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 <span id="projectnumber">3.1.6</span>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> # ChangeLog</div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> </div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> ## 3.1.6 -- 2025-01-14</div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> </div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> Add a new function to set base offset limit for cartesian admittance control.</div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> </div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> ## 3.1.5 -- 2025-01-02</div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> </div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> Fix a bug in blend trajectory. The bug will cause the too much computation in blend trajectory when the trajectory velocity is small.</div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> </div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> ## 3.1.4 -- 2024-09-06</div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> </div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> Fix 5A type first axis is libear joint, and the move joint use radius as.</div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> </div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> ## 3.1.3 -- 2024-08-26</div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> </div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> Create a new rotational interpolation for lebai 5A type.</div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> </div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> ## 3.1.2 -- 2024-05-13</div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> </div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> Add test for 5A type machine.</div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span> </div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> Make artifacis a deb package.</div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span> </div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span> Fix a bug in lmc_tg_set_toward_joint that the speed is not correct.</div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> </div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span> ## 3.1.1 -- 2024-05-06</div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span> Refactor the code, put c++ code in same repo.</div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> </div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> Add euler zyz representation.</div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> </div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span> Add support for 5 joint machine.</div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span> </div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span> Add new rotational interpolation method in tg.</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span> </div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span> </div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span> ## 2.2.18 -- 2023-11-24</div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span> Fix the member \ref error_code in \ref lmc_tg_update_state_t not correct problem when call \ref lmc_tg_update_state.</div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span> </div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span> ## 2.2.17 -- 2023-09-12</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span> Add two functions in \ref TRAJECTORY_GENERATOR module.</div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span> \ref lmc_tg_release_control and \ref lmc_tg_sieze_control.</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span> </div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span> </div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span> ## 2.2.16 -- 2023-08-01</div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span> Fix a bug that when \ref lmc_tg_buffer_speed_line velocity is set to zero, the trajecotry generator is not working correctly.</div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span> </div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span> ## 2.2.15 -- 2022-04-21</div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span> Add a post smoothing for PPVAT, PTV, PV motion, now `jnt_acc_time_constant` in \ref lmc_tg_limit will work as smoothing time constatnt parameter(Default 10, set to 0 means no filter).</div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span> </div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span> ## 2.2.14 -- 2022-02-22</div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span> Add a new function \ref lmc_dyn_estimate_payload_with_twice_strategy to use a two time measure strategy to estimate the pyload parameters.</div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span> </div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span> ## 2.2.13 -- 2022-11-25</div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span> Add a new function \ref lmc_kin_cal_transform_from_oxy to caculate a transform from 3 points.</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span> </div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span> ## 2.2.12 -- 2022-11-21</div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span> Add a new member type in \ref lmc_tg_group_type_t, the member type is \ref SINGROBUST.</div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span> One can set the member type by calling \ref lmc_tg_set_group .</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span> </div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span> Add a new api \ref lmc_tg_buffer_singularity_robust_move_line.</div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span> This function is used to move the singularity robust line. You should set \ref lmc_tg_group_type_t to \ref SINGROBUST before using this function.</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span> </div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span> ## 2.2.11 -- 2022-08-30</div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span> Add a new api \ref lmc_tg_set_toward_joint.</div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span> </div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span> Add a new data struct \ref lmc_tg_toward_param_t.</div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span> </div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span> Add a new element in struct \ref lmc_tg_group_type_t.</div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span> </div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span> ## 2.2.11 -- 2022-06-23</div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span> Rewrite the install script.</div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span> Now we can cross compile lmc.</div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span> Add We make the whole lmc build from source code.</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span> We only need to install gcc, cmake, git, goxygen.</div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span> All the other dependencies will be built from source code.</div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span> </div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span> ## 2.2.10 -- 2022-05-30</div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span> Add a parameter **pos_constraints** in \ref lmc_tg_speed_param</div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span> </div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span> Add a logic to return singularity error in **movel** and **movec**.</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span> </div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span> Update unit test, update document.</div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span> </div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span> </div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span> ## 2022-05-13</div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span> Add unit test for \ref lmc_kin_get_singularity_type.</div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span> Fix bugs.</div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span> </div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span> ## 2.2.9 -- 2022-05-09</div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span> </div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span> Add a function \ref lmc_kin_get_singularity_type to compute the singularity type for robot.</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span> </div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span> Data type of **error_code** in \ref lmc_tg_update_ret_t changed from **int** to \ref lmc_tg_update_error_code_t.</div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span> </div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span> Update document.</div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span> </div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span> ## 2.2.8 -- 2022-05-03</div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span> </div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span> Add a function \ref lmc_tg_get_remain_move_time to get remain move time.</div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span> </div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span> Fix bug in doxygen config.</div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span> </div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span> ## 2.2.7 -- 2022-03-16</div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span> </div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span> Add a function \ref lmc_controller_cartesian_admittance_set_task_frame to set task frame in cartesian_admittance_control.</div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span> </div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span> Fix sereval bugs.</div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span> </div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span> </div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span> ## 2.2.6 -- 2022-03-06</div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span> </div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span> Add sereval new functions in \ref GROUP</div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span> </div><div class="line"><a name="l00115"></a><span class="lineno"> 115</span> \ref lmc_group_state_distance</div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span> </div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span> \ref lmc_group_state_pair_collide</div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span> </div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span> \ref lmc_group_state_pair_distance</div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span> </div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span> ## 2.2.5 -- 2022-02-27</div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span> </div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span> Add function to compute all the inverse kinematic joint positions: \ref lmc_kin_all_ik_poses.</div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span> </div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span> Add function to compute manipulation measure for a given joint position: \ref lmc_kin_manipulation_measure.</div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span> </div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span> Serveral bug fix.</div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span> </div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span> </div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span> </div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span> ## 2.2.4 -- 2022-02-17</div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span> </div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span> Minor bug fix.</div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span> </div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span> ## 2.2.3 -- 2022-02-13</div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span> </div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span> Add function to config, insert and erase ignore pair.</div><div class="line"><a name="l00138"></a><span class="lineno"> 138</span> </div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span> \ref lmc_group_model_get_ignore_link_pairs</div><div class="line"><a name="l00140"></a><span class="lineno"> 140</span> </div><div class="line"><a name="l00141"></a><span class="lineno"> 141</span> \ref lmc_group_model_insert_ignore_link_pair</div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span> </div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span> \ref lmc_group_model_erase_ignore_link_pair</div><div class="line"><a name="l00144"></a><span class="lineno"> 144</span> </div><div class="line"><a name="l00145"></a><span class="lineno"> 145</span> Add some macro for global config in \ref lmc_config.h, replace the hard coded macro.</div><div class="line"><a name="l00146"></a><span class="lineno"> 146</span> </div><div class="line"><a name="l00147"></a><span class="lineno"> 147</span> </div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span> </div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span> </div><div class="line"><a name="l00150"></a><span class="lineno"> 150</span> </div><div class="line"><a name="l00151"></a><span class="lineno"> 151</span> ## 2.2.2 -- 2022-02-09</div><div class="line"><a name="l00152"></a><span class="lineno"> 152</span> </div><div class="line"><a name="l00153"></a><span class="lineno"> 153</span> Add a new algorithm to estimate tcp force. </div><div class="line"><a name="l00154"></a><span class="lineno"> 154</span> </div><div class="line"><a name="l00155"></a><span class="lineno"> 155</span> \ref lmc_dyn_update_tcp_force_momentum_observer_estimation</div><div class="line"><a name="l00156"></a><span class="lineno"> 156</span> </div><div class="line"><a name="l00157"></a><span class="lineno"> 157</span> \ref lmc_dyn_init_tcp_force_momentum_observer_estimation</div><div class="line"><a name="l00158"></a><span class="lineno"> 158</span> </div><div class="line"><a name="l00159"></a><span class="lineno"> 159</span> So, we change the old tcp force estimation API to a more explicit name.</div><div class="line"><a name="l00160"></a><span class="lineno"> 160</span> </div><div class="line"><a name="l00161"></a><span class="lineno"> 161</span> lmc_dyn_tcp_force -> \ref lmc_dyn_update_tcp_force_direct_estimation</div><div class="line"><a name="l00162"></a><span class="lineno"> 162</span> </div><div class="line"><a name="l00163"></a><span class="lineno"> 163</span> ## 2.2.1 -- 2022-01-26</div><div class="line"><a name="l00164"></a><span class="lineno"> 164</span> </div><div class="line"><a name="l00165"></a><span class="lineno"> 165</span> Add a new module \ref GROUP.</div><div class="line"><a name="l00166"></a><span class="lineno"> 166</span> </div><div class="line"><a name="l00167"></a><span class="lineno"> 167</span> This module is used for collision detect and motion plan.</div><div class="line"><a name="l00168"></a><span class="lineno"> 168</span> </div><div class="line"><a name="l00169"></a><span class="lineno"> 169</span> See relative document for more detailed info.</div><div class="line"><a name="l00170"></a><span class="lineno"> 170</span> </div><div class="line"><a name="l00171"></a><span class="lineno"> 171</span> ## 2.1.2 -- 2022-01-11</div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span> </div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span> Add a function to compute all link forward kinematics.</div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span> </div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span> \ref lmc_kin_fk_pose_by_index</div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span> </div><div class="line"><a name="l00177"></a><span class="lineno"> 177</span> ```</div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span> int lmc_kin_fk_pose_by_index(lmc_robot_model_t * const robot_model, double const * const joint_pos, int index, lmc_transform_t * const cart_pose);</div><div class="line"><a name="l00179"></a><span class="lineno"> 179</span> ```</div><div class="line"><a name="l00180"></a><span class="lineno"> 180</span> </div><div class="line"><a name="l00181"></a><span class="lineno"> 181</span> ## 2.1.1 --- 2022-01-07</div><div class="line"><a name="l00182"></a><span class="lineno"> 182</span> </div><div class="line"><a name="l00183"></a><span class="lineno"> 183</span> ### Bug fix</div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span> </div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span> Fix a bug that when a cartesian move end point is not reachable, return error and trajectory is generated in buffer.Now no trajectory is generated.</div><div class="line"><a name="l00186"></a><span class="lineno"> 186</span> </div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span> ### Optimize the blend algorithm</div><div class="line"><a name="l00188"></a><span class="lineno"> 188</span> </div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span> algorithm optimization.</div><div class="line"><a name="l00190"></a><span class="lineno"> 190</span> </div><div class="line"><a name="l00191"></a><span class="lineno"> 191</span> Add a `lmc_tg_runtime_data_t.blending` in `lmc_tg_runtime_data` , it indicates whether the trajectory is in a blending situation.</div><div class="line"><a name="l00192"></a><span class="lineno"> 192</span> </div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span> ### Add a function to get library version</div><div class="line"><a name="l00194"></a><span class="lineno"> 194</span> </div><div class="line"><a name="l00195"></a><span class="lineno"> 195</span> See `lmc_version()` in `lmc_version.h`</div><div class="line"><a name="l00196"></a><span class="lineno"> 196</span> </div><div class="line"><a name="l00197"></a><span class="lineno"> 197</span> ## 2021-12-12</div><div class="line"><a name="l00198"></a><span class="lineno"> 198</span> </div><div class="line"><a name="l00199"></a><span class="lineno"> 199</span> Add 5 joint manipulator support.</div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span> </div><div class="line"><a name="l00201"></a><span class="lineno"> 201</span> Change `lmc_rm_init` API.</div><div class="line"><a name="l00202"></a><span class="lineno"> 202</span> </div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span> ```</div><div class="line"><a name="l00204"></a><span class="lineno"> 204</span> ### From</div><div class="line"><a name="l00205"></a><span class="lineno"> 205</span> int lmc_rm_init(lmc_robot_model_t* const robot_model, lmc_robot_model_config_t const* const robot_model_config)</div><div class="line"><a name="l00206"></a><span class="lineno"> 206</span> ### to</div><div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  int lmc_rm_init(lmc_robot_model_t* const robot_model, lmc_robot_model_config_t const* const robot_model_config, lmc_robot_model_struct_t struct_type)</div><div class="line"><a name="l00208"></a><span class="lineno"> 208</span> ### the new added struct_type is used to indicate the structure of robot.</div><div class="line"><a name="l00209"></a><span class="lineno"> 209</span> ```</div><div class="line"><a name="l00210"></a><span class="lineno"> 210</span> </div><div class="line"><a name="l00211"></a><span class="lineno"> 211</span> ## 2021-12-03</div><div class="line"><a name="l00212"></a><span class="lineno"> 212</span> </div><div class="line"><a name="l00213"></a><span class="lineno"> 213</span> Add a cartesian admittance controller API:</div><div class="line"><a name="l00214"></a><span class="lineno"> 214</span> </div><div class="line"><a name="l00215"></a><span class="lineno"> 215</span> ```</div><div class="line"><a name="l00216"></a><span class="lineno"> 216</span> lmc_controller_cartesian_admittance_set_dexterity</div><div class="line"><a name="l00217"></a><span class="lineno"> 217</span> ```</div><div class="line"><a name="l00218"></a><span class="lineno"> 218</span> </div><div class="line"><a name="l00219"></a><span class="lineno"> 219</span> Now, cartesian admittance control can support Point frame.(Motion frame is still not supported)</div><div class="line"><a name="l00220"></a><span class="lineno"> 220</span> </div><div class="line"><a name="l00221"></a><span class="lineno"> 221</span> Now, move runs correctly in cartesian admittance control mode.</div><div class="line"><a name="l00222"></a><span class="lineno"> 222</span> </div><div class="line"><a name="l00223"></a><span class="lineno"> 223</span> Optimize the cartesian admittance control.</div><div class="line"><a name="l00224"></a><span class="lineno"> 224</span> </div><div class="line"><a name="l00225"></a><span class="lineno"> 225</span> Update test case.</div><div class="line"><a name="l00226"></a><span class="lineno"> 226</span> </div><div class="line"><a name="l00227"></a><span class="lineno"> 227</span> Update documentation.</div><div class="line"><a name="l00228"></a><span class="lineno"> 228</span> </div><div class="line"><a name="l00229"></a><span class="lineno"> 229</span> ## 2021-11-26</div><div class="line"><a name="l00230"></a><span class="lineno"> 230</span> </div><div class="line"><a name="l00231"></a><span class="lineno"> 231</span> Add a cartesian admittance controller API:</div><div class="line"><a name="l00232"></a><span class="lineno"> 232</span> </div><div class="line"><a name="l00233"></a><span class="lineno"> 233</span> ```</div><div class="line"><a name="l00234"></a><span class="lineno"> 234</span> lmc_controller_cartesian_admittance_set_force_threshold</div><div class="line"><a name="l00235"></a><span class="lineno"> 235</span> ```</div><div class="line"><a name="l00236"></a><span class="lineno"> 236</span> </div><div class="line"><a name="l00237"></a><span class="lineno"> 237</span> This API is used to set the force threshold.</div><div class="line"><a name="l00238"></a><span class="lineno"> 238</span> </div><div class="line"><a name="l00239"></a><span class="lineno"> 239</span> ## 2021-11-19</div><div class="line"><a name="l00240"></a><span class="lineno"> 240</span> </div><div class="line"><a name="l00241"></a><span class="lineno"> 241</span> Add a cartesian admittance controller API:</div><div class="line"><a name="l00242"></a><span class="lineno"> 242</span> </div><div class="line"><a name="l00243"></a><span class="lineno"> 243</span> ```</div><div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  lmc_controller_cartesian_admittance_cleanup</div><div class="line"><a name="l00245"></a><span class="lineno"> 245</span> ```</div><div class="line"><a name="l00246"></a><span class="lineno"> 246</span> </div><div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  This API is used for deactivate(reset) controller.</div><div class="line"><a name="l00248"></a><span class="lineno"> 248</span> </div><div class="line"><a name="l00249"></a><span class="lineno"> 249</span> ## 2021-11-14</div><div class="line"><a name="l00250"></a><span class="lineno"> 250</span> </div><div class="line"><a name="l00251"></a><span class="lineno"> 251</span> Add cartesian admittance controller functions.</div><div class="line"><a name="l00252"></a><span class="lineno"> 252</span> </div><div class="line"><a name="l00253"></a><span class="lineno"> 253</span> all the `lmc_controller_cartesian_admittance _xxx` functions are for this controller.</div><div class="line"><a name="l00254"></a><span class="lineno"> 254</span> </div><div class="line"><a name="l00255"></a><span class="lineno"> 255</span> ## 2021-10-20</div><div class="line"><a name="l00256"></a><span class="lineno"> 256</span> </div><div class="line"><a name="l00257"></a><span class="lineno"> 257</span> Change dynamic module. Now the dynamic module contains only basic dynamic algorithm.</div><div class="line"><a name="l00258"></a><span class="lineno"> 258</span> </div><div class="line"><a name="l00259"></a><span class="lineno"> 259</span> Add a new module controller. The controller module contains some control block API.</div><div class="line"><a name="l00260"></a><span class="lineno"> 260</span> </div><div class="line"><a name="l00261"></a><span class="lineno"> 261</span> **Change, remove or add some data structures.**</div><div class="line"><a name="l00262"></a><span class="lineno"> 262</span> </div><div class="line"><a name="l00263"></a><span class="lineno"> 263</span> - Modify `lmc_joint_state_t` , only keep joint pos, vel, acc,torque element(rename the variable name).</div><div class="line"><a name="l00264"></a><span class="lineno"> 264</span> - Add `lmc_wrench_t` data structure to represent a coordinate force.</div><div class="line"><a name="l00265"></a><span class="lineno"> 265</span> </div><div class="line"><a name="l00266"></a><span class="lineno"> 266</span> **For `dynamic` module:**</div><div class="line"><a name="l00267"></a><span class="lineno"> 267</span> </div><div class="line"><a name="l00268"></a><span class="lineno"> 268</span> - `lmc_dyn_gravity_compensate`, `lmc_dyn_computed_torque_control` will be moved to controller module.</div><div class="line"><a name="l00269"></a><span class="lineno"> 269</span> </div><div class="line"><a name="l00270"></a><span class="lineno"> 270</span> `lmc_dyn_gravity_compensate` -> `lmc_controller_gravity_compensate`</div><div class="line"><a name="l00271"></a><span class="lineno"> 271</span> </div><div class="line"><a name="l00272"></a><span class="lineno"> 272</span> `lmc_dyn_computed_torque_control` -> `lmc_controller_computed_torque`</div><div class="line"><a name="l00273"></a><span class="lineno"> 273</span> </div><div class="line"><a name="l00274"></a><span class="lineno"> 274</span> - Add a new algorithm to estimate tcp force `lmc_dyn_tcp_force`</div><div class="line"><a name="l00275"></a><span class="lineno"> 275</span> - Add a new algorithm to compute inverse dynamic `lmc_dyn_id`</div><div class="line"><a name="l00276"></a><span class="lineno"> 276</span> </div><div class="line"><a name="l00277"></a><span class="lineno"> 277</span> **For `controller` module:**</div><div class="line"><a name="l00278"></a><span class="lineno"> 278</span> </div><div class="line"><a name="l00279"></a><span class="lineno"> 279</span> - Add controller `lmc_controller_gravity_compensate`</div><div class="line"><a name="l00280"></a><span class="lineno"> 280</span> - Add controller `lmc_controller_computed_torque`</div><div class="line"><a name="l00281"></a><span class="lineno"> 281</span> - Add controller for admittance control, not done yet.</div><div class="line"><a name="l00282"></a><span class="lineno"> 282</span> </div><div class="line"><a name="l00283"></a><span class="lineno"> 283</span> ## 2021-09-18</div><div class="line"><a name="l00284"></a><span class="lineno"> 284</span> </div><div class="line"><a name="l00285"></a><span class="lineno"> 285</span> Add functions:</div><div class="line"><a name="l00286"></a><span class="lineno"> 286</span> </div><div class="line"><a name="l00287"></a><span class="lineno"> 287</span> - `lmc_tg_buffer_speed_joint`</div><div class="line"><a name="l00288"></a><span class="lineno"> 288</span> </div><div class="line"><a name="l00289"></a><span class="lineno"> 289</span> - `lmc_tg_buffer_speed_line` </div><div class="line"><a name="l00290"></a><span class="lineno"> 290</span> </div></div><!-- fragment --></div><!-- contents -->
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