= 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