22/08/02 RobotLibrary Development Meeting

[Woolfrey]

Chair:

• Jon @Woolfrey

Attendees:

• Jon @Woolfrey
• Sheila @ssutjipto

Agenda:

Note: Last week's items should become this week's agenda.

Item	Tag	Responsible	Comment
Create milestone for debugging tasks	N/A	@ssutjipto	To be done before next meeting.
Create milestone for Inverse Kinematics (requires QP solver)	N/A	@ssutjipto	To be done after the next meeting.
Create milestone for QR solver	N/A	@Woolfrey	Now a part of the Math milestone.
Upload calculations for polynomial trajectories	N/A	@Woolfrey	Located in Misc. folder
Utilities to check for positive definite matrices	N/A	@ssutjipto	Can be included in Math.h, Math.cpp
Utilities to check for proximity to identity and zero matrices	N/A	@ssutjipto	To be included in Math
Code review	#41 #46 #45 #53	@ssutjipto	Issues put in backlog while QP is implemented.
Implement ROS package for trajectory and test trajectory classes	#42 #43 #44	@Woolfrey	Package created - got stuck trying to build RobotLibrary (thanks Sheila!)

Additional Discussion Points:

Anything not captured in the agenda.

Discussion Point	Raised By	Tag	Outcome
Math section added to the library.	@Woolfrey	#61 #59 #60 #58	All future math functions to be placed here.
QP Solver in development.	@Woolfrey	#62	Almost complete - will integrate with control class.
Kinematics and dynamics solved in single loop	@Woolfrey	#53	Calcs are working, Sheila to delete old functions if satisfied.
Sheila got the library to build.	@Woolfrey	#57	Hallelujah!

Next Meeting:

Note: These will become the agenda for the next meeting.

Item	Tag	Responsible
Finish off QP class	#62	@Woolfrey
Start on the ROS trajectory package if time permits	#42 #43 #44	@Woolfrey
Create milestone for debugging tasks	N/A	@ssutjipto
Create milestone for Inverse Kinematics (requires QP solver)	N/A	@ssutjipto
Code review	#41 #46 #45 #53	@ssutjipto
Kinematics and dynamics solved in single loop	@ssutjipto
Delete config branch after @ssutjipto checks test scripts	N/A	@ssutjipto @Woolfrey

Conclusions

Good progress with CMake library, Math, and QP Solver.