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Commits on Jun 16, 2014

• Added implementation and unit-tests to run digital filter which have been designed in Matlab.

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Commits on May 28, 2014

• Turned class 'joint-state into a struct.

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Commits on May 26, 2014

• Refactored pid-controllers and their tests.

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Commits on May 21, 2014

• First iteration of refactoring of pid-controllers.

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• Refactored joint-state interface and implementation.

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• Ported some of the angles-functionality to common lisp.

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Commits on Apr 28, 2014

• P-Controller no longer inherits from controller.

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• Re-simplified PID-controller library.

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• Added first draft of hashed descriptions of PID controllers.

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Commits on Apr 25, 2014

• Tried out new interface on p-controller.

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• Further refactoring the interface.

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• Extended controller interface with the concept of a controller configuration.

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Commits on Apr 24, 2014

• Unit-tests for new API of P/I/D-controllers after refactoring.

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• Uncommented old unit-tests for cl-robot-controllers because API changed.

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• Added nickname for unit-tests of cl-robot-controllers.

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• Exported symbols of P/I/D-controllers after refactoring.

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• 2nd stage of refactoring of PID-macro.

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• Started to refactored PID controllers.

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• Added new package cl-robot-controllers with implementation and tests of pid-controllers.

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• Equip mechanism for multi dimensional controllers

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Commits on Apr 23, 2014

• Added convenience functions for controller generation

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Commits on Apr 22, 2014

• Added control primitive functionalities and data structures

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Commits on Mar 25, 2014

• Added functions to make robot-states and joint-states.

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Commits on Mar 11, 2014

• Renamed slot 'reference' of feature-relation into 'frame-id' because of name conflict with cram-designators.

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Commits on Mar 10, 2014

• Added convenience functions to robot-state.

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• Added cl_robot_models and cl_feature_constraints as meta-package dependencies.

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• Added simple representations for joint-states and robot-states.

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• Added initial version of cl-robot-models.

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• Bug-fix: Corrected symbol-name of output function:

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Commits on Feb 27, 2014

• Added: Predicate to check whether constraint is fulfilled.

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• Bug-fix: Corrected name of feature function POINTING.

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Commits on Feb 26, 2014

• Overloaded methods to print out feature constraints data-structures.

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• Added Common LISP representation of motion-phases with constraints.

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Commits on Feb 24, 2014

• Further unit-test.

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• Bug-fix: Use of correct slot-name.

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