1.5 Version history

version 1.32
(2013/12/12)

OpenWatcom support is dropped.

Upgraded the matrix library to NEWMAT11 (beta) November 2008

Code clean up dealing with some warnings.

Call to Gnuplot under Windows is now using pipes.

Removed CVS keywords tags.

inv_kin immobile joint index bug corrected (thanks to Matteo Malosio).

version 1.31
(2006/12/14)

The project can now use CMake or Bakefile for automated makefile generation. In future releases, hand made makefiles and project files will be replaced by the output of CMake or Bakefile.

Corrected bug in irotk (reported by Chris Lightcap).

version 1.30
(2006/08/17)

Upgraded the matrix library to NEWMAT11 (beta) April 2006 enabling compilation under GNU g++ 4.1.x.

version 1.29
(2006/05/19)

OpenWatcom support is (temporally) suspended. Fixed gear ratio bug for viscous friction (reported by Carmine Lia). Fix set_q, set_qp bug in xdot (reported by Philip Gruebele)

The following changes have been contributed by Etienne Lachance

version 1.28
(2005/12/07)

The following changes have been contributed by Etienne Lachance

version 1.27
(2005/10/11)

It is now possible to turn off warning messages in the Config class.

version 1.26
(2005/07/05)
version 1.25
(2005/06/13) Fixed catch(bad_alloc) in constructors.

The following changes have been contributed by Etienne Lachance

The following changes have been contributed by Carmine Lia

version 1.24
(2005/03/18)

The following changes have been contributed by Brian Galardo, Jean-Pascal Joary, Etienne Lachance:

by Etienne Lachance:

and by Stephen Webb :

version 1.23
(2004/09/18)

The following change has been contributed by Etienne Lachance:

version 1.22
(2004/09/10)

The following change has been contributed by Etienne Lachance:

Carl Glen Henshaw provided a makefile for MAC OS X.

version 1.21
(2004/08/16)

The following changes have been contributed by Etienne Lachance

The following changes have been contributed by Ethan Tira-Thompson

version 1.20
(2004/07/02)

The following changes have been contributed by Ethan Tira-Thompson

The following changes have been contributed by Etienne Lachance

version 1.19
(2004/05/12) Upgraded the matrix library from NEWMAT10 to NEWMAT11 (beta). Visual C++ .NET and Borland C++ Builder 6 compilers are now supported. Updated documentation.
version 1.18
(2004/05/05) ROBOOP is relicensed to the GNU Lesser General Public License. Updated documentation.

The following changes have been contributed by Vincent Drolet and Etienne Lachance:

version 1.17
(2004/04/02) Numerous warning messages were corrected under VC++. Updated documentation.

The following changes have been contributed by Etienne Lachance:

version 1.16
(2003/09/24) The OpenWatcom C++ compiler is now supported. Updated documentation.
version 1.15
(2003/06/18) The following changes have been contributed by Etienne Lachance:
version 1.14
(2003/04/17) Updated documentation. The Watcom compiler is no longer supported (problems with STL and streams). The following changes have been contributed by Etienne Lachance:
version 1.13
(2002/08/09) Moved the arrays of ColumnVector to the constructors for the dynamics and linearized dynamics for a 10% gain in speed (thanks to Etienne Lachance for the suggestion). Added the mRobot and mRobotMotor classes using the modified Denavit-Hartenberg notation. Updated documentation.
version 1.12
(2002/02/04) Upgraded the matrix library from NEWMAT09 to NEWMAT10.
version 1.11
(2001/06/06) Fixed bugs for prismatic joints in the dynamics routines (reported by Hassan Abedi). Updated documentation.
version 1.10
(2001/04/30) Changed the license to GNU General Public License. Workspace for MS Visual C++ 6.0. New makefiles using implicit rules. New class RobotMotor that includes motors parameters (rotor inertia, gear ratio and friction coefficients). Updated documentation.
version 1.09
(98/09/27) Makefile for MS Visual C++ 6.0.
version 1.08
(98/06/1) Changes to robot.cpp and robot.h to avoid the warning messages:

initialization of non-const reference ‘*’ from rvalue ‘*’

Fixed function ieulzxz in homogen.cpp thanks to Kilian Pohl.

version 1.07
(98/05/12) The bench.cpp program is more portable. Simpler makefile for Borland C++. New targets in makefiles (clean and veryclean). Removed the CVS Log tags from the sources. Compiler option -O now works under gcc 2.7.2 thanks to the new newmat.h provided by Robert Davies.
version 1.06
(97/11/21) The function inv_kin modified to use the Jacobian by default in the iterative procedure (1.8× faster). Updated documentation.
version 1.05
(97/11/17) Added make file for GNU G++ under Windows 95/NT using Cygnus GNU-Win32 compiler. Added optimization flags under GNU G++. Updated documentation.
version 1.04
(97/11/14) Added make file for GNU G++ and graphic support through gnuplot (2d plots). Updated documentation.
version 1.03
(97/11/01) Added adaptive step size integration. Changes to the documentation.
version 1.02
(97/10/21) Upgraded the matrix library from NEWMAT08A to NEWMAT09. New directory structure : newmat08 is replaced by newmat. Conditional compilation of delete [] for pre 2.1 C++ compilers has been removed since NEWMAT09 no longer supports these compilers. Minor changes to the documentation.
version 1.01
(97/01/17) Conditional compilation of delete [] for pre 2.1 C++ compilers. Changes to the documentation.
version 1.0
(96/12/15) First public release of the package.