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start [2021/07/05 14:24] – [Changelog] oliverstart [2022/07/19 17:13] (aktuell) – [Changelog] oliver
Zeile 29: Zeile 29:
  
 === Unreleased === === Unreleased ===
 +
 +-----------------
 +== Nimue Platform 0.105 - 2022-07 ==
 +-----------------
 +**Added**
 +
 +     * Better documentation with examples of PointSetFit
 +
 +-----------------
 +== Nimue Platform 0.105 - 2022-02 ==
 +-----------------
 +
 +**Fixed**
 +
 +     * Dataminer: Calculation of standard deviations failed
 +     * DH Calc Element: modified dh and classical dh, index numbers start now at meaningfull positions (for modified dh alpha an r starts from 1 and d and theta starts from 0. For classical DH all parameters start with index 1.
 +     * ransaclin filter does not work for input data including NaN-values. NaN-values are now automatically excluded. But keep in mind to adjust the parameters in these cases.
 +
 +**Added**
 +
 +     * New functionality of the Forward Kinematics element which allows calculations based on modfied Denavit Hartenberg parameters
 +
 +-----------------
 +== Nimue Platform 0.104 - 2021-11 ==
 +-----------------
 +
 +**Fixed**
 +
 +     * <DH>-Element now corretly determines the position trajectories
 +
 +-----------------
 +== Nimue Platform 0.103 - 2021-10 ==
 +-----------------
 +
 +**Added**
 +
 +     * Method getFramesOfEachIntervall() extended to be able to get frames also from phases
 +     * Added functionality to DenavitHartenberg Calc element to determine mean/std of d,r,alpha and theta values directly as parameters calculated by the element itself.
 +     * Added warning messages if a filter results in a complete trajectory with at minimum of one component is NaN for each frame
 +     * Addes "lastD" parameter to the DH-element to define the TCP coordinate system by translation about this parameter around the z-axis of the last joint axis.
 +     * Element to calculate forward kinematics based on Denavit Hartenberg convention
 +
 +**Fixed**
 +
 +     * Added test for all values to be equal of 0.0 of matrix-3d objects and set them them to Double.MINVALUE if not all values are exatly 0.0 to exclude them for substitution by the Vicon WORKAROUND filter isersoSelective-Filter.
 +     * Wrong ResouceBundle name "javax.vecmath.ExceptionString" in vecmath: VecMathI18N.java
 +     * Fixed constructor of DualVector6e elements used in the DH-element.
 +
 +-----------------
 +== Nimue Platform 0.102 - 2021-09 ==
 +-----------------
 +
 +**Added**
 +     * New attribute "expectedPhasesCount" added to the element "Phase" which defines the expected count of phases. If the created count of phases does not fit this values defined by this attribute a warning is given.
 +     * New element <DH> to determine several variants of DH-parameters from circle fits.
 +     * New Datamining parameter Types: "std" and "frames"
 +     * Completion of RANSAC-Linear-Filter to preprocess static measurement-data to eliminate outliers.
 +     * Support for filtering of quaternion-type timeseries during trial-loading for processing
 +     * Added "fit" parameter to ransaclin() to substitute excluded frames with the fit value instead of NaN.
 +     * Additional attributes "minthreshold", "maxthreashold" to the <Event>-element, alow to use methods max/minvelocity in combination with "tolerance".
 +     * New attribute "invert" added to the phase-element.
 +
 +**Fixed**
 +     * Loading RANSAC-Linear filter failed due to wrong specification of implementation class name
 +     * Filterchain interation - only the first filter was used
 +     * Event-Docu corrected
 +
 +**ToDo**
 +     * Filter zero2nan for matrix3x3, not only all zero but also unit-matrix with 1 in diagonal elements
 +     * Workaround that fills all components of a matrix3d to NaN if ransaclin() has set only some of them to NaN
 +     * if group names inclunde "_" then they are excluded from the shown list in the DataExplorer
  
 ----------------- -----------------
Zeile 37: Zeile 108:
      * New function ddist(A,B,ref) to define a singed length of a vector based on a given reference vector.      * New function ddist(A,B,ref) to define a singed length of a vector based on a given reference vector.
      * New property "seperateGroupFiles" for the outputhandler MotionDataOutputHandler to save data for each calcgroup into sepearte files      * New property "seperateGroupFiles" for the outputhandler MotionDataOutputHandler to save data for each calcgroup into sepearte files
 +     * New function mdho() to determine the origin of a coordinate system based on modifed Denavit Hartenberg convention
 +     * New function mdh() to determine the 4x4-Matrix of modified Denavit Hartenberg convention
  
 ----------------- -----------------
Zeile 42: Zeile 115:
 ----------------- -----------------
 **Fixed** **Fixed**
-     * The calculation element "LocalCoordinateSystem" has not considered the includes/excludes attributes. Not the attributes can be used to prohibit calculation for specific trials.+     * The calculation element "LocalCoordinateSystem" has not considered the includes/excludes attributes. Now the attributes can be used to prohibit calculation for specific trials.
      * The <Phase>-Element has added wrong phases in the special case that there are single frames fulfilling the inphase-function. Theses 1-frame-length-phases are excluded now as it is specified.      * The <Phase>-Element has added wrong phases in the special case that there are single frames fulfilling the inphase-function. Theses 1-frame-length-phases are excluded now as it is specified.
      * The <LocalCoordinateSystem>-Element overwrites the original given (by the attribute) global position. A new object is now created to prevent for this behavoir.       * The <LocalCoordinateSystem>-Element overwrites the original given (by the attribute) global position. A new object is now created to prevent for this behavoir. 
start.1625487848.txt.gz · Zuletzt geändert: 2021/07/05 14:24 von oliver

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