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Documentation

Core Reference - Classes, functions, files that comprise Tekkotsu

DualCoding Reference - namespace reference for the DualCoding section of Tekkotsu

Quick Reference sheets (PDF) - ERS-7, ERS-210, ERS-220


We have integrated software packages developed by other groups:
  • ROBOOP - kinematics
  • NEWMAT - matrix calculation package, provides some MATLAB-like functionality
  • CMVision - color segmentation, run length encoding, and region analysis
  • CMPack'02 Walk - CMU's 2002 RoboCup walk engine
  • UPennWalk - walking code
We also provide several packages as precompiled MIPS libraries for linking when developing for the AIBO. When doing local compilation, the host machine's libraries will be used instead.
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CVS status

STABLE
Prototype TeRK and Lynx Motion arm support, revamped particle filter & tutorial, MapBuilder, Pilot, and configuration system (tracker)

Recent ActivitySyndicated

fixing warnings, increasing time of initial leg placement so it doesn't "stomp" (ejt)

Modified: Motion/XWalkMC.cc

lockLegsInPlace in progress (ejt)

Modified: Motion/{XWalkMC.cc, XWalkMC.h}

SubVector operations are all const because we're operating through a pointer (the data pointer never changes) (ejt)

Modified: Shared/fixedmat.h

fixing bugs in getMaxAVel (sign error) and resetPeriod (rotationCenter has class scope, don't abs() it!) (ejt)

Modified: Motion/XWalkMC.cc

fixing some kinematics bugs (bad length calculation on 3rd link, missing edge condition on 1st link) (ejt)

Modified: Motion/IKThreeLink.cc

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Last modified: 2006-09-27