (try #2) * Fixed the RK3 error control test * Clang-formatted test * Updated variable names and some documentation in response to @sherm1's Reviewable feedback. * Updated documentation; added anticipatory variable for characteristic time. * Some documentation updates. * Fixed component-wise multiplication in IntegratorBase. * Merge branch 'master' of https://github.com/RobotLocomotion/drake into edrumwri-err-controlled-integrator3 * FIx a few minor bugs. * Merge branch 'master' of https://github.com/RobotLocomotion/drake into error-controlled-integrator3 * Merge branch 'error-controlled-integrator3' of https://github.com/edrumwri/drake into error-controlled-integrator3 * Fixed smallest adapted stepsize recordin in integrator * Tested ability to swap integrators after Simulator has been created. * Added additional initialization and testing code to RK3 integrator. * Merge branch 'master' of https://github.com/RobotLocomotion/drake into error-controlled-integrator3 * Fixed conflicts. * Added a rigid body plant test to stress-test the RK3 integrator scaling. * Merge branch 'master' of https://github.com/RobotLocomotion/drake into error-controlled-integrator3 * Disabled RK3 test for minimal build to mitigate issue RobotLocomotion#4294. * Addressed sherm1's issues from Reviewable. * Added fixed step integration mode; setting accuracy now takes integrator specifics into account. * Renamed "max accuracy" to "loosest accuracy" to help with semantics. * Updated documentation using Reviewable comments. * Fixed bug in setting fixed step mode and exception handling, decreased step size for Euler integration test. * Loosened tolerance on Euler integrator to pass new test with nonzero velocity. * Added nonzero velocity to RK2 test. * Increased tolerance for RK2 solution to match Euler test solution tolerance. * Improved documentation for fixed step mode. * Fixed old "DT" naming. * Fixed doc nit.
amcastro-tri
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Dec 22, 2016
* Provide very simple first benchmark test * Provide very simple first benchmark test * Update2: Very simple first benchmark test * Updated very simple first benchmark test * Adding modifications to cmake * Updated torque-free cylinder benchmark test (compares with closed-form solutions for rotation/translation). * Update #2 torque-free cylinder benchmark test (compares with closed-form solutions for rotation/translation). * Update #3 torque-free cylinder benchmark test (compares with closed-form solutions for rotation/translation). * Update #4 torque-free cylinder benchmark test (compares with closed-form solutions for rotation/translation). * Testing what happens with drake_lcm.h removed. This was causing a failure in the minimal CI build. * Remove problematic headers. * Got rid of unneeded "ds" variable, and made a few minor formatting tweaks. * Update #5 torque-free cylinder benchmark test (compares with closed-form solutions for rotation/translation). * Fix up a few comments (Paul & Sherm)
amcastro-tri
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amcastro-tri
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