From 8952e138a79c53fcc8564558ce7faf340bf687d8 Mon Sep 17 00:00:00 2001 From: Robin Deits Date: Wed, 20 May 2020 22:26:28 -0400 Subject: [PATCH 1/7] Update Rotations.jl to 1.0 --- Project.toml | 2 +- .../Manifest.toml | 43 ++- .../Manifest.toml | 247 +++++++++----- examples/3. Four-bar linkage/Manifest.toml | 247 +++++++++----- .../4. Jacobian IK and Control/Manifest.toml | 305 ++++++++++++------ .../Manifest.toml | 75 +++-- .../Manifest.toml | 58 ++-- examples/Manifest.toml | 8 +- src/joint_types/quaternion_floating.jl | 10 +- src/joint_types/quaternion_spherical.jl | 14 +- src/joint_types/spquat_floating.jl | 10 +- src/pdcontrol.jl | 6 +- src/spatial/util.jl | 26 +- src/util.jl | 2 +- test/test_mechanism_algorithms.jl | 6 +- test/test_spatial.jl | 8 +- 16 files changed, 712 insertions(+), 355 deletions(-) diff --git a/Project.toml b/Project.toml index 4f1383e2..0cf0d763 100644 --- a/Project.toml +++ b/Project.toml @@ -20,7 +20,7 @@ DocStringExtensions = "0.4.1, 0.5, 0.6, 0.7, 0.8" LightXML = "0.8, 0.9" LoopThrottle = "0.1" Reexport = "0.2" -Rotations = "0.12.1, 0.13" +Rotations = "1" StaticArrays = "0.8, 0.9, 0.10, 0.11, 0.12" TypeSortedCollections = "1" UnsafeArrays = "1" diff --git a/examples/1. Quickstart - double pendulum/Manifest.toml b/examples/1. Quickstart - double pendulum/Manifest.toml index a9b2669d..55e3cd90 100644 --- a/examples/1. Quickstart - double pendulum/Manifest.toml +++ b/examples/1. Quickstart - double pendulum/Manifest.toml @@ -3,12 +3,6 @@ [[Base64]] uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" -[[BinaryProvider]] -deps = ["Libdl", "SHA"] -git-tree-sha1 = "5b08ed6036d9d3f0ee6369410b830f8873d4024c" -uuid = "b99e7846-7c00-51b0-8f62-c81ae34c0232" -version = "0.5.8" - [[Dates]] deps = ["Printf"] uuid = "ade2ca70-3891-5945-98fb-dc099432e06a" @@ -28,16 +22,23 @@ deps = ["Markdown"] uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" [[LibGit2]] +deps = ["Printf"] uuid = "76f85450-5226-5b5a-8eaa-529ad045b433" [[Libdl]] uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" +[[Libiconv_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "e5256a3b0ebc710dbd6da0c0b212164a3681037f" +uuid = "94ce4f54-9a6c-5748-9c1c-f9c7231a4531" +version = "1.16.0+2" + [[LightXML]] -deps = ["BinaryProvider", "Libdl"] -git-tree-sha1 = "be855e3c975b89746b09952407c156b5e4a33a1d" +deps = ["Libdl", "XML2_jll"] +git-tree-sha1 = "e129d9391168c677cd4800f5c0abb1ed8cb3794f" uuid = "9c8b4983-aa76-5018-a973-4c85ecc9e179" -version = "0.8.1" +version = "0.9.0" [[LinearAlgebra]] deps = ["Libdl"] @@ -86,9 +87,9 @@ version = "2.2.0" [[Rotations]] deps = ["LinearAlgebra", "StaticArrays", "Statistics"] -git-tree-sha1 = "d5f83867093db7319a9366d55f29280ecae9bcda" +git-tree-sha1 = "7f7f93ce41c5764602a8922ec152467eba7920da" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "0.13.0" +version = "1.0.0" [[SHA]] uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" @@ -105,9 +106,9 @@ uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" [[StaticArrays]] deps = ["LinearAlgebra", "Random", "Statistics"] -git-tree-sha1 = "5a3bcb6233adabde68ebc97be66e95dcb787424c" +git-tree-sha1 = "5c06c0aeb81bef54aed4b3f446847905eb6cbda0" uuid = "90137ffa-7385-5640-81b9-e52037218182" -version = "0.12.1" +version = "0.12.3" [[Statistics]] deps = ["LinearAlgebra", "SparseArrays"] @@ -130,6 +131,18 @@ uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4" uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5" [[UnsafeArrays]] -git-tree-sha1 = "1de6ef280110c7ad3c5d2f7a31a360b57a1bde21" +git-tree-sha1 = "9740b414f85ec2fa9135066f81b1fb14212befd6" uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6" -version = "1.0.0" +version = "1.0.1" + +[[XML2_jll]] +deps = ["Libdl", "Libiconv_jll", "Pkg", "Zlib_jll"] +git-tree-sha1 = "987c02a43fa10a491a5f0f7c46a6d3559ed6a8e2" +uuid = "02c8fc9c-b97f-50b9-bbe4-9be30ff0a78a" +version = "2.9.9+4" + +[[Zlib_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "a2e0d558f6031002e380a90613b199e37a8565bf" +uuid = "83775a58-1f1d-513f-b197-d71354ab007a" +version = "1.2.11+10" diff --git a/examples/2. Closed-loop simulation and visualization/Manifest.toml b/examples/2. Closed-loop simulation and visualization/Manifest.toml index 0082e894..efe27e9c 100644 --- a/examples/2. Closed-loop simulation and visualization/Manifest.toml +++ b/examples/2. Closed-loop simulation and visualization/Manifest.toml @@ -17,59 +17,49 @@ uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" [[BinDeps]] deps = ["Libdl", "Pkg", "SHA", "URIParser", "Unicode"] -git-tree-sha1 = "66158ad56b4bf6cc8413b37d0b7bc52402682764" +git-tree-sha1 = "46cf2c1668ad07aba5a9d331bdeea994a1f13856" uuid = "9e28174c-4ba2-5203-b857-d8d62c4213ee" -version = "1.0.0" +version = "1.0.1" -[[BinaryProvider]] -deps = ["Libdl", "SHA"] -git-tree-sha1 = "5b08ed6036d9d3f0ee6369410b830f8873d4024c" -uuid = "b99e7846-7c00-51b0-8f62-c81ae34c0232" -version = "0.5.8" +[[Bzip2_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "3663bfffede2ef41358b6fc2e1d8a6d50b3c3904" +uuid = "6e34b625-4abd-537c-b88f-471c36dfa7a0" +version = "1.0.6+2" [[CSSUtil]] -deps = ["Colors", "Compat", "JSON", "Measures", "Pkg", "WebIO"] -git-tree-sha1 = "ff13fd99e4dd54f56eb064815f843bc992a871a2" +deps = ["Colors", "JSON", "Markdown", "Measures", "WebIO"] +git-tree-sha1 = "b9fb4b464ec10e860abe251b91d4d049934f7399" uuid = "70588ee8-6100-5070-97c1-3cb50ed05fe8" -version = "0.1.0" +version = "0.1.1" [[Cassette]] -git-tree-sha1 = "da85d135b6048d3e78603e277cf9a4609f7e0673" +git-tree-sha1 = "ff6f5109371926beb67ec3101be17d2c211e497d" uuid = "7057c7e9-c182-5462-911a-8362d720325c" -version = "0.2.6" +version = "0.3.3" [[ColorTypes]] deps = ["FixedPointNumbers", "Random"] -git-tree-sha1 = "b9de8dc6106e09c79f3f776c27c62360d30e5eb8" +git-tree-sha1 = "c73d9cfc2a9d8433dc77f5bff4bddf46b1d78c20" uuid = "3da002f7-5984-5a60-b8a6-cbb66c0b333f" -version = "0.9.1" +version = "0.10.3" [[Colors]] -deps = ["ColorTypes", "FixedPointNumbers", "InteractiveUtils", "Printf", "Reexport"] -git-tree-sha1 = "177d8b959d3c103a6d57574c38ee79c81059c31b" +deps = ["ColorTypes", "FixedPointNumbers", "InteractiveUtils", "Reexport"] +git-tree-sha1 = "2fdeb981ebcf52cd800ddb6a0aa5eac34153552d" uuid = "5ae59095-9a9b-59fe-a467-6f913c188581" -version = "0.11.2" - -[[Compat]] -deps = ["Base64", "Dates", "DelimitedFiles", "Distributed", "InteractiveUtils", "LibGit2", "Libdl", "LinearAlgebra", "Markdown", "Mmap", "Pkg", "Printf", "REPL", "Random", "Serialization", "SharedArrays", "Sockets", "SparseArrays", "Statistics", "Test", "UUIDs", "Unicode"] -git-tree-sha1 = "ed2c4abadf84c53d9e58510b5fc48912c2336fbb" -uuid = "34da2185-b29b-5c13-b0c7-acf172513d20" -version = "2.2.0" +version = "0.12.0" [[CoordinateTransformations]] -deps = ["LinearAlgebra", "Rotations", "StaticArrays"] -git-tree-sha1 = "71333ea3f841bca6c1aa2863f11758eb9b37bfbc" +deps = ["LinearAlgebra", "StaticArrays"] +git-tree-sha1 = "c230b1d94db9fdd073168830437e64b9db627fcb" uuid = "150eb455-5306-5404-9cee-2592286d6298" -version = "0.5.1" +version = "0.6.0" [[Dates]] deps = ["Printf"] uuid = "ade2ca70-3891-5945-98fb-dc099432e06a" -[[DelimitedFiles]] -deps = ["Mmap"] -uuid = "8bb1440f-4735-579b-a4ab-409b98df4dab" - [[Distributed]] deps = ["Random", "Serialization", "Sockets"] uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b" @@ -81,18 +71,36 @@ uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae" version = "0.8.1" [[FFMPEG]] -deps = ["BinaryProvider", "Libdl"] -git-tree-sha1 = "9143266ba77d3313a4cf61d8333a1970e8c5d8b6" +deps = ["FFMPEG_jll"] +git-tree-sha1 = "c82bef6fc01e30d500f588cd01d29bdd44f1924e" uuid = "c87230d0-a227-11e9-1b43-d7ebe4e7570a" -version = "0.2.4" +version = "0.3.0" + +[[FFMPEG_jll]] +deps = ["Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "LAME_jll", "LibVPX_jll", "Libdl", "Ogg_jll", "OpenSSL_jll", "Opus_jll", "Pkg", "Zlib_jll", "libass_jll", "libfdk_aac_jll", "libvorbis_jll", "x264_jll", "x265_jll"] +git-tree-sha1 = "0fa07f43e5609ea54848b82b4bb330b250e9645b" +uuid = "b22a6f82-2f65-5046-a5b2-351ab43fb4e5" +version = "4.1.0+3" [[FileWatching]] uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee" [[FixedPointNumbers]] -git-tree-sha1 = "4aaea64dd0c30ad79037084f8ca2b94348e65eaa" +git-tree-sha1 = "3ba9ea634d4c8b289d590403b4a06f8e227a6238" uuid = "53c48c17-4a7d-5ca2-90c5-79b7896eea93" -version = "0.7.1" +version = "0.8.0" + +[[FreeType2_jll]] +deps = ["Bzip2_jll", "Libdl", "Pkg", "Zlib_jll"] +git-tree-sha1 = "7d900f32a3788d4eacac2bfa3bf5c770179c8afd" +uuid = "d7e528f0-a631-5988-bf34-fe36492bcfd7" +version = "2.10.1+2" + +[[FriBidi_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "2f56bee16bd0151de7b6a1eeea2ced190a2ad8d4" +uuid = "559328eb-81f9-559d-9380-de523a88c83c" +version = "1.0.5+3" [[FunctionalCollections]] deps = ["Test"] @@ -102,15 +110,15 @@ version = "0.5.0" [[GeometryTypes]] deps = ["ColorTypes", "FixedPointNumbers", "LinearAlgebra", "StaticArrays"] -git-tree-sha1 = "78f0ce9d01993b637a8f28d84537d75dc0ce8eef" +git-tree-sha1 = "34bfa994967e893ab2f17b864eec221b3521ba4d" uuid = "4d00f742-c7ba-57c2-abde-4428a4b178cb" -version = "0.7.10" +version = "0.8.3" [[HTTP]] deps = ["Base64", "Dates", "IniFile", "MbedTLS", "Sockets"] -git-tree-sha1 = "cd60d9a575d3b70c026d7e714212fd4ecf86b4bb" +git-tree-sha1 = "fe31f4ff144392ad8176f5c7c03cca6ba320271c" uuid = "cd3eb016-35fb-5094-929b-558a96fad6f3" -version = "0.8.13" +version = "0.8.14" [[Hiccup]] deps = ["MacroTools", "Test"] @@ -136,9 +144,9 @@ uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" [[Interpolations]] deps = ["AxisAlgorithms", "LinearAlgebra", "OffsetArrays", "Random", "Ratios", "SharedArrays", "SparseArrays", "StaticArrays", "WoodburyMatrices"] -git-tree-sha1 = "f5bf159a7705e2a705b0effa1be0c3d18e288fe1" +git-tree-sha1 = "3af735234d9b1ff9ff1af89875735cd9549c0c5f" uuid = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59" -version = "0.12.5" +version = "0.12.9" [[JSExpr]] deps = ["JSON", "MacroTools", "Observables", "WebIO"] @@ -158,23 +166,42 @@ git-tree-sha1 = "8b5552a7a9efc2b0565e2256c919651e6f4e7931" uuid = "bcebb21b-c2e3-54f8-a781-646b90f6d2cc" version = "0.2.4" +[[LAME_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "221cc8998b9060677448cbb6375f00032554c4fd" +uuid = "c1c5ebd0-6772-5130-a774-d5fcae4a789d" +version = "3.100.0+1" + [[Lazy]] deps = ["MacroTools"] -git-tree-sha1 = "ead48f10ad295afe72046ab0f2b9d704466452a0" +git-tree-sha1 = "0bd934e15f5df97414aa81abf74ba8a2d5042964" uuid = "50d2b5c4-7a5e-59d5-8109-a42b560f39c0" -version = "0.14.0" +version = "0.15.0" [[LibGit2]] +deps = ["Printf"] uuid = "76f85450-5226-5b5a-8eaa-529ad045b433" +[[LibVPX_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "e3549ca9bf35feb9d9d954f4c6a9032e92f46e7c" +uuid = "dd192d2f-8180-539f-9fb4-cc70b1dcf69a" +version = "1.8.1+1" + [[Libdl]] uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" +[[Libiconv_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "e5256a3b0ebc710dbd6da0c0b212164a3681037f" +uuid = "94ce4f54-9a6c-5748-9c1c-f9c7231a4531" +version = "1.16.0+2" + [[LightXML]] -deps = ["BinaryProvider", "Libdl"] -git-tree-sha1 = "be855e3c975b89746b09952407c156b5e4a33a1d" +deps = ["Libdl", "XML2_jll"] +git-tree-sha1 = "e129d9391168c677cd4800f5c0abb1ed8cb3794f" uuid = "9c8b4983-aa76-5018-a973-4c85ecc9e179" -version = "0.8.1" +version = "0.9.0" [[LinearAlgebra]] deps = ["Libdl"] @@ -200,10 +227,16 @@ deps = ["Base64"] uuid = "d6f4376e-aef5-505a-96c1-9c027394607a" [[MbedTLS]] -deps = ["BinaryProvider", "Dates", "Libdl", "Random", "Sockets"] -git-tree-sha1 = "85f5947b53c8cfd53ccfa3f4abae31faa22c2181" +deps = ["Dates", "MbedTLS_jll", "Random", "Sockets"] +git-tree-sha1 = "426a6978b03a97ceb7ead77775a1da066343ec6e" uuid = "739be429-bea8-5141-9913-cc70e7f3736d" -version = "0.7.0" +version = "1.0.2" + +[[MbedTLS_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "c83f5a1d038f034ad0549f9ee4d5fac3fb429e33" +uuid = "c8ffd9c3-330d-5841-b78e-0817d7145fa1" +version = "2.16.0+2" [[Measures]] git-tree-sha1 = "e498ddeee6f9fdb4551ce855a46f54dbd900245f" @@ -218,9 +251,9 @@ version = "0.4.1" [[MeshCat]] deps = ["Base64", "BinDeps", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryTypes", "LinearAlgebra", "Logging", "MsgPack", "Mux", "Parameters", "Requires", "Rotations", "Sockets", "StaticArrays", "UUIDs", "WebSockets"] -git-tree-sha1 = "3b095b9a186456fda01aa53963e0c963c1d99956" +git-tree-sha1 = "c843a8be339987d1d36ca81becb6457268137081" uuid = "283c5d60-a78f-5afe-a0af-af636b173e11" -version = "0.10.0" +version = "0.11.0" [[MeshCatMechanisms]] deps = ["ColorTypes", "CoordinateTransformations", "GeometryTypes", "InteractBase", "Interpolations", "LoopThrottle", "MechanismGeometries", "MeshCat", "Mux", "OrderedCollections", "RigidBodyDynamics"] @@ -249,27 +282,44 @@ uuid = "510215fc-4207-5dde-b226-833fc4488ee2" version = "0.3.1" [[OffsetArrays]] -git-tree-sha1 = "6a35d9446b40ae5004cd7bd0f1ae3505528c7fd6" +git-tree-sha1 = "930db8ef90483570107f2396b1ffc6680f08e8b7" uuid = "6fe1bfb0-de20-5000-8ca7-80f57d26f881" -version = "1.0.3" +version = "1.0.4" + +[[Ogg_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "59cf7a95bf5ac39feac80b796e0f39f9d69dc887" +uuid = "e7412a2a-1a6e-54c0-be00-318e2571c051" +version = "1.3.4+0" + +[[OpenSSL_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "d2a6f25262d568b5a7e454cf7ff5066a79d16c7d" +uuid = "458c3c95-2e84-50aa-8efc-19380b2a3a95" +version = "1.1.1+2" + +[[Opus_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "002c18f222a542907e16c83c64a1338992da7e2c" +uuid = "91d4177d-7536-5919-b921-800302f37372" +version = "1.3.1+1" [[OrderedCollections]] -deps = ["Random", "Serialization", "Test"] -git-tree-sha1 = "c4c13474d23c60d20a67b217f1d7f22a40edf8f1" +git-tree-sha1 = "12ce190210d278e12644bcadf5b21cbdcf225cd3" uuid = "bac558e1-5e72-5ebc-8fee-abe8a469f55d" -version = "1.1.0" +version = "1.2.0" [[Parameters]] -deps = ["OrderedCollections"] -git-tree-sha1 = "b62b2558efb1eef1fa44e4be5ff58a515c287e38" +deps = ["OrderedCollections", "UnPack"] +git-tree-sha1 = "38b2e970043613c187bd56a995fe2e551821eb4a" uuid = "d96e819e-fc66-5662-9728-84c9c7592b0a" -version = "0.12.0" +version = "0.12.1" [[Parsers]] deps = ["Dates", "Test"] -git-tree-sha1 = "d6d82d5bdbb75048e574cd2d2c89dfbf2c74250c" +git-tree-sha1 = "f0abb338b4d00306500056a3fd44c221b8473ef2" uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0" -version = "1.0.0" +version = "1.0.4" [[Pidfile]] deps = ["FileWatching", "Test"] @@ -318,9 +368,9 @@ version = "2.2.0" [[Rotations]] deps = ["LinearAlgebra", "StaticArrays", "Statistics"] -git-tree-sha1 = "d5f83867093db7319a9366d55f29280ecae9bcda" +git-tree-sha1 = "7f7f93ce41c5764602a8922ec152467eba7920da" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "0.13.0" +version = "1.0.0" [[SHA]] uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" @@ -341,9 +391,9 @@ uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" [[StaticArrays]] deps = ["LinearAlgebra", "Random", "Statistics"] -git-tree-sha1 = "5a3bcb6233adabde68ebc97be66e95dcb787424c" +git-tree-sha1 = "5c06c0aeb81bef54aed4b3f446847905eb6cbda0" uuid = "90137ffa-7385-5640-81b9-e52037218182" -version = "0.12.1" +version = "0.12.3" [[Statistics]] deps = ["LinearAlgebra", "SparseArrays"] @@ -359,28 +409,33 @@ uuid = "94a5cd58-49a0-5741-bd07-fa4f4be8babf" version = "1.1.0" [[URIParser]] -deps = ["Test", "Unicode"] -git-tree-sha1 = "6ddf8244220dfda2f17539fa8c9de20d6c575b69" +deps = ["Unicode"] +git-tree-sha1 = "53a9f49546b8d2dd2e688d216421d050c9a31d0d" uuid = "30578b45-9adc-5946-b283-645ec420af67" -version = "0.4.0" +version = "0.4.1" [[UUIDs]] deps = ["Random", "SHA"] uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4" +[[UnPack]] +git-tree-sha1 = "d4bfa022cd30df012700cf380af2141961bb3bfb" +uuid = "3a884ed6-31ef-47d7-9d2a-63182c4928ed" +version = "1.0.1" + [[Unicode]] uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5" [[UnsafeArrays]] -git-tree-sha1 = "1de6ef280110c7ad3c5d2f7a31a360b57a1bde21" +git-tree-sha1 = "9740b414f85ec2fa9135066f81b1fb14212befd6" uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6" -version = "1.0.0" +version = "1.0.1" [[WebIO]] -deps = ["AssetRegistry", "Base64", "Compat", "Distributed", "FunctionalCollections", "JSON", "Logging", "Observables", "Pkg", "Random", "Requires", "Sockets", "UUIDs", "WebSockets", "Widgets"] -git-tree-sha1 = "ba53f245d0c4ef3ccf0f2c89546ecfcd1957797f" +deps = ["AssetRegistry", "Base64", "Distributed", "FunctionalCollections", "JSON", "Logging", "Observables", "Pkg", "Random", "Requires", "Sockets", "UUIDs", "WebSockets", "Widgets"] +git-tree-sha1 = "add6b526464ab77e9decef9d2dafa46c54af6617" uuid = "0f1e0344-ec1d-5b48-a673-e5cf874b6c29" -version = "0.8.11" +version = "0.8.14" [[WebSockets]] deps = ["Base64", "Dates", "Distributed", "HTTP", "Logging", "Random", "Sockets", "Test"] @@ -396,6 +451,48 @@ version = "0.6.2" [[WoodburyMatrices]] deps = ["LinearAlgebra", "SparseArrays"] -git-tree-sha1 = "68f000f67654d07318d734b364a31233e465f49a" +git-tree-sha1 = "28ffe06d28b1ba8fdb2f36ec7bb079fac81bac0d" uuid = "efce3f68-66dc-5838-9240-27a6d6f5f9b6" -version = "0.5.1" +version = "0.5.2" + +[[XML2_jll]] +deps = ["Libdl", "Libiconv_jll", "Pkg", "Zlib_jll"] +git-tree-sha1 = "987c02a43fa10a491a5f0f7c46a6d3559ed6a8e2" +uuid = "02c8fc9c-b97f-50b9-bbe4-9be30ff0a78a" +version = "2.9.9+4" + +[[Zlib_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "a2e0d558f6031002e380a90613b199e37a8565bf" +uuid = "83775a58-1f1d-513f-b197-d71354ab007a" +version = "1.2.11+10" + +[[libass_jll]] +deps = ["Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "Libdl", "Pkg", "Zlib_jll"] +git-tree-sha1 = "027a304b2a90de84f690949a21f94e5ae0f92c73" +uuid = "0ac62f75-1d6f-5e53-bd7c-93b484bb37c0" +version = "0.14.0+2" + +[[libfdk_aac_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "480c7ed04f68ea3edd4c757f5db5b6a0a4e0bd99" +uuid = "f638f0a6-7fb0-5443-88ba-1cc74229b280" +version = "0.1.6+2" + +[[libvorbis_jll]] +deps = ["Libdl", "Ogg_jll", "Pkg"] +git-tree-sha1 = "6a66f65b5275dfa799036c8a3a26616a0a271c4a" +uuid = "f27f6e37-5d2b-51aa-960f-b287f2bc3b7a" +version = "1.3.6+4" + +[[x264_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "d89346fe63a6465a9f44e958ac0e3d366af90b74" +uuid = "1270edf5-f2f9-52d2-97e9-ab00b5d0237a" +version = "2019.5.25+2" + +[[x265_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "61324ad346b00a6e541896b94201c9426591e43a" +uuid = "dfaa095f-4041-5dcd-9319-2fabd8486b76" +version = "3.0.0+1" diff --git a/examples/3. Four-bar linkage/Manifest.toml b/examples/3. Four-bar linkage/Manifest.toml index 0082e894..efe27e9c 100644 --- a/examples/3. Four-bar linkage/Manifest.toml +++ b/examples/3. Four-bar linkage/Manifest.toml @@ -17,59 +17,49 @@ uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" [[BinDeps]] deps = ["Libdl", "Pkg", "SHA", "URIParser", "Unicode"] -git-tree-sha1 = "66158ad56b4bf6cc8413b37d0b7bc52402682764" +git-tree-sha1 = "46cf2c1668ad07aba5a9d331bdeea994a1f13856" uuid = "9e28174c-4ba2-5203-b857-d8d62c4213ee" -version = "1.0.0" +version = "1.0.1" -[[BinaryProvider]] -deps = ["Libdl", "SHA"] -git-tree-sha1 = "5b08ed6036d9d3f0ee6369410b830f8873d4024c" -uuid = "b99e7846-7c00-51b0-8f62-c81ae34c0232" -version = "0.5.8" +[[Bzip2_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "3663bfffede2ef41358b6fc2e1d8a6d50b3c3904" +uuid = "6e34b625-4abd-537c-b88f-471c36dfa7a0" +version = "1.0.6+2" [[CSSUtil]] -deps = ["Colors", "Compat", "JSON", "Measures", "Pkg", "WebIO"] -git-tree-sha1 = "ff13fd99e4dd54f56eb064815f843bc992a871a2" +deps = ["Colors", "JSON", "Markdown", "Measures", "WebIO"] +git-tree-sha1 = "b9fb4b464ec10e860abe251b91d4d049934f7399" uuid = "70588ee8-6100-5070-97c1-3cb50ed05fe8" -version = "0.1.0" +version = "0.1.1" [[Cassette]] -git-tree-sha1 = "da85d135b6048d3e78603e277cf9a4609f7e0673" +git-tree-sha1 = "ff6f5109371926beb67ec3101be17d2c211e497d" uuid = "7057c7e9-c182-5462-911a-8362d720325c" -version = "0.2.6" +version = "0.3.3" [[ColorTypes]] deps = ["FixedPointNumbers", "Random"] -git-tree-sha1 = "b9de8dc6106e09c79f3f776c27c62360d30e5eb8" +git-tree-sha1 = "c73d9cfc2a9d8433dc77f5bff4bddf46b1d78c20" uuid = "3da002f7-5984-5a60-b8a6-cbb66c0b333f" -version = "0.9.1" +version = "0.10.3" [[Colors]] -deps = ["ColorTypes", "FixedPointNumbers", "InteractiveUtils", "Printf", "Reexport"] -git-tree-sha1 = "177d8b959d3c103a6d57574c38ee79c81059c31b" +deps = ["ColorTypes", "FixedPointNumbers", "InteractiveUtils", "Reexport"] +git-tree-sha1 = "2fdeb981ebcf52cd800ddb6a0aa5eac34153552d" uuid = "5ae59095-9a9b-59fe-a467-6f913c188581" -version = "0.11.2" - -[[Compat]] -deps = ["Base64", "Dates", "DelimitedFiles", "Distributed", "InteractiveUtils", "LibGit2", "Libdl", "LinearAlgebra", "Markdown", "Mmap", "Pkg", "Printf", "REPL", "Random", "Serialization", "SharedArrays", "Sockets", "SparseArrays", "Statistics", "Test", "UUIDs", "Unicode"] -git-tree-sha1 = "ed2c4abadf84c53d9e58510b5fc48912c2336fbb" -uuid = "34da2185-b29b-5c13-b0c7-acf172513d20" -version = "2.2.0" +version = "0.12.0" [[CoordinateTransformations]] -deps = ["LinearAlgebra", "Rotations", "StaticArrays"] -git-tree-sha1 = "71333ea3f841bca6c1aa2863f11758eb9b37bfbc" +deps = ["LinearAlgebra", "StaticArrays"] +git-tree-sha1 = "c230b1d94db9fdd073168830437e64b9db627fcb" uuid = "150eb455-5306-5404-9cee-2592286d6298" -version = "0.5.1" +version = "0.6.0" [[Dates]] deps = ["Printf"] uuid = "ade2ca70-3891-5945-98fb-dc099432e06a" -[[DelimitedFiles]] -deps = ["Mmap"] -uuid = "8bb1440f-4735-579b-a4ab-409b98df4dab" - [[Distributed]] deps = ["Random", "Serialization", "Sockets"] uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b" @@ -81,18 +71,36 @@ uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae" version = "0.8.1" [[FFMPEG]] -deps = ["BinaryProvider", "Libdl"] -git-tree-sha1 = "9143266ba77d3313a4cf61d8333a1970e8c5d8b6" +deps = ["FFMPEG_jll"] +git-tree-sha1 = "c82bef6fc01e30d500f588cd01d29bdd44f1924e" uuid = "c87230d0-a227-11e9-1b43-d7ebe4e7570a" -version = "0.2.4" +version = "0.3.0" + +[[FFMPEG_jll]] +deps = ["Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "LAME_jll", "LibVPX_jll", "Libdl", "Ogg_jll", "OpenSSL_jll", "Opus_jll", "Pkg", "Zlib_jll", "libass_jll", "libfdk_aac_jll", "libvorbis_jll", "x264_jll", "x265_jll"] +git-tree-sha1 = "0fa07f43e5609ea54848b82b4bb330b250e9645b" +uuid = "b22a6f82-2f65-5046-a5b2-351ab43fb4e5" +version = "4.1.0+3" [[FileWatching]] uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee" [[FixedPointNumbers]] -git-tree-sha1 = "4aaea64dd0c30ad79037084f8ca2b94348e65eaa" +git-tree-sha1 = "3ba9ea634d4c8b289d590403b4a06f8e227a6238" uuid = "53c48c17-4a7d-5ca2-90c5-79b7896eea93" -version = "0.7.1" +version = "0.8.0" + +[[FreeType2_jll]] +deps = ["Bzip2_jll", "Libdl", "Pkg", "Zlib_jll"] +git-tree-sha1 = "7d900f32a3788d4eacac2bfa3bf5c770179c8afd" +uuid = "d7e528f0-a631-5988-bf34-fe36492bcfd7" +version = "2.10.1+2" + +[[FriBidi_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "2f56bee16bd0151de7b6a1eeea2ced190a2ad8d4" +uuid = "559328eb-81f9-559d-9380-de523a88c83c" +version = "1.0.5+3" [[FunctionalCollections]] deps = ["Test"] @@ -102,15 +110,15 @@ version = "0.5.0" [[GeometryTypes]] deps = ["ColorTypes", "FixedPointNumbers", "LinearAlgebra", "StaticArrays"] -git-tree-sha1 = "78f0ce9d01993b637a8f28d84537d75dc0ce8eef" +git-tree-sha1 = "34bfa994967e893ab2f17b864eec221b3521ba4d" uuid = "4d00f742-c7ba-57c2-abde-4428a4b178cb" -version = "0.7.10" +version = "0.8.3" [[HTTP]] deps = ["Base64", "Dates", "IniFile", "MbedTLS", "Sockets"] -git-tree-sha1 = "cd60d9a575d3b70c026d7e714212fd4ecf86b4bb" +git-tree-sha1 = "fe31f4ff144392ad8176f5c7c03cca6ba320271c" uuid = "cd3eb016-35fb-5094-929b-558a96fad6f3" -version = "0.8.13" +version = "0.8.14" [[Hiccup]] deps = ["MacroTools", "Test"] @@ -136,9 +144,9 @@ uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" [[Interpolations]] deps = ["AxisAlgorithms", "LinearAlgebra", "OffsetArrays", "Random", "Ratios", "SharedArrays", "SparseArrays", "StaticArrays", "WoodburyMatrices"] -git-tree-sha1 = "f5bf159a7705e2a705b0effa1be0c3d18e288fe1" +git-tree-sha1 = "3af735234d9b1ff9ff1af89875735cd9549c0c5f" uuid = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59" -version = "0.12.5" +version = "0.12.9" [[JSExpr]] deps = ["JSON", "MacroTools", "Observables", "WebIO"] @@ -158,23 +166,42 @@ git-tree-sha1 = "8b5552a7a9efc2b0565e2256c919651e6f4e7931" uuid = "bcebb21b-c2e3-54f8-a781-646b90f6d2cc" version = "0.2.4" +[[LAME_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "221cc8998b9060677448cbb6375f00032554c4fd" +uuid = "c1c5ebd0-6772-5130-a774-d5fcae4a789d" +version = "3.100.0+1" + [[Lazy]] deps = ["MacroTools"] -git-tree-sha1 = "ead48f10ad295afe72046ab0f2b9d704466452a0" +git-tree-sha1 = "0bd934e15f5df97414aa81abf74ba8a2d5042964" uuid = "50d2b5c4-7a5e-59d5-8109-a42b560f39c0" -version = "0.14.0" +version = "0.15.0" [[LibGit2]] +deps = ["Printf"] uuid = "76f85450-5226-5b5a-8eaa-529ad045b433" +[[LibVPX_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "e3549ca9bf35feb9d9d954f4c6a9032e92f46e7c" +uuid = "dd192d2f-8180-539f-9fb4-cc70b1dcf69a" +version = "1.8.1+1" + [[Libdl]] uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" +[[Libiconv_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "e5256a3b0ebc710dbd6da0c0b212164a3681037f" +uuid = "94ce4f54-9a6c-5748-9c1c-f9c7231a4531" +version = "1.16.0+2" + [[LightXML]] -deps = ["BinaryProvider", "Libdl"] -git-tree-sha1 = "be855e3c975b89746b09952407c156b5e4a33a1d" +deps = ["Libdl", "XML2_jll"] +git-tree-sha1 = "e129d9391168c677cd4800f5c0abb1ed8cb3794f" uuid = "9c8b4983-aa76-5018-a973-4c85ecc9e179" -version = "0.8.1" +version = "0.9.0" [[LinearAlgebra]] deps = ["Libdl"] @@ -200,10 +227,16 @@ deps = ["Base64"] uuid = "d6f4376e-aef5-505a-96c1-9c027394607a" [[MbedTLS]] -deps = ["BinaryProvider", "Dates", "Libdl", "Random", "Sockets"] -git-tree-sha1 = "85f5947b53c8cfd53ccfa3f4abae31faa22c2181" +deps = ["Dates", "MbedTLS_jll", "Random", "Sockets"] +git-tree-sha1 = "426a6978b03a97ceb7ead77775a1da066343ec6e" uuid = "739be429-bea8-5141-9913-cc70e7f3736d" -version = "0.7.0" +version = "1.0.2" + +[[MbedTLS_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "c83f5a1d038f034ad0549f9ee4d5fac3fb429e33" +uuid = "c8ffd9c3-330d-5841-b78e-0817d7145fa1" +version = "2.16.0+2" [[Measures]] git-tree-sha1 = "e498ddeee6f9fdb4551ce855a46f54dbd900245f" @@ -218,9 +251,9 @@ version = "0.4.1" [[MeshCat]] deps = ["Base64", "BinDeps", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryTypes", "LinearAlgebra", "Logging", "MsgPack", "Mux", "Parameters", "Requires", "Rotations", "Sockets", "StaticArrays", "UUIDs", "WebSockets"] -git-tree-sha1 = "3b095b9a186456fda01aa53963e0c963c1d99956" +git-tree-sha1 = "c843a8be339987d1d36ca81becb6457268137081" uuid = "283c5d60-a78f-5afe-a0af-af636b173e11" -version = "0.10.0" +version = "0.11.0" [[MeshCatMechanisms]] deps = ["ColorTypes", "CoordinateTransformations", "GeometryTypes", "InteractBase", "Interpolations", "LoopThrottle", "MechanismGeometries", "MeshCat", "Mux", "OrderedCollections", "RigidBodyDynamics"] @@ -249,27 +282,44 @@ uuid = "510215fc-4207-5dde-b226-833fc4488ee2" version = "0.3.1" [[OffsetArrays]] -git-tree-sha1 = "6a35d9446b40ae5004cd7bd0f1ae3505528c7fd6" +git-tree-sha1 = "930db8ef90483570107f2396b1ffc6680f08e8b7" uuid = "6fe1bfb0-de20-5000-8ca7-80f57d26f881" -version = "1.0.3" +version = "1.0.4" + +[[Ogg_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "59cf7a95bf5ac39feac80b796e0f39f9d69dc887" +uuid = "e7412a2a-1a6e-54c0-be00-318e2571c051" +version = "1.3.4+0" + +[[OpenSSL_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "d2a6f25262d568b5a7e454cf7ff5066a79d16c7d" +uuid = "458c3c95-2e84-50aa-8efc-19380b2a3a95" +version = "1.1.1+2" + +[[Opus_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "002c18f222a542907e16c83c64a1338992da7e2c" +uuid = "91d4177d-7536-5919-b921-800302f37372" +version = "1.3.1+1" [[OrderedCollections]] -deps = ["Random", "Serialization", "Test"] -git-tree-sha1 = "c4c13474d23c60d20a67b217f1d7f22a40edf8f1" +git-tree-sha1 = "12ce190210d278e12644bcadf5b21cbdcf225cd3" uuid = "bac558e1-5e72-5ebc-8fee-abe8a469f55d" -version = "1.1.0" +version = "1.2.0" [[Parameters]] -deps = ["OrderedCollections"] -git-tree-sha1 = "b62b2558efb1eef1fa44e4be5ff58a515c287e38" +deps = ["OrderedCollections", "UnPack"] +git-tree-sha1 = "38b2e970043613c187bd56a995fe2e551821eb4a" uuid = "d96e819e-fc66-5662-9728-84c9c7592b0a" -version = "0.12.0" +version = "0.12.1" [[Parsers]] deps = ["Dates", "Test"] -git-tree-sha1 = "d6d82d5bdbb75048e574cd2d2c89dfbf2c74250c" +git-tree-sha1 = "f0abb338b4d00306500056a3fd44c221b8473ef2" uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0" -version = "1.0.0" +version = "1.0.4" [[Pidfile]] deps = ["FileWatching", "Test"] @@ -318,9 +368,9 @@ version = "2.2.0" [[Rotations]] deps = ["LinearAlgebra", "StaticArrays", "Statistics"] -git-tree-sha1 = "d5f83867093db7319a9366d55f29280ecae9bcda" +git-tree-sha1 = "7f7f93ce41c5764602a8922ec152467eba7920da" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "0.13.0" +version = "1.0.0" [[SHA]] uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" @@ -341,9 +391,9 @@ uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" [[StaticArrays]] deps = ["LinearAlgebra", "Random", "Statistics"] -git-tree-sha1 = "5a3bcb6233adabde68ebc97be66e95dcb787424c" +git-tree-sha1 = "5c06c0aeb81bef54aed4b3f446847905eb6cbda0" uuid = "90137ffa-7385-5640-81b9-e52037218182" -version = "0.12.1" +version = "0.12.3" [[Statistics]] deps = ["LinearAlgebra", "SparseArrays"] @@ -359,28 +409,33 @@ uuid = "94a5cd58-49a0-5741-bd07-fa4f4be8babf" version = "1.1.0" [[URIParser]] -deps = ["Test", "Unicode"] -git-tree-sha1 = "6ddf8244220dfda2f17539fa8c9de20d6c575b69" +deps = ["Unicode"] +git-tree-sha1 = "53a9f49546b8d2dd2e688d216421d050c9a31d0d" uuid = "30578b45-9adc-5946-b283-645ec420af67" -version = "0.4.0" +version = "0.4.1" [[UUIDs]] deps = ["Random", "SHA"] uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4" +[[UnPack]] +git-tree-sha1 = "d4bfa022cd30df012700cf380af2141961bb3bfb" +uuid = "3a884ed6-31ef-47d7-9d2a-63182c4928ed" +version = "1.0.1" + [[Unicode]] uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5" [[UnsafeArrays]] -git-tree-sha1 = "1de6ef280110c7ad3c5d2f7a31a360b57a1bde21" +git-tree-sha1 = "9740b414f85ec2fa9135066f81b1fb14212befd6" uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6" -version = "1.0.0" +version = "1.0.1" [[WebIO]] -deps = ["AssetRegistry", "Base64", "Compat", "Distributed", "FunctionalCollections", "JSON", "Logging", "Observables", "Pkg", "Random", "Requires", "Sockets", "UUIDs", "WebSockets", "Widgets"] -git-tree-sha1 = "ba53f245d0c4ef3ccf0f2c89546ecfcd1957797f" +deps = ["AssetRegistry", "Base64", "Distributed", "FunctionalCollections", "JSON", "Logging", "Observables", "Pkg", "Random", "Requires", "Sockets", "UUIDs", "WebSockets", "Widgets"] +git-tree-sha1 = "add6b526464ab77e9decef9d2dafa46c54af6617" uuid = "0f1e0344-ec1d-5b48-a673-e5cf874b6c29" -version = "0.8.11" +version = "0.8.14" [[WebSockets]] deps = ["Base64", "Dates", "Distributed", "HTTP", "Logging", "Random", "Sockets", "Test"] @@ -396,6 +451,48 @@ version = "0.6.2" [[WoodburyMatrices]] deps = ["LinearAlgebra", "SparseArrays"] -git-tree-sha1 = "68f000f67654d07318d734b364a31233e465f49a" +git-tree-sha1 = "28ffe06d28b1ba8fdb2f36ec7bb079fac81bac0d" uuid = "efce3f68-66dc-5838-9240-27a6d6f5f9b6" -version = "0.5.1" +version = "0.5.2" + +[[XML2_jll]] +deps = ["Libdl", "Libiconv_jll", "Pkg", "Zlib_jll"] +git-tree-sha1 = "987c02a43fa10a491a5f0f7c46a6d3559ed6a8e2" +uuid = "02c8fc9c-b97f-50b9-bbe4-9be30ff0a78a" +version = "2.9.9+4" + +[[Zlib_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "a2e0d558f6031002e380a90613b199e37a8565bf" +uuid = "83775a58-1f1d-513f-b197-d71354ab007a" +version = "1.2.11+10" + +[[libass_jll]] +deps = ["Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "Libdl", "Pkg", "Zlib_jll"] +git-tree-sha1 = "027a304b2a90de84f690949a21f94e5ae0f92c73" +uuid = "0ac62f75-1d6f-5e53-bd7c-93b484bb37c0" +version = "0.14.0+2" + +[[libfdk_aac_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "480c7ed04f68ea3edd4c757f5db5b6a0a4e0bd99" +uuid = "f638f0a6-7fb0-5443-88ba-1cc74229b280" +version = "0.1.6+2" + +[[libvorbis_jll]] +deps = ["Libdl", "Ogg_jll", "Pkg"] +git-tree-sha1 = "6a66f65b5275dfa799036c8a3a26616a0a271c4a" +uuid = "f27f6e37-5d2b-51aa-960f-b287f2bc3b7a" +version = "1.3.6+4" + +[[x264_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "d89346fe63a6465a9f44e958ac0e3d366af90b74" +uuid = "1270edf5-f2f9-52d2-97e9-ab00b5d0237a" +version = "2019.5.25+2" + +[[x265_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "61324ad346b00a6e541896b94201c9426591e43a" +uuid = "dfaa095f-4041-5dcd-9319-2fabd8486b76" +version = "3.0.0+1" diff --git a/examples/4. Jacobian IK and Control/Manifest.toml b/examples/4. Jacobian IK and Control/Manifest.toml index 29d73c2c..6bd80e3d 100644 --- a/examples/4. Jacobian IK and Control/Manifest.toml +++ b/examples/4. Jacobian IK and Control/Manifest.toml @@ -17,73 +17,73 @@ uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" [[BinDeps]] deps = ["Libdl", "Pkg", "SHA", "URIParser", "Unicode"] -git-tree-sha1 = "66158ad56b4bf6cc8413b37d0b7bc52402682764" +git-tree-sha1 = "46cf2c1668ad07aba5a9d331bdeea994a1f13856" uuid = "9e28174c-4ba2-5203-b857-d8d62c4213ee" -version = "1.0.0" - -[[BinaryProvider]] -deps = ["Libdl", "SHA"] -git-tree-sha1 = "5b08ed6036d9d3f0ee6369410b830f8873d4024c" -uuid = "b99e7846-7c00-51b0-8f62-c81ae34c0232" -version = "0.5.8" +version = "1.0.1" [[Blink]] deps = ["Base64", "BinDeps", "Distributed", "JSExpr", "JSON", "Lazy", "Logging", "MacroTools", "Mustache", "Mux", "Reexport", "Sockets", "WebIO", "WebSockets"] -git-tree-sha1 = "0572de26fd4e4ffe041af0dd8800c3c4613a1300" +git-tree-sha1 = "434893c1f9e9ce59be3f114641e99ef84c4d8f1a" uuid = "ad839575-38b3-5650-b840-f874b8c74a25" -version = "0.12.2" +version = "0.12.3" + +[[Bzip2_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "3663bfffede2ef41358b6fc2e1d8a6d50b3c3904" +uuid = "6e34b625-4abd-537c-b88f-471c36dfa7a0" +version = "1.0.6+2" [[CSSUtil]] -deps = ["Colors", "Compat", "JSON", "Measures", "Pkg", "WebIO"] -git-tree-sha1 = "ff13fd99e4dd54f56eb064815f843bc992a871a2" +deps = ["Colors", "JSON", "Markdown", "Measures", "WebIO"] +git-tree-sha1 = "b9fb4b464ec10e860abe251b91d4d049934f7399" uuid = "70588ee8-6100-5070-97c1-3cb50ed05fe8" -version = "0.1.0" +version = "0.1.1" [[Cassette]] -git-tree-sha1 = "da85d135b6048d3e78603e277cf9a4609f7e0673" +git-tree-sha1 = "ff6f5109371926beb67ec3101be17d2c211e497d" uuid = "7057c7e9-c182-5462-911a-8362d720325c" -version = "0.2.6" +version = "0.3.3" + +[[ColorSchemes]] +deps = ["ColorTypes", "Colors", "FixedPointNumbers", "Random", "StaticArrays"] +git-tree-sha1 = "7a15e3690529fd1042f0ab954dff7445b1efc8a5" +uuid = "35d6a980-a343-548e-a6ea-1d62b119f2f4" +version = "3.9.0" [[ColorTypes]] deps = ["FixedPointNumbers", "Random"] -git-tree-sha1 = "b9de8dc6106e09c79f3f776c27c62360d30e5eb8" +git-tree-sha1 = "c73d9cfc2a9d8433dc77f5bff4bddf46b1d78c20" uuid = "3da002f7-5984-5a60-b8a6-cbb66c0b333f" -version = "0.9.1" +version = "0.10.3" [[Colors]] -deps = ["ColorTypes", "FixedPointNumbers", "InteractiveUtils", "Printf", "Reexport"] -git-tree-sha1 = "177d8b959d3c103a6d57574c38ee79c81059c31b" +deps = ["ColorTypes", "FixedPointNumbers", "InteractiveUtils", "Reexport"] +git-tree-sha1 = "2fdeb981ebcf52cd800ddb6a0aa5eac34153552d" uuid = "5ae59095-9a9b-59fe-a467-6f913c188581" -version = "0.11.2" - -[[Compat]] -deps = ["Base64", "Dates", "DelimitedFiles", "Distributed", "InteractiveUtils", "LibGit2", "Libdl", "LinearAlgebra", "Markdown", "Mmap", "Pkg", "Printf", "REPL", "Random", "Serialization", "SharedArrays", "Sockets", "SparseArrays", "Statistics", "Test", "UUIDs", "Unicode"] -git-tree-sha1 = "ed2c4abadf84c53d9e58510b5fc48912c2336fbb" -uuid = "34da2185-b29b-5c13-b0c7-acf172513d20" -version = "2.2.0" +version = "0.12.0" [[Contour]] deps = ["StaticArrays"] -git-tree-sha1 = "6d56f927b33d3820561b8f89d7de311718683846" +git-tree-sha1 = "0b17db36e7e03f8437e0d1f55aea3e4a60c74353" uuid = "d38c429a-6771-53c6-b99e-75d170b6e991" -version = "0.5.2" +version = "0.5.3" [[CoordinateTransformations]] -deps = ["LinearAlgebra", "Rotations", "StaticArrays"] -git-tree-sha1 = "71333ea3f841bca6c1aa2863f11758eb9b37bfbc" +deps = ["LinearAlgebra", "StaticArrays"] +git-tree-sha1 = "c230b1d94db9fdd073168830437e64b9db627fcb" uuid = "150eb455-5306-5404-9cee-2592286d6298" -version = "0.5.1" +version = "0.6.0" [[DataAPI]] -git-tree-sha1 = "674b67f344687a88310213ddfa8a2b3c76cc4252" +git-tree-sha1 = "176e23402d80e7743fc26c19c681bfb11246af32" uuid = "9a962f9c-6df0-11e9-0e5d-c546b8b5ee8a" -version = "1.1.0" +version = "1.3.0" [[DataStructures]] deps = ["InteractiveUtils", "OrderedCollections"] -git-tree-sha1 = "5a431d46abf2ef2a4d5d00bd0ae61f651cf854c8" +git-tree-sha1 = "7d7578b00789cf16c5f68fad71868e773edd58a2" uuid = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8" -version = "0.17.10" +version = "0.17.16" [[DataValueInterfaces]] git-tree-sha1 = "bfc1187b79289637fa0ef6d4436ebdfe6905cbd6" @@ -109,18 +109,36 @@ uuid = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae" version = "0.8.1" [[FFMPEG]] -deps = ["BinaryProvider", "Libdl"] -git-tree-sha1 = "9143266ba77d3313a4cf61d8333a1970e8c5d8b6" +deps = ["FFMPEG_jll"] +git-tree-sha1 = "c82bef6fc01e30d500f588cd01d29bdd44f1924e" uuid = "c87230d0-a227-11e9-1b43-d7ebe4e7570a" -version = "0.2.4" +version = "0.3.0" + +[[FFMPEG_jll]] +deps = ["Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "LAME_jll", "LibVPX_jll", "Libdl", "Ogg_jll", "OpenSSL_jll", "Opus_jll", "Pkg", "Zlib_jll", "libass_jll", "libfdk_aac_jll", "libvorbis_jll", "x264_jll", "x265_jll"] +git-tree-sha1 = "0fa07f43e5609ea54848b82b4bb330b250e9645b" +uuid = "b22a6f82-2f65-5046-a5b2-351ab43fb4e5" +version = "4.1.0+3" [[FileWatching]] uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee" [[FixedPointNumbers]] -git-tree-sha1 = "4aaea64dd0c30ad79037084f8ca2b94348e65eaa" +git-tree-sha1 = "3ba9ea634d4c8b289d590403b4a06f8e227a6238" uuid = "53c48c17-4a7d-5ca2-90c5-79b7896eea93" -version = "0.7.1" +version = "0.8.0" + +[[FreeType2_jll]] +deps = ["Bzip2_jll", "Libdl", "Pkg", "Zlib_jll"] +git-tree-sha1 = "7d900f32a3788d4eacac2bfa3bf5c770179c8afd" +uuid = "d7e528f0-a631-5988-bf34-fe36492bcfd7" +version = "2.10.1+2" + +[[FriBidi_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "2f56bee16bd0151de7b6a1eeea2ced190a2ad8d4" +uuid = "559328eb-81f9-559d-9380-de523a88c83c" +version = "1.0.5+3" [[FunctionalCollections]] deps = ["Test"] @@ -130,21 +148,21 @@ version = "0.5.0" [[GR]] deps = ["Base64", "DelimitedFiles", "LinearAlgebra", "Printf", "Random", "Serialization", "Sockets", "Test", "UUIDs"] -git-tree-sha1 = "7ea6f715b7caa10d7ee16f1cfcd12f3ccc74116a" +git-tree-sha1 = "1185d50c5c90ec7c0784af7f8d0d1a600750dc4d" uuid = "28b8d3ca-fb5f-59d9-8090-bfdbd6d07a71" -version = "0.48.0" +version = "0.49.1" [[GeometryTypes]] deps = ["ColorTypes", "FixedPointNumbers", "LinearAlgebra", "StaticArrays"] -git-tree-sha1 = "78f0ce9d01993b637a8f28d84537d75dc0ce8eef" +git-tree-sha1 = "34bfa994967e893ab2f17b864eec221b3521ba4d" uuid = "4d00f742-c7ba-57c2-abde-4428a4b178cb" -version = "0.7.10" +version = "0.8.3" [[HTTP]] deps = ["Base64", "Dates", "IniFile", "MbedTLS", "Sockets"] -git-tree-sha1 = "cd60d9a575d3b70c026d7e714212fd4ecf86b4bb" +git-tree-sha1 = "fe31f4ff144392ad8176f5c7c03cca6ba320271c" uuid = "cd3eb016-35fb-5094-929b-558a96fad6f3" -version = "0.8.13" +version = "0.8.14" [[Hiccup]] deps = ["MacroTools", "Test"] @@ -170,9 +188,9 @@ uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" [[Interpolations]] deps = ["AxisAlgorithms", "LinearAlgebra", "OffsetArrays", "Random", "Ratios", "SharedArrays", "SparseArrays", "StaticArrays", "WoodburyMatrices"] -git-tree-sha1 = "f5bf159a7705e2a705b0effa1be0c3d18e288fe1" +git-tree-sha1 = "3af735234d9b1ff9ff1af89875735cd9549c0c5f" uuid = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59" -version = "0.12.5" +version = "0.12.9" [[IteratorInterfaceExtensions]] git-tree-sha1 = "a3f24677c21f5bbe9d2a714f95dcd58337fb2856" @@ -197,23 +215,42 @@ git-tree-sha1 = "8b5552a7a9efc2b0565e2256c919651e6f4e7931" uuid = "bcebb21b-c2e3-54f8-a781-646b90f6d2cc" version = "0.2.4" +[[LAME_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "221cc8998b9060677448cbb6375f00032554c4fd" +uuid = "c1c5ebd0-6772-5130-a774-d5fcae4a789d" +version = "3.100.0+1" + [[Lazy]] deps = ["MacroTools"] -git-tree-sha1 = "ead48f10ad295afe72046ab0f2b9d704466452a0" +git-tree-sha1 = "0bd934e15f5df97414aa81abf74ba8a2d5042964" uuid = "50d2b5c4-7a5e-59d5-8109-a42b560f39c0" -version = "0.14.0" +version = "0.15.0" [[LibGit2]] +deps = ["Printf"] uuid = "76f85450-5226-5b5a-8eaa-529ad045b433" +[[LibVPX_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "e3549ca9bf35feb9d9d954f4c6a9032e92f46e7c" +uuid = "dd192d2f-8180-539f-9fb4-cc70b1dcf69a" +version = "1.8.1+1" + [[Libdl]] uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" +[[Libiconv_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "e5256a3b0ebc710dbd6da0c0b212164a3681037f" +uuid = "94ce4f54-9a6c-5748-9c1c-f9c7231a4531" +version = "1.16.0+2" + [[LightXML]] -deps = ["BinaryProvider", "Libdl"] -git-tree-sha1 = "be855e3c975b89746b09952407c156b5e4a33a1d" +deps = ["Libdl", "XML2_jll"] +git-tree-sha1 = "e129d9391168c677cd4800f5c0abb1ed8cb3794f" uuid = "9c8b4983-aa76-5018-a973-4c85ecc9e179" -version = "0.8.1" +version = "0.9.0" [[LinearAlgebra]] deps = ["Libdl"] @@ -239,10 +276,16 @@ deps = ["Base64"] uuid = "d6f4376e-aef5-505a-96c1-9c027394607a" [[MbedTLS]] -deps = ["BinaryProvider", "Dates", "Libdl", "Random", "Sockets"] -git-tree-sha1 = "85f5947b53c8cfd53ccfa3f4abae31faa22c2181" +deps = ["Dates", "MbedTLS_jll", "Random", "Sockets"] +git-tree-sha1 = "426a6978b03a97ceb7ead77775a1da066343ec6e" uuid = "739be429-bea8-5141-9913-cc70e7f3736d" -version = "0.7.0" +version = "1.0.2" + +[[MbedTLS_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "c83f5a1d038f034ad0549f9ee4d5fac3fb429e33" +uuid = "c8ffd9c3-330d-5841-b78e-0817d7145fa1" +version = "2.16.0+2" [[Measures]] git-tree-sha1 = "e498ddeee6f9fdb4551ce855a46f54dbd900245f" @@ -257,9 +300,9 @@ version = "0.4.1" [[MeshCat]] deps = ["Base64", "BinDeps", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryTypes", "LinearAlgebra", "Logging", "MsgPack", "Mux", "Parameters", "Requires", "Rotations", "Sockets", "StaticArrays", "UUIDs", "WebSockets"] -git-tree-sha1 = "3b095b9a186456fda01aa53963e0c963c1d99956" +git-tree-sha1 = "c843a8be339987d1d36ca81becb6457268137081" uuid = "283c5d60-a78f-5afe-a0af-af636b173e11" -version = "0.10.0" +version = "0.11.0" [[MeshCatMechanisms]] deps = ["ColorTypes", "CoordinateTransformations", "GeometryTypes", "InteractBase", "Interpolations", "LoopThrottle", "MechanismGeometries", "MeshCat", "Mux", "OrderedCollections", "RigidBodyDynamics"] @@ -284,9 +327,9 @@ version = "1.1.0" [[Mustache]] deps = ["Printf", "Tables"] -git-tree-sha1 = "b2f06a719e6a167c9f874097026542960d05134c" +git-tree-sha1 = "2e11fc5de3a01d23482a257e22009ddaab058d9a" uuid = "ffc61752-8dc7-55ee-8c37-f3e9cdd09e70" -version = "1.0.1" +version = "1.0.2" [[Mux]] deps = ["AssetRegistry", "Base64", "HTTP", "Hiccup", "Lazy", "Pkg", "Sockets", "WebSockets"] @@ -305,27 +348,44 @@ uuid = "510215fc-4207-5dde-b226-833fc4488ee2" version = "0.3.1" [[OffsetArrays]] -git-tree-sha1 = "6a35d9446b40ae5004cd7bd0f1ae3505528c7fd6" +git-tree-sha1 = "930db8ef90483570107f2396b1ffc6680f08e8b7" uuid = "6fe1bfb0-de20-5000-8ca7-80f57d26f881" -version = "1.0.3" +version = "1.0.4" + +[[Ogg_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "59cf7a95bf5ac39feac80b796e0f39f9d69dc887" +uuid = "e7412a2a-1a6e-54c0-be00-318e2571c051" +version = "1.3.4+0" + +[[OpenSSL_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "d2a6f25262d568b5a7e454cf7ff5066a79d16c7d" +uuid = "458c3c95-2e84-50aa-8efc-19380b2a3a95" +version = "1.1.1+2" + +[[Opus_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "002c18f222a542907e16c83c64a1338992da7e2c" +uuid = "91d4177d-7536-5919-b921-800302f37372" +version = "1.3.1+1" [[OrderedCollections]] -deps = ["Random", "Serialization", "Test"] -git-tree-sha1 = "c4c13474d23c60d20a67b217f1d7f22a40edf8f1" +git-tree-sha1 = "12ce190210d278e12644bcadf5b21cbdcf225cd3" uuid = "bac558e1-5e72-5ebc-8fee-abe8a469f55d" -version = "1.1.0" +version = "1.2.0" [[Parameters]] -deps = ["OrderedCollections"] -git-tree-sha1 = "b62b2558efb1eef1fa44e4be5ff58a515c287e38" +deps = ["OrderedCollections", "UnPack"] +git-tree-sha1 = "38b2e970043613c187bd56a995fe2e551821eb4a" uuid = "d96e819e-fc66-5662-9728-84c9c7592b0a" -version = "0.12.0" +version = "0.12.1" [[Parsers]] deps = ["Dates", "Test"] -git-tree-sha1 = "d6d82d5bdbb75048e574cd2d2c89dfbf2c74250c" +git-tree-sha1 = "f0abb338b4d00306500056a3fd44c221b8473ef2" uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0" -version = "1.0.0" +version = "1.0.4" [[Pidfile]] deps = ["FileWatching", "Test"] @@ -339,21 +399,21 @@ uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" [[PlotThemes]] deps = ["PlotUtils", "Requires", "Statistics"] -git-tree-sha1 = "493bd54296a33d7575f5f7e488d30ffd9d05dc45" +git-tree-sha1 = "c6f5ea535551b3b16835134697f0c65d06c94b91" uuid = "ccf2f8ad-2431-5c83-bf29-c5338b663b6a" -version = "1.0.2" +version = "2.0.0" [[PlotUtils]] -deps = ["Colors", "Dates", "Printf", "Random", "Reexport"] -git-tree-sha1 = "132e468bf7d67ee6c997c160b982a7ab2e7c3e37" +deps = ["ColorSchemes", "Colors", "Dates", "Printf", "Random", "Reexport", "Statistics"] +git-tree-sha1 = "59ec24a0c96c513533e488dff1433df1bd3d6b9f" uuid = "995b91a9-d308-5afd-9ec6-746e21dbc043" -version = "0.6.4" +version = "1.0.3" [[Plots]] -deps = ["Base64", "Contour", "Dates", "FFMPEG", "FixedPointNumbers", "GR", "GeometryTypes", "JSON", "LinearAlgebra", "Measures", "NaNMath", "Pkg", "PlotThemes", "PlotUtils", "Printf", "REPL", "Random", "RecipesBase", "Reexport", "Requires", "Showoff", "SparseArrays", "Statistics", "StatsBase", "UUIDs"] -git-tree-sha1 = "f226ff9b8e391f6a10891563c370aae8beb5d792" +deps = ["Base64", "Contour", "Dates", "FFMPEG", "FixedPointNumbers", "GR", "GeometryTypes", "JSON", "LinearAlgebra", "Measures", "NaNMath", "Pkg", "PlotThemes", "PlotUtils", "Printf", "REPL", "Random", "RecipesBase", "RecipesPipeline", "Reexport", "Requires", "Showoff", "SparseArrays", "Statistics", "StatsBase", "UUIDs"] +git-tree-sha1 = "bd3d8f1b8e93c0541023f55acaf92f872cb0001e" uuid = "91a5bcdd-55d7-5caf-9e0b-520d859cae80" -version = "0.29.9" +version = "1.3.1" [[Printf]] deps = ["Unicode"] @@ -373,9 +433,15 @@ uuid = "c84ed2f1-dad5-54f0-aa8e-dbefe2724439" version = "0.4.0" [[RecipesBase]] -git-tree-sha1 = "b4ed4a7f988ea2340017916f7c9e5d7560b52cae" +git-tree-sha1 = "54f8ceb165a0f6d083f0d12cb4996f5367c6edbc" uuid = "3cdcf5f2-1ef4-517c-9805-6587b60abb01" -version = "0.8.0" +version = "1.0.1" + +[[RecipesPipeline]] +deps = ["Dates", "PlotUtils", "RecipesBase"] +git-tree-sha1 = "9215637e28503ca85bef843a1fc02b2f76f1ba09" +uuid = "01d81517-befc-4cb6-b9ec-a95719d0359c" +version = "0.1.9" [[Reexport]] deps = ["Pkg"] @@ -397,9 +463,9 @@ version = "2.2.0" [[Rotations]] deps = ["LinearAlgebra", "StaticArrays", "Statistics"] -git-tree-sha1 = "d5f83867093db7319a9366d55f29280ecae9bcda" +git-tree-sha1 = "7f7f93ce41c5764602a8922ec152467eba7920da" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "0.13.0" +version = "1.0.0" [[SHA]] uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" @@ -432,9 +498,9 @@ uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" [[StaticArrays]] deps = ["LinearAlgebra", "Random", "Statistics"] -git-tree-sha1 = "5a3bcb6233adabde68ebc97be66e95dcb787424c" +git-tree-sha1 = "5c06c0aeb81bef54aed4b3f446847905eb6cbda0" uuid = "90137ffa-7385-5640-81b9-e52037218182" -version = "0.12.1" +version = "0.12.3" [[Statistics]] deps = ["LinearAlgebra", "SparseArrays"] @@ -454,9 +520,9 @@ version = "1.0.0" [[Tables]] deps = ["DataAPI", "DataValueInterfaces", "IteratorInterfaceExtensions", "LinearAlgebra", "TableTraits", "Test"] -git-tree-sha1 = "242b7fde70b8bc6a30d6476adf17ca3cf1ced6ee" +git-tree-sha1 = "c45dcc27331febabc20d86cb3974ef095257dcf3" uuid = "bd369af6-aec1-5ad0-b16a-f7cc5008161c" -version = "1.0.3" +version = "1.0.4" [[Test]] deps = ["Distributed", "InteractiveUtils", "Logging", "Random"] @@ -468,28 +534,33 @@ uuid = "94a5cd58-49a0-5741-bd07-fa4f4be8babf" version = "1.1.0" [[URIParser]] -deps = ["Test", "Unicode"] -git-tree-sha1 = "6ddf8244220dfda2f17539fa8c9de20d6c575b69" +deps = ["Unicode"] +git-tree-sha1 = "53a9f49546b8d2dd2e688d216421d050c9a31d0d" uuid = "30578b45-9adc-5946-b283-645ec420af67" -version = "0.4.0" +version = "0.4.1" [[UUIDs]] deps = ["Random", "SHA"] uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4" +[[UnPack]] +git-tree-sha1 = "d4bfa022cd30df012700cf380af2141961bb3bfb" +uuid = "3a884ed6-31ef-47d7-9d2a-63182c4928ed" +version = "1.0.1" + [[Unicode]] uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5" [[UnsafeArrays]] -git-tree-sha1 = "1de6ef280110c7ad3c5d2f7a31a360b57a1bde21" +git-tree-sha1 = "9740b414f85ec2fa9135066f81b1fb14212befd6" uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6" -version = "1.0.0" +version = "1.0.1" [[WebIO]] -deps = ["AssetRegistry", "Base64", "Compat", "Distributed", "FunctionalCollections", "JSON", "Logging", "Observables", "Pkg", "Random", "Requires", "Sockets", "UUIDs", "WebSockets", "Widgets"] -git-tree-sha1 = "ba53f245d0c4ef3ccf0f2c89546ecfcd1957797f" +deps = ["AssetRegistry", "Base64", "Distributed", "FunctionalCollections", "JSON", "Logging", "Observables", "Pkg", "Random", "Requires", "Sockets", "UUIDs", "WebSockets", "Widgets"] +git-tree-sha1 = "add6b526464ab77e9decef9d2dafa46c54af6617" uuid = "0f1e0344-ec1d-5b48-a673-e5cf874b6c29" -version = "0.8.11" +version = "0.8.14" [[WebSockets]] deps = ["Base64", "Dates", "Distributed", "HTTP", "Logging", "Random", "Sockets", "Test"] @@ -505,6 +576,48 @@ version = "0.6.2" [[WoodburyMatrices]] deps = ["LinearAlgebra", "SparseArrays"] -git-tree-sha1 = "68f000f67654d07318d734b364a31233e465f49a" +git-tree-sha1 = "28ffe06d28b1ba8fdb2f36ec7bb079fac81bac0d" uuid = "efce3f68-66dc-5838-9240-27a6d6f5f9b6" -version = "0.5.1" +version = "0.5.2" + +[[XML2_jll]] +deps = ["Libdl", "Libiconv_jll", "Pkg", "Zlib_jll"] +git-tree-sha1 = "987c02a43fa10a491a5f0f7c46a6d3559ed6a8e2" +uuid = "02c8fc9c-b97f-50b9-bbe4-9be30ff0a78a" +version = "2.9.9+4" + +[[Zlib_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "a2e0d558f6031002e380a90613b199e37a8565bf" +uuid = "83775a58-1f1d-513f-b197-d71354ab007a" +version = "1.2.11+10" + +[[libass_jll]] +deps = ["Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "Libdl", "Pkg", "Zlib_jll"] +git-tree-sha1 = "027a304b2a90de84f690949a21f94e5ae0f92c73" +uuid = "0ac62f75-1d6f-5e53-bd7c-93b484bb37c0" +version = "0.14.0+2" + +[[libfdk_aac_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "480c7ed04f68ea3edd4c757f5db5b6a0a4e0bd99" +uuid = "f638f0a6-7fb0-5443-88ba-1cc74229b280" +version = "0.1.6+2" + +[[libvorbis_jll]] +deps = ["Libdl", "Ogg_jll", "Pkg"] +git-tree-sha1 = "6a66f65b5275dfa799036c8a3a26616a0a271c4a" +uuid = "f27f6e37-5d2b-51aa-960f-b287f2bc3b7a" +version = "1.3.6+4" + +[[x264_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "d89346fe63a6465a9f44e958ac0e3d366af90b74" +uuid = "1270edf5-f2f9-52d2-97e9-ab00b5d0237a" +version = "2019.5.25+2" + +[[x265_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "61324ad346b00a6e541896b94201c9426591e43a" +uuid = "dfaa095f-4041-5dcd-9319-2fabd8486b76" +version = "3.0.0+1" diff --git a/examples/5. Derivatives and gradients using ForwardDiff/Manifest.toml b/examples/5. Derivatives and gradients using ForwardDiff/Manifest.toml index 203f0e89..9623fdf8 100644 --- a/examples/5. Derivatives and gradients using ForwardDiff/Manifest.toml +++ b/examples/5. Derivatives and gradients using ForwardDiff/Manifest.toml @@ -9,24 +9,18 @@ git-tree-sha1 = "9e62e66db34540a0c919d72172cc2f642ac71260" uuid = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf" version = "0.5.0" -[[BinDeps]] -deps = ["Libdl", "Pkg", "SHA", "URIParser", "Unicode"] -git-tree-sha1 = "66158ad56b4bf6cc8413b37d0b7bc52402682764" -uuid = "9e28174c-4ba2-5203-b857-d8d62c4213ee" -version = "1.0.0" - -[[BinaryProvider]] -deps = ["Libdl", "SHA"] -git-tree-sha1 = "5b08ed6036d9d3f0ee6369410b830f8873d4024c" -uuid = "b99e7846-7c00-51b0-8f62-c81ae34c0232" -version = "0.5.8" - [[CommonSubexpressions]] deps = ["Test"] git-tree-sha1 = "efdaf19ab11c7889334ca247ff4c9f7c322817b0" uuid = "bbf7d656-a473-5ed7-a52c-81e309532950" version = "0.2.0" +[[CompilerSupportLibraries_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "7c4f882c41faa72118841185afc58a2eb00ef612" +uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae" +version = "0.3.3+0" + [[Dates]] deps = ["Printf"] uuid = "ade2ca70-3891-5945-98fb-dc099432e06a" @@ -55,9 +49,9 @@ version = "0.8.1" [[ForwardDiff]] deps = ["CommonSubexpressions", "DiffResults", "DiffRules", "NaNMath", "Random", "SpecialFunctions", "StaticArrays"] -git-tree-sha1 = "88b082d492be6b63f967b6c96b352e25ced1a34c" +git-tree-sha1 = "869540e4367122fbffaace383a5bdc34d6e5e5ac" uuid = "f6369f11-7733-5829-9624-2563aa707210" -version = "0.10.9" +version = "0.10.10" [[InteractiveUtils]] deps = ["Markdown"] @@ -70,16 +64,23 @@ uuid = "682c06a0-de6a-54ab-a142-c8b1cf79cde6" version = "0.21.0" [[LibGit2]] +deps = ["Printf"] uuid = "76f85450-5226-5b5a-8eaa-529ad045b433" [[Libdl]] uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" +[[Libiconv_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "e5256a3b0ebc710dbd6da0c0b212164a3681037f" +uuid = "94ce4f54-9a6c-5748-9c1c-f9c7231a4531" +version = "1.16.0+2" + [[LightXML]] -deps = ["BinaryProvider", "Libdl"] -git-tree-sha1 = "be855e3c975b89746b09952407c156b5e4a33a1d" +deps = ["Libdl", "XML2_jll"] +git-tree-sha1 = "e129d9391168c677cd4800f5c0abb1ed8cb3794f" uuid = "9c8b4983-aa76-5018-a973-4c85ecc9e179" -version = "0.8.1" +version = "0.9.0" [[LinearAlgebra]] deps = ["Libdl"] @@ -106,11 +107,17 @@ git-tree-sha1 = "928b8ca9b2791081dc71a51c55347c27c618760f" uuid = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3" version = "0.3.3" +[[OpenSpecFun_jll]] +deps = ["CompilerSupportLibraries_jll", "Libdl", "Pkg"] +git-tree-sha1 = "d51c416559217d974a1113522d5919235ae67a87" +uuid = "efe28fd5-8261-553b-a9e1-b2916fc3738e" +version = "0.5.3+3" + [[Parsers]] deps = ["Dates", "Test"] -git-tree-sha1 = "d6d82d5bdbb75048e574cd2d2c89dfbf2c74250c" +git-tree-sha1 = "f0abb338b4d00306500056a3fd44c221b8473ef2" uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0" -version = "1.0.0" +version = "1.0.4" [[Pkg]] deps = ["Dates", "LibGit2", "Markdown", "Printf", "REPL", "Random", "SHA", "UUIDs"] @@ -142,9 +149,9 @@ version = "2.2.0" [[Rotations]] deps = ["LinearAlgebra", "StaticArrays", "Statistics"] -git-tree-sha1 = "d5f83867093db7319a9366d55f29280ecae9bcda" +git-tree-sha1 = "7f7f93ce41c5764602a8922ec152467eba7920da" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "0.13.0" +version = "1.0.0" [[SHA]] uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" @@ -160,16 +167,16 @@ deps = ["LinearAlgebra", "Random"] uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" [[SpecialFunctions]] -deps = ["BinDeps", "BinaryProvider", "Libdl"] -git-tree-sha1 = "3bdd374b6fd78faf0119b8c5d538788dbf910c6e" +deps = ["OpenSpecFun_jll"] +git-tree-sha1 = "a69e1eaf3397fbb5a4d718538463e5cc20ef42a4" uuid = "276daf66-3868-5448-9aa4-cd146d93841b" -version = "0.8.0" +version = "0.10.2" [[StaticArrays]] deps = ["LinearAlgebra", "Random", "Statistics"] -git-tree-sha1 = "5a3bcb6233adabde68ebc97be66e95dcb787424c" +git-tree-sha1 = "5c06c0aeb81bef54aed4b3f446847905eb6cbda0" uuid = "90137ffa-7385-5640-81b9-e52037218182" -version = "0.12.1" +version = "0.12.3" [[Statistics]] deps = ["LinearAlgebra", "SparseArrays"] @@ -198,6 +205,18 @@ uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4" uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5" [[UnsafeArrays]] -git-tree-sha1 = "1de6ef280110c7ad3c5d2f7a31a360b57a1bde21" +git-tree-sha1 = "9740b414f85ec2fa9135066f81b1fb14212befd6" uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6" -version = "1.0.0" +version = "1.0.1" + +[[XML2_jll]] +deps = ["Libdl", "Libiconv_jll", "Pkg", "Zlib_jll"] +git-tree-sha1 = "987c02a43fa10a491a5f0f7c46a6d3559ed6a8e2" +uuid = "02c8fc9c-b97f-50b9-bbe4-9be30ff0a78a" +version = "2.9.9+4" + +[[Zlib_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "a2e0d558f6031002e380a90613b199e37a8565bf" +uuid = "83775a58-1f1d-513f-b197-d71354ab007a" +version = "1.2.11+10" diff --git a/examples/7. Rigorous error bounds using IntervalArithmetic/Manifest.toml b/examples/7. Rigorous error bounds using IntervalArithmetic/Manifest.toml index c42d5615..19eaedff 100644 --- a/examples/7. Rigorous error bounds using IntervalArithmetic/Manifest.toml +++ b/examples/7. Rigorous error bounds using IntervalArithmetic/Manifest.toml @@ -3,12 +3,6 @@ [[Base64]] uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" -[[BinaryProvider]] -deps = ["Libdl", "SHA"] -git-tree-sha1 = "5b08ed6036d9d3f0ee6369410b830f8873d4024c" -uuid = "b99e7846-7c00-51b0-8f62-c81ae34c0232" -version = "0.5.8" - [[CRlibm]] deps = ["Libdl"] git-tree-sha1 = "9d1c22cff9c04207f336b8e64840d0bd40d86e0e" @@ -45,22 +39,29 @@ deps = ["Markdown"] uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" [[IntervalArithmetic]] -deps = ["CRlibm", "FastRounding", "LinearAlgebra", "Markdown", "Random", "RecipesBase", "SetRounding", "StaticArrays"] -git-tree-sha1 = "b2db6ee367b4eb3ee8b009ede8ca809e4fd23d35" +deps = ["CRlibm", "FastRounding", "LinearAlgebra", "Markdown", "Random", "RecipesBase", "RoundingEmulator", "SetRounding", "StaticArrays"] +git-tree-sha1 = "b502bb7fba674f4b98202c5da0b17f86d8a3f48e" uuid = "d1acc4aa-44c8-5952-acd4-ba5d80a2a253" -version = "0.16.7" +version = "0.17.2" [[LibGit2]] +deps = ["Printf"] uuid = "76f85450-5226-5b5a-8eaa-529ad045b433" [[Libdl]] uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" +[[Libiconv_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "e5256a3b0ebc710dbd6da0c0b212164a3681037f" +uuid = "94ce4f54-9a6c-5748-9c1c-f9c7231a4531" +version = "1.16.0+2" + [[LightXML]] -deps = ["BinaryProvider", "Libdl"] -git-tree-sha1 = "be855e3c975b89746b09952407c156b5e4a33a1d" +deps = ["Libdl", "XML2_jll"] +git-tree-sha1 = "e129d9391168c677cd4800f5c0abb1ed8cb3794f" uuid = "9c8b4983-aa76-5018-a973-4c85ecc9e179" -version = "0.8.1" +version = "0.9.0" [[LinearAlgebra]] deps = ["Libdl"] @@ -96,9 +97,9 @@ deps = ["Serialization"] uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c" [[RecipesBase]] -git-tree-sha1 = "b4ed4a7f988ea2340017916f7c9e5d7560b52cae" +git-tree-sha1 = "54f8ceb165a0f6d083f0d12cb4996f5367c6edbc" uuid = "3cdcf5f2-1ef4-517c-9805-6587b60abb01" -version = "0.8.0" +version = "1.0.1" [[Reexport]] deps = ["Pkg"] @@ -114,9 +115,14 @@ version = "2.2.0" [[Rotations]] deps = ["LinearAlgebra", "StaticArrays", "Statistics"] -git-tree-sha1 = "d5f83867093db7319a9366d55f29280ecae9bcda" +git-tree-sha1 = "7f7f93ce41c5764602a8922ec152467eba7920da" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "0.13.0" +version = "1.0.0" + +[[RoundingEmulator]] +git-tree-sha1 = "40b9edad2e5287e05bd413a38f61a8ff55b9557b" +uuid = "5eaf0fd0-dfba-4ccb-bf02-d820a40db705" +version = "0.2.1" [[SHA]] uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" @@ -139,9 +145,9 @@ uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" [[StaticArrays]] deps = ["LinearAlgebra", "Random", "Statistics"] -git-tree-sha1 = "5a3bcb6233adabde68ebc97be66e95dcb787424c" +git-tree-sha1 = "5c06c0aeb81bef54aed4b3f446847905eb6cbda0" uuid = "90137ffa-7385-5640-81b9-e52037218182" -version = "0.12.1" +version = "0.12.3" [[Statistics]] deps = ["LinearAlgebra", "SparseArrays"] @@ -164,6 +170,18 @@ uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4" uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5" [[UnsafeArrays]] -git-tree-sha1 = "1de6ef280110c7ad3c5d2f7a31a360b57a1bde21" +git-tree-sha1 = "9740b414f85ec2fa9135066f81b1fb14212befd6" uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6" -version = "1.0.0" +version = "1.0.1" + +[[XML2_jll]] +deps = ["Libdl", "Libiconv_jll", "Pkg", "Zlib_jll"] +git-tree-sha1 = "987c02a43fa10a491a5f0f7c46a6d3559ed6a8e2" +uuid = "02c8fc9c-b97f-50b9-bbe4-9be30ff0a78a" +version = "2.9.9+4" + +[[Zlib_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "a2e0d558f6031002e380a90613b199e37a8565bf" +uuid = "83775a58-1f1d-513f-b197-d71354ab007a" +version = "1.2.11+10" diff --git a/examples/Manifest.toml b/examples/Manifest.toml index 4c8b32c7..0da73655 100644 --- a/examples/Manifest.toml +++ b/examples/Manifest.toml @@ -23,9 +23,9 @@ version = "0.21.0" [[Literate]] deps = ["Base64", "JSON", "REPL"] -git-tree-sha1 = "82a49cc6c1a38980c537edef7f9998a1843b441d" +git-tree-sha1 = "422133037d6dc5df9f9b97c2cb81fcd9e35ddffe" uuid = "98b081ad-f1c9-55d3-8b20-4c87d4299306" -version = "2.3.0" +version = "2.5.0" [[Logging]] uuid = "56ddb016-857b-54e1-b83d-db4d58db5568" @@ -39,9 +39,9 @@ uuid = "a63ad114-7e13-5084-954f-fe012c677804" [[Parsers]] deps = ["Dates", "Test"] -git-tree-sha1 = "d6d82d5bdbb75048e574cd2d2c89dfbf2c74250c" +git-tree-sha1 = "f0abb338b4d00306500056a3fd44c221b8473ef2" uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0" -version = "1.0.0" +version = "1.0.4" [[Printf]] deps = ["Unicode"] diff --git a/src/joint_types/quaternion_floating.jl b/src/joint_types/quaternion_floating.jl index 1997cb0b..c8ce3b99 100644 --- a/src/joint_types/quaternion_floating.jl +++ b/src/joint_types/quaternion_floating.jl @@ -27,13 +27,13 @@ has_fixed_subspaces(jt::QuaternionFloating) = true isfloating(::Type{<:QuaternionFloating}) = true @propagate_inbounds function rotation(jt::QuaternionFloating, q::AbstractVector, normalize::Bool = true) - quat = Quat(q[1], q[2], q[3], q[4], normalize) + quat = UnitQuaternion(q[1], q[2], q[3], q[4], normalize) quat end @propagate_inbounds function set_rotation!(q::AbstractVector, jt::QuaternionFloating, rot::Rotation{3}) T = eltype(rot) - quat = convert(Quat{T}, rot) + quat = convert(UnitQuaternion{T}, rot) q[1] = quat.w q[2] = quat.x q[3] = quat.y @@ -114,7 +114,7 @@ end @propagate_inbounds function configuration_derivative_to_velocity_adjoint!(fq, jt::QuaternionFloating, q::AbstractVector, fv) quatnorm = sqrt(q[1]^2 + q[2]^2 + q[3]^2 + q[4]^2) # TODO: make this nicer - quat = Quat(q[1] / quatnorm, q[2] / quatnorm, q[3] / quatnorm, q[4] / quatnorm, false) + quat = UnitQuaternion(q[1] / quatnorm, q[2] / quatnorm, q[3] / quatnorm, q[4] / quatnorm, false) rot = (velocity_jacobian(angular_velocity_in_body, quat)' * angular_velocity(jt, fv)) ./ quatnorm trans = quat * linear_velocity(jt, fv) set_rotation!(fq, jt, rot) @@ -166,14 +166,14 @@ end @propagate_inbounds function zero_configuration!(q::AbstractVector, jt::QuaternionFloating) T = eltype(q) - set_rotation!(q, jt, one(Quat{T})) + set_rotation!(q, jt, one(UnitQuaternion{T})) set_translation!(q, jt, zero(SVector{3, T})) nothing end @propagate_inbounds function rand_configuration!(q::AbstractVector, jt::QuaternionFloating) T = eltype(q) - set_rotation!(q, jt, rand(Quat{T})) + set_rotation!(q, jt, rand(UnitQuaternion{T})) set_translation!(q, jt, rand(SVector{3, T}) .- 0.5) nothing end diff --git a/src/joint_types/quaternion_spherical.jl b/src/joint_types/quaternion_spherical.jl index 38921671..6441f27f 100644 --- a/src/joint_types/quaternion_spherical.jl +++ b/src/joint_types/quaternion_spherical.jl @@ -24,12 +24,12 @@ has_fixed_subspaces(jt::QuaternionSpherical) = true isfloating(::Type{<:QuaternionSpherical}) = false @propagate_inbounds function rotation(jt::QuaternionSpherical, q::AbstractVector, normalize::Bool = true) - Quat(q[1], q[2], q[3], q[4], normalize) + UnitQuaternion(q[1], q[2], q[3], q[4], normalize) end @propagate_inbounds function set_rotation!(q::AbstractVector, jt::QuaternionSpherical, rot::Rotation{3}) T = eltype(rot) - quat = convert(Quat{T}, rot) + quat = convert(UnitQuaternion{T}, rot) q[1] = quat.w q[2] = quat.x q[3] = quat.y @@ -79,7 +79,7 @@ end @propagate_inbounds function configuration_derivative_to_velocity_adjoint!(fq, jt::QuaternionSpherical, q::AbstractVector, fv) quatnorm = sqrt(q[1]^2 + q[2]^2 + q[3]^2 + q[4]^2) # TODO: make this nicer - quat = Quat(q[1] / quatnorm, q[2] / quatnorm, q[3] / quatnorm, q[4] / quatnorm, false) + quat = UnitQuaternion(q[1] / quatnorm, q[2] / quatnorm, q[3] / quatnorm, q[4] / quatnorm, false) fq .= (velocity_jacobian(angular_velocity_in_body, quat)' * fv) ./ quatnorm nothing end @@ -103,13 +103,13 @@ end @propagate_inbounds function zero_configuration!(q::AbstractVector, jt::QuaternionSpherical) T = eltype(q) - set_rotation!(q, jt, one(Quat{T})) + set_rotation!(q, jt, one(UnitQuaternion{T})) nothing end @propagate_inbounds function rand_configuration!(q::AbstractVector, jt::QuaternionSpherical) T = eltype(q) - set_rotation!(q, jt, rand(Quat{T})) + set_rotation!(q, jt, rand(UnitQuaternion{T})) nothing end @@ -138,7 +138,7 @@ end @propagate_inbounds function local_coordinates!(ϕ::AbstractVector, ϕ̇::AbstractVector, jt::QuaternionSpherical, q0::AbstractVector, q::AbstractVector, v::AbstractVector) quat = inv(rotation(jt, q0, false)) * rotation(jt, q, false) - rv = RodriguesVec(quat) + rv = RotationVec(quat) ϕstatic = SVector(rv.sx, rv.sy, rv.sz) ϕ .= ϕstatic ϕ̇ .= rotation_vector_rate(ϕstatic, v) @@ -147,7 +147,7 @@ end @propagate_inbounds function global_coordinates!(q::AbstractVector, jt::QuaternionSpherical, q0::AbstractVector, ϕ::AbstractVector) quat0 = rotation(jt, q0, false) - quat = quat0 * Quat(RodriguesVec(ϕ[1], ϕ[2], ϕ[3])) + quat = quat0 * UnitQuaternion(RotationVec(ϕ[1], ϕ[2], ϕ[3])) set_rotation!(q, jt, quat) nothing end diff --git a/src/joint_types/spquat_floating.jl b/src/joint_types/spquat_floating.jl index 48b942ea..f04457ee 100644 --- a/src/joint_types/spquat_floating.jl +++ b/src/joint_types/spquat_floating.jl @@ -27,12 +27,12 @@ has_fixed_subspaces(jt::SPQuatFloating) = true isfloating(::Type{<:SPQuatFloating}) = true @propagate_inbounds function rotation(jt::SPQuatFloating, q::AbstractVector) - SPQuat(q[1], q[2], q[3]) + MRP(q[1], q[2], q[3]) end @propagate_inbounds function set_rotation!(q::AbstractVector, jt::SPQuatFloating, rot::Rotation{3}) T = eltype(rot) - spq = convert(SPQuat{T}, rot) + spq = convert(MRP{T}, rot) q[1] = spq.x q[2] = spq.y q[3] = spq.z @@ -112,7 +112,7 @@ end @propagate_inbounds function configuration_derivative_to_velocity_adjoint!(fq, jt::SPQuatFloating, q::AbstractVector, fv) - spq = SPQuat(q[1], q[2], q[3]) + spq = MRP(q[1], q[2], q[3]) rot = velocity_jacobian(angular_velocity_in_body, spq)' * angular_velocity(jt, fv) trans = spq * linear_velocity(jt, fv) set_rotation!(fq, jt, rot) @@ -164,14 +164,14 @@ end @propagate_inbounds function zero_configuration!(q::AbstractVector, jt::SPQuatFloating) T = eltype(q) - set_rotation!(q, jt, one(SPQuat{T})) + set_rotation!(q, jt, one(MRP{T})) set_translation!(q, jt, zero(SVector{3, T})) nothing end @propagate_inbounds function rand_configuration!(q::AbstractVector, jt::SPQuatFloating) T = eltype(q) - set_rotation!(q, jt, rand(SPQuat{T})) + set_rotation!(q, jt, rand(MRP{T})) set_translation!(q, jt, rand(SVector{3, T}) .- 0.5) nothing end diff --git a/src/pdcontrol.jl b/src/pdcontrol.jl index 63bc419d..6997335a 100644 --- a/src/pdcontrol.jl +++ b/src/pdcontrol.jl @@ -33,8 +33,8 @@ struct PDGains{K, D} <: AbstractPDGains end pd(gains::PDGains, e, ė) = -gains.k * e - gains.d * ė -pd(gains::PDGains, e::RodriguesVec, ė::AbstractVector) = pd(gains, SVector(e.sx, e.sy, e.sz), ė) -pd(gains::PDGains, e::Rotation{3}, ė::AbstractVector) = pd(gains, RodriguesVec(e), ė) +pd(gains::PDGains, e::RotationVec, ė::AbstractVector) = pd(gains, SVector(e.sx, e.sy, e.sz), ė) +pd(gains::PDGains, e::Rotation{3}, ė::AbstractVector) = pd(gains, RotationVec(e), ė) rotategain(gain::Number, R::Rotation) = gain rotategain(gain::AbstractMatrix, R::Rotation) = R * gain * R' @@ -99,7 +99,7 @@ function pd(gains::SE3PDGains, e::Transform3D, ė::Twist, ::SE3PDMethod{:Double R = rotation(e) p = translation(e) - ψ = RodriguesVec(R) + ψ = RotationVec(R) ang = pd(angular(gains), FreeVector3D(bodyframe, ψ.sx, ψ.sy, ψ.sz), FreeVector3D(bodyframe, angular(ė))) lin = pd(linear(gains), FreeVector3D(bodyframe, R' * p), FreeVector3D(bodyframe, linear(ė))) diff --git a/src/spatial/util.jl b/src/spatial/util.jl index 0276652c..0ba3aa4c 100644 --- a/src/spatial/util.jl +++ b/src/spatial/util.jl @@ -121,7 +121,7 @@ function quaternion_derivative end function spquat_derivative end function angular_velocity_in_body end -@inline function velocity_jacobian(::typeof(quaternion_derivative), q::Quat) +@inline function velocity_jacobian(::typeof(quaternion_derivative), q::UnitQuaternion) (@SMatrix [ -q.x -q.y -q.z; q.w -q.z q.y; @@ -129,43 +129,43 @@ function angular_velocity_in_body end -q.y q.x q.w]) / 2 end -@inline function velocity_jacobian(::typeof(spquat_derivative), q::SPQuat) - quat = Quat(q) +@inline function velocity_jacobian(::typeof(spquat_derivative), q::MRP) + quat = UnitQuaternion(q) dQuat_dW = velocity_jacobian(quaternion_derivative, quat) - dSPQuat_dQuat = Rotations.jacobian(SPQuat, quat) + dSPQuat_dQuat = Rotations.jacobian(MRP, quat) dSPQuat_dQuat * dQuat_dW end -@inline function velocity_jacobian(::typeof(angular_velocity_in_body), q::Quat) +@inline function velocity_jacobian(::typeof(angular_velocity_in_body), q::UnitQuaternion) 2 * @SMatrix [ -q.x q.w q.z -q.y; -q.y -q.z q.w q.x; -q.z q.y -q.x q.w] end -@inline function velocity_jacobian(::typeof(angular_velocity_in_body), q::SPQuat) - quat = Quat(q) +@inline function velocity_jacobian(::typeof(angular_velocity_in_body), q::MRP) + quat = UnitQuaternion(q) dW_dQuat = velocity_jacobian(angular_velocity_in_body, quat) - dQuat_dSPQuat = Rotations.jacobian(Quat, q) + dQuat_dSPQuat = Rotations.jacobian(UnitQuaternion, q) dW_dQuat * dQuat_dSPQuat end -@inline function quaternion_derivative(q::Quat, angular_velocity_in_body::AbstractVector) +@inline function quaternion_derivative(q::UnitQuaternion, angular_velocity_in_body::AbstractVector) @boundscheck length(angular_velocity_in_body) == 3 || error("size mismatch") velocity_jacobian(quaternion_derivative, q) * angular_velocity_in_body end -@inline function spquat_derivative(q::SPQuat, angular_velocity_in_body::AbstractVector) +@inline function spquat_derivative(q::MRP, angular_velocity_in_body::AbstractVector) @boundscheck length(angular_velocity_in_body) == 3 || error("size mismatch") velocity_jacobian(spquat_derivative, q) * angular_velocity_in_body end -@inline function angular_velocity_in_body(q::Quat, quat_derivative::AbstractVector) +@inline function angular_velocity_in_body(q::UnitQuaternion, quat_derivative::AbstractVector) @boundscheck length(quat_derivative) == 4 || error("size mismatch") velocity_jacobian(angular_velocity_in_body, q) * quat_derivative end -@inline function angular_velocity_in_body(q::SPQuat, spq_derivative::AbstractVector) +@inline function angular_velocity_in_body(q::MRP, spq_derivative::AbstractVector) @boundscheck length(spq_derivative) == 3 || error("size mismatch") velocity_jacobian(angular_velocity_in_body, q) * spq_derivative end @@ -174,5 +174,5 @@ function linearized_rodrigues_vec(r::RotMatrix) # TODO: consider moving to Rotat x = (r[3, 2] - r[2, 3]) / 2 y = (r[1, 3] - r[3, 1]) / 2 z = (r[2, 1] - r[1, 2]) / 2 - RodriguesVec(x, y, z) + RotationVec(x, y, z) end diff --git a/src/util.jl b/src/util.jl index 2e8e611a..73a09bbd 100644 --- a/src/util.jl +++ b/src/util.jl @@ -44,7 +44,7 @@ end ## VectorSegment: type of a view of a vector const VectorSegment{T} = SubArray{T,1,Array{T, 1},Tuple{UnitRange{Int64}},true} # TODO: a bit too specific -quatnorm(quat::Quat) = sqrt(quat.w^2 + quat.x^2 + quat.y^2 + quat.z^2) +quatnorm(quat::UnitQuaternion) = sqrt(quat.w^2 + quat.x^2 + quat.y^2 + quat.z^2) ## Modification count stuff diff --git a/test/test_mechanism_algorithms.jl b/test/test_mechanism_algorithms.jl index ccda4050..543b1e3e 100644 --- a/test/test_mechanism_algorithms.jl +++ b/test/test_mechanism_algorithms.jl @@ -242,10 +242,10 @@ end @test velocity(x, joint)[1] == vj end if joint_type(joint) isa QuaternionSpherical - quat = rand(Quat{Float64}) + quat = rand(UnitQuaternion{Float64}) set_configuration!(x, joint, quat) tf = RigidBodyDynamics.joint_transform(joint, configuration(x, joint)) - @test Quat(rotation(tf)) ≈ quat atol = 1e-12 + @test UnitQuaternion(rotation(tf)) ≈ quat atol = 1e-12 end if joint_type(joint) isa SinCosRevolute qj = rand() @@ -888,7 +888,7 @@ end for joint_k = tree_joints(state_orig.mechanism) joint_type_k = joint_type(joint_k) if isa(joint_type_k, SPQuatFloating) - RigidBodyDynamics.set_rotation!(state_orig.q[joint_k], joint_type_k, SPQuat(Quat(-0.5, randn(), randn(), randn()))) + RigidBodyDynamics.set_rotation!(state_orig.q[joint_k], joint_type_k, MRP(UnitQuaternion(-0.5, randn(), randn(), randn()))) end end setdirty!(state_orig) diff --git a/test/test_spatial.jl b/test/test_spatial.jl index 163ac116..5353c050 100644 --- a/test/test_spatial.jl +++ b/test/test_spatial.jl @@ -16,13 +16,13 @@ end rotation_vector_rate = RigidBodyDynamics.Spatial.rotation_vector_rate for ϕ in (rand(SVector{3}), zero(SVector{3})) # exponential coordinates (rotation vector) ω = rand(SVector{3}) # angular velocity in body frame - R = RotMatrix(RodriguesVec(ϕ...)) + R = RotMatrix(RotationVec(ϕ...)) Ṙ = R * hat(ω) ϕ̇ = rotation_vector_rate(ϕ, ω) Θ = norm(ϕ) if Θ > eps(Θ) ϕ_autodiff = ForwardDiff.Dual.(ϕ, ϕ̇) - R_autodiff = RotMatrix(RodriguesVec(ϕ_autodiff...)) + R_autodiff = RotMatrix(RotationVec(ϕ_autodiff...)) Ṙ_from_autodiff = map(x -> ForwardDiff.partials(x)[1], R_autodiff) @test isapprox(Ṙ_from_autodiff, Ṙ) else @@ -298,12 +298,12 @@ end end end - @testset "RodriguesVec linearization" begin + @testset "RotationVec linearization" begin Random.seed!(75) ϵ = 1e-3 for i = 1 : 100 e = RotMatrix(AngleAxis(ϵ, randn(), randn(), randn())) - rv = RodriguesVec(e) + rv = RotationVec(e) rv_lin = linearized_rodrigues_vec(e) lin_error = AngleAxis(rv \ rv_lin) @test rotation_angle(lin_error) ≈ 0 atol = 1e-8 From 3ee40433799adc3379f8eab984dfe980066eeecf Mon Sep 17 00:00:00 2001 From: Robin Deits Date: Wed, 20 May 2020 22:40:56 -0400 Subject: [PATCH 2/7] explicit MeshCat compatibility --- .../2. Closed-loop simulation and visualization/Project.toml | 4 ++++ examples/3. Four-bar linkage/Project.toml | 4 ++++ examples/4. Jacobian IK and Control/Project.toml | 3 +++ 3 files changed, 11 insertions(+) diff --git a/examples/2. Closed-loop simulation and visualization/Project.toml b/examples/2. Closed-loop simulation and visualization/Project.toml index 5b1f584c..b905cf80 100644 --- a/examples/2. Closed-loop simulation and visualization/Project.toml +++ b/examples/2. Closed-loop simulation and visualization/Project.toml @@ -1,3 +1,7 @@ [deps] +MeshCat = "283c5d60-a78f-5afe-a0af-af636b173e11" MeshCatMechanisms = "6ad125db-dd91-5488-b820-c1df6aab299d" RigidBodyDynamics = "366cf18f-59d5-5db9-a4de-86a9f6786172" + +[compat] +MeshCat = "0.10, 0.11" diff --git a/examples/3. Four-bar linkage/Project.toml b/examples/3. Four-bar linkage/Project.toml index a8505c01..e1b51498 100644 --- a/examples/3. Four-bar linkage/Project.toml +++ b/examples/3. Four-bar linkage/Project.toml @@ -1,5 +1,9 @@ [deps] LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e" +MeshCat = "283c5d60-a78f-5afe-a0af-af636b173e11" MeshCatMechanisms = "6ad125db-dd91-5488-b820-c1df6aab299d" RigidBodyDynamics = "366cf18f-59d5-5db9-a4de-86a9f6786172" StaticArrays = "90137ffa-7385-5640-81b9-e52037218182" + +[compat] +MeshCat = "0.10, 0.11" diff --git a/examples/4. Jacobian IK and Control/Project.toml b/examples/4. Jacobian IK and Control/Project.toml index 65882593..01454c08 100644 --- a/examples/4. Jacobian IK and Control/Project.toml +++ b/examples/4. Jacobian IK and Control/Project.toml @@ -7,3 +7,6 @@ MeshCatMechanisms = "6ad125db-dd91-5488-b820-c1df6aab299d" Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80" RigidBodyDynamics = "366cf18f-59d5-5db9-a4de-86a9f6786172" StaticArrays = "90137ffa-7385-5640-81b9-e52037218182" + +[compat] +MeshCat = "0.10, 0.11" From b7b68dfed48c52424ba357216c0c71cd640ad46f Mon Sep 17 00:00:00 2001 From: Twan Koolen Date: Mon, 1 Jun 2020 07:12:21 -0400 Subject: [PATCH 3/7] Update examples manifests. --- .../Manifest.toml | 7 +- .../Manifest.toml | 91 ++++++++++++++----- examples/3. Four-bar linkage/Manifest.toml | 91 ++++++++++++++----- .../4. Jacobian IK and Control/Manifest.toml | 53 ++++++----- .../Manifest.toml | 17 +--- .../6. Symbolics using SymPy/Manifest.toml | 84 +++++++++-------- .../Manifest.toml | 11 +-- 7 files changed, 221 insertions(+), 133 deletions(-) diff --git a/examples/1. Quickstart - double pendulum/Manifest.toml b/examples/1. Quickstart - double pendulum/Manifest.toml index 55e3cd90..6fe1e5b1 100644 --- a/examples/1. Quickstart - double pendulum/Manifest.toml +++ b/examples/1. Quickstart - double pendulum/Manifest.toml @@ -22,7 +22,6 @@ deps = ["Markdown"] uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" [[LibGit2]] -deps = ["Printf"] uuid = "76f85450-5226-5b5a-8eaa-529ad045b433" [[Libdl]] @@ -58,7 +57,7 @@ deps = ["Base64"] uuid = "d6f4376e-aef5-505a-96c1-9c027394607a" [[Pkg]] -deps = ["Dates", "LibGit2", "Markdown", "Printf", "REPL", "Random", "SHA", "UUIDs"] +deps = ["Dates", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "UUIDs"] uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" [[Printf]] @@ -87,9 +86,9 @@ version = "2.2.0" [[Rotations]] deps = ["LinearAlgebra", "StaticArrays", "Statistics"] -git-tree-sha1 = "7f7f93ce41c5764602a8922ec152467eba7920da" +git-tree-sha1 = "445b72242dbdecba9bfc42034daafdd901bbf6a9" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "1.0.0" +version = "1.0.1" [[SHA]] uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" diff --git a/examples/2. Closed-loop simulation and visualization/Manifest.toml b/examples/2. Closed-loop simulation and visualization/Manifest.toml index efe27e9c..7e15fd3f 100644 --- a/examples/2. Closed-loop simulation and visualization/Manifest.toml +++ b/examples/2. Closed-loop simulation and visualization/Manifest.toml @@ -21,6 +21,12 @@ git-tree-sha1 = "46cf2c1668ad07aba5a9d331bdeea994a1f13856" uuid = "9e28174c-4ba2-5203-b857-d8d62c4213ee" version = "1.0.1" +[[Blink]] +deps = ["Base64", "BinDeps", "Distributed", "JSExpr", "JSON", "Lazy", "Logging", "MacroTools", "Mustache", "Mux", "Reexport", "Sockets", "WebIO", "WebSockets"] +git-tree-sha1 = "434893c1f9e9ce59be3f114641e99ef84c4d8f1a" +uuid = "ad839575-38b3-5650-b840-f874b8c74a25" +version = "0.12.3" + [[Bzip2_jll]] deps = ["Libdl", "Pkg"] git-tree-sha1 = "3663bfffede2ef41358b6fc2e1d8a6d50b3c3904" @@ -46,9 +52,9 @@ version = "0.10.3" [[Colors]] deps = ["ColorTypes", "FixedPointNumbers", "InteractiveUtils", "Reexport"] -git-tree-sha1 = "2fdeb981ebcf52cd800ddb6a0aa5eac34153552d" +git-tree-sha1 = "db9c215e2d92379d341e40dd1d5be893af2bfeb2" uuid = "5ae59095-9a9b-59fe-a467-6f913c188581" -version = "0.12.0" +version = "0.12.1" [[CoordinateTransformations]] deps = ["LinearAlgebra", "StaticArrays"] @@ -56,6 +62,16 @@ git-tree-sha1 = "c230b1d94db9fdd073168830437e64b9db627fcb" uuid = "150eb455-5306-5404-9cee-2592286d6298" version = "0.6.0" +[[DataAPI]] +git-tree-sha1 = "176e23402d80e7743fc26c19c681bfb11246af32" +uuid = "9a962f9c-6df0-11e9-0e5d-c546b8b5ee8a" +version = "1.3.0" + +[[DataValueInterfaces]] +git-tree-sha1 = "bfc1187b79289637fa0ef6d4436ebdfe6905cbd6" +uuid = "e2d170a0-9d28-54be-80f0-106bbe20a464" +version = "1.0.0" + [[Dates]] deps = ["Printf"] uuid = "ade2ca70-3891-5945-98fb-dc099432e06a" @@ -109,16 +125,16 @@ uuid = "de31a74c-ac4f-5751-b3fd-e18cd04993ca" version = "0.5.0" [[GeometryTypes]] -deps = ["ColorTypes", "FixedPointNumbers", "LinearAlgebra", "StaticArrays"] -git-tree-sha1 = "34bfa994967e893ab2f17b864eec221b3521ba4d" +deps = ["ColorTypes", "FixedPointNumbers", "IterTools", "LinearAlgebra", "StaticArrays"] +git-tree-sha1 = "4bf5706f3b9a2c5adbbc473c8c91582c1fa816a3" uuid = "4d00f742-c7ba-57c2-abde-4428a4b178cb" -version = "0.8.3" +version = "0.7.6" [[HTTP]] deps = ["Base64", "Dates", "IniFile", "MbedTLS", "Sockets"] -git-tree-sha1 = "fe31f4ff144392ad8176f5c7c03cca6ba320271c" +git-tree-sha1 = "ec87d5e2acbe1693789efbbe14f5ea7525758f71" uuid = "cd3eb016-35fb-5094-929b-558a96fad6f3" -version = "0.8.14" +version = "0.8.15" [[Hiccup]] deps = ["MacroTools", "Test"] @@ -134,9 +150,9 @@ version = "0.5.0" [[InteractBase]] deps = ["Base64", "CSSUtil", "Colors", "Dates", "JSExpr", "JSON", "Knockout", "Observables", "OrderedCollections", "Random", "WebIO", "Widgets"] -git-tree-sha1 = "40bbaae0e7e35257aaf730cbd2f3b4c69705ffdb" +git-tree-sha1 = "2a7c0cc638f10b44e0e8b77b8f9a7f839ca853ba" uuid = "d3863d7c-f0c8-5437-a7b4-3ae773c01009" -version = "0.10.4" +version = "0.10.5" [[InteractiveUtils]] deps = ["Markdown"] @@ -144,9 +160,19 @@ uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" [[Interpolations]] deps = ["AxisAlgorithms", "LinearAlgebra", "OffsetArrays", "Random", "Ratios", "SharedArrays", "SparseArrays", "StaticArrays", "WoodburyMatrices"] -git-tree-sha1 = "3af735234d9b1ff9ff1af89875735cd9549c0c5f" +git-tree-sha1 = "2b7d4e9be8b74f03115e64cf36ed2f48ae83d946" uuid = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59" -version = "0.12.9" +version = "0.12.10" + +[[IterTools]] +git-tree-sha1 = "05110a2ab1fc5f932622ffea2a003221f4782c18" +uuid = "c8e1da08-722c-5040-9ed9-7db0dc04731e" +version = "1.3.0" + +[[IteratorInterfaceExtensions]] +git-tree-sha1 = "a3f24677c21f5bbe9d2a714f95dcd58337fb2856" +uuid = "82899510-4779-5014-852e-03e436cf321d" +version = "1.0.0" [[JSExpr]] deps = ["JSON", "MacroTools", "Observables", "WebIO"] @@ -174,12 +200,11 @@ version = "3.100.0+1" [[Lazy]] deps = ["MacroTools"] -git-tree-sha1 = "0bd934e15f5df97414aa81abf74ba8a2d5042964" +git-tree-sha1 = "ead48f10ad295afe72046ab0f2b9d704466452a0" uuid = "50d2b5c4-7a5e-59d5-8109-a42b560f39c0" -version = "0.15.0" +version = "0.14.0" [[LibGit2]] -deps = ["Printf"] uuid = "76f85450-5226-5b5a-8eaa-529ad045b433" [[LibVPX_jll]] @@ -245,21 +270,21 @@ version = "0.3.1" [[MechanismGeometries]] deps = ["ColorTypes", "CoordinateTransformations", "GeometryTypes", "LightXML", "LinearAlgebra", "RigidBodyDynamics", "Rotations", "StaticArrays"] -git-tree-sha1 = "3d3b4d13b42e542543a6c7f6f27b08fbe9b9aa00" +git-tree-sha1 = "86ab29ff501fe86e41962efa33433768a706c447" uuid = "931e9471-e8fb-5385-a477-07ad12718aca" -version = "0.4.1" +version = "0.5.0" [[MeshCat]] -deps = ["Base64", "BinDeps", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryTypes", "LinearAlgebra", "Logging", "MsgPack", "Mux", "Parameters", "Requires", "Rotations", "Sockets", "StaticArrays", "UUIDs", "WebSockets"] -git-tree-sha1 = "c843a8be339987d1d36ca81becb6457268137081" +deps = ["Base64", "BinDeps", "Blink", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryTypes", "LinearAlgebra", "Logging", "MsgPack", "Mux", "Parameters", "Requires", "Rotations", "Sockets", "StaticArrays", "UUIDs", "WebSockets"] +git-tree-sha1 = "4774064e4772f55efbeceafd303fdf5827a9f4ad" uuid = "283c5d60-a78f-5afe-a0af-af636b173e11" -version = "0.11.0" +version = "0.11.2" [[MeshCatMechanisms]] deps = ["ColorTypes", "CoordinateTransformations", "GeometryTypes", "InteractBase", "Interpolations", "LoopThrottle", "MechanismGeometries", "MeshCat", "Mux", "OrderedCollections", "RigidBodyDynamics"] -git-tree-sha1 = "40c93a8b669e827d97f22631352ecc6df7d64576" +git-tree-sha1 = "cbbbd5b996096c5e3bbe38bd01fca9816bc566b8" uuid = "6ad125db-dd91-5488-b820-c1df6aab299d" -version = "0.7.0" +version = "0.7.1" [[Mmap]] uuid = "a63ad114-7e13-5084-954f-fe012c677804" @@ -270,6 +295,12 @@ git-tree-sha1 = "a8cbf066b54d793b9a48c5daa5d586cf2b5bd43d" uuid = "99f44e22-a591-53d1-9472-aa23ef4bd671" version = "1.1.0" +[[Mustache]] +deps = ["Printf", "Tables"] +git-tree-sha1 = "fcfc8266461f2905534aa00c0fc59b8751b1026e" +uuid = "ffc61752-8dc7-55ee-8c37-f3e9cdd09e70" +version = "1.0.3" + [[Mux]] deps = ["AssetRegistry", "Base64", "HTTP", "Hiccup", "Lazy", "Pkg", "Sockets", "WebSockets"] git-tree-sha1 = "3621676e7f711aca14d783d1bff9ac379d9df6b7" @@ -328,7 +359,7 @@ uuid = "fa939f87-e72e-5be4-a000-7fc836dbe307" version = "1.1.0" [[Pkg]] -deps = ["Dates", "LibGit2", "Markdown", "Printf", "REPL", "Random", "SHA", "UUIDs"] +deps = ["Dates", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "UUIDs"] uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" [[Printf]] @@ -368,9 +399,9 @@ version = "2.2.0" [[Rotations]] deps = ["LinearAlgebra", "StaticArrays", "Statistics"] -git-tree-sha1 = "7f7f93ce41c5764602a8922ec152467eba7920da" +git-tree-sha1 = "445b72242dbdecba9bfc42034daafdd901bbf6a9" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "1.0.0" +version = "1.0.1" [[SHA]] uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" @@ -399,6 +430,18 @@ version = "0.12.3" deps = ["LinearAlgebra", "SparseArrays"] uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2" +[[TableTraits]] +deps = ["IteratorInterfaceExtensions"] +git-tree-sha1 = "b1ad568ba658d8cbb3b892ed5380a6f3e781a81e" +uuid = "3783bdb8-4a98-5b6b-af9a-565f29a5fe9c" +version = "1.0.0" + +[[Tables]] +deps = ["DataAPI", "DataValueInterfaces", "IteratorInterfaceExtensions", "LinearAlgebra", "TableTraits", "Test"] +git-tree-sha1 = "c45dcc27331febabc20d86cb3974ef095257dcf3" +uuid = "bd369af6-aec1-5ad0-b16a-f7cc5008161c" +version = "1.0.4" + [[Test]] deps = ["Distributed", "InteractiveUtils", "Logging", "Random"] uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40" diff --git a/examples/3. Four-bar linkage/Manifest.toml b/examples/3. Four-bar linkage/Manifest.toml index efe27e9c..7e15fd3f 100644 --- a/examples/3. Four-bar linkage/Manifest.toml +++ b/examples/3. Four-bar linkage/Manifest.toml @@ -21,6 +21,12 @@ git-tree-sha1 = "46cf2c1668ad07aba5a9d331bdeea994a1f13856" uuid = "9e28174c-4ba2-5203-b857-d8d62c4213ee" version = "1.0.1" +[[Blink]] +deps = ["Base64", "BinDeps", "Distributed", "JSExpr", "JSON", "Lazy", "Logging", "MacroTools", "Mustache", "Mux", "Reexport", "Sockets", "WebIO", "WebSockets"] +git-tree-sha1 = "434893c1f9e9ce59be3f114641e99ef84c4d8f1a" +uuid = "ad839575-38b3-5650-b840-f874b8c74a25" +version = "0.12.3" + [[Bzip2_jll]] deps = ["Libdl", "Pkg"] git-tree-sha1 = "3663bfffede2ef41358b6fc2e1d8a6d50b3c3904" @@ -46,9 +52,9 @@ version = "0.10.3" [[Colors]] deps = ["ColorTypes", "FixedPointNumbers", "InteractiveUtils", "Reexport"] -git-tree-sha1 = "2fdeb981ebcf52cd800ddb6a0aa5eac34153552d" +git-tree-sha1 = "db9c215e2d92379d341e40dd1d5be893af2bfeb2" uuid = "5ae59095-9a9b-59fe-a467-6f913c188581" -version = "0.12.0" +version = "0.12.1" [[CoordinateTransformations]] deps = ["LinearAlgebra", "StaticArrays"] @@ -56,6 +62,16 @@ git-tree-sha1 = "c230b1d94db9fdd073168830437e64b9db627fcb" uuid = "150eb455-5306-5404-9cee-2592286d6298" version = "0.6.0" +[[DataAPI]] +git-tree-sha1 = "176e23402d80e7743fc26c19c681bfb11246af32" +uuid = "9a962f9c-6df0-11e9-0e5d-c546b8b5ee8a" +version = "1.3.0" + +[[DataValueInterfaces]] +git-tree-sha1 = "bfc1187b79289637fa0ef6d4436ebdfe6905cbd6" +uuid = "e2d170a0-9d28-54be-80f0-106bbe20a464" +version = "1.0.0" + [[Dates]] deps = ["Printf"] uuid = "ade2ca70-3891-5945-98fb-dc099432e06a" @@ -109,16 +125,16 @@ uuid = "de31a74c-ac4f-5751-b3fd-e18cd04993ca" version = "0.5.0" [[GeometryTypes]] -deps = ["ColorTypes", "FixedPointNumbers", "LinearAlgebra", "StaticArrays"] -git-tree-sha1 = "34bfa994967e893ab2f17b864eec221b3521ba4d" +deps = ["ColorTypes", "FixedPointNumbers", "IterTools", "LinearAlgebra", "StaticArrays"] +git-tree-sha1 = "4bf5706f3b9a2c5adbbc473c8c91582c1fa816a3" uuid = "4d00f742-c7ba-57c2-abde-4428a4b178cb" -version = "0.8.3" +version = "0.7.6" [[HTTP]] deps = ["Base64", "Dates", "IniFile", "MbedTLS", "Sockets"] -git-tree-sha1 = "fe31f4ff144392ad8176f5c7c03cca6ba320271c" +git-tree-sha1 = "ec87d5e2acbe1693789efbbe14f5ea7525758f71" uuid = "cd3eb016-35fb-5094-929b-558a96fad6f3" -version = "0.8.14" +version = "0.8.15" [[Hiccup]] deps = ["MacroTools", "Test"] @@ -134,9 +150,9 @@ version = "0.5.0" [[InteractBase]] deps = ["Base64", "CSSUtil", "Colors", "Dates", "JSExpr", "JSON", "Knockout", "Observables", "OrderedCollections", "Random", "WebIO", "Widgets"] -git-tree-sha1 = "40bbaae0e7e35257aaf730cbd2f3b4c69705ffdb" +git-tree-sha1 = "2a7c0cc638f10b44e0e8b77b8f9a7f839ca853ba" uuid = "d3863d7c-f0c8-5437-a7b4-3ae773c01009" -version = "0.10.4" +version = "0.10.5" [[InteractiveUtils]] deps = ["Markdown"] @@ -144,9 +160,19 @@ uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" [[Interpolations]] deps = ["AxisAlgorithms", "LinearAlgebra", "OffsetArrays", "Random", "Ratios", "SharedArrays", "SparseArrays", "StaticArrays", "WoodburyMatrices"] -git-tree-sha1 = "3af735234d9b1ff9ff1af89875735cd9549c0c5f" +git-tree-sha1 = "2b7d4e9be8b74f03115e64cf36ed2f48ae83d946" uuid = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59" -version = "0.12.9" +version = "0.12.10" + +[[IterTools]] +git-tree-sha1 = "05110a2ab1fc5f932622ffea2a003221f4782c18" +uuid = "c8e1da08-722c-5040-9ed9-7db0dc04731e" +version = "1.3.0" + +[[IteratorInterfaceExtensions]] +git-tree-sha1 = "a3f24677c21f5bbe9d2a714f95dcd58337fb2856" +uuid = "82899510-4779-5014-852e-03e436cf321d" +version = "1.0.0" [[JSExpr]] deps = ["JSON", "MacroTools", "Observables", "WebIO"] @@ -174,12 +200,11 @@ version = "3.100.0+1" [[Lazy]] deps = ["MacroTools"] -git-tree-sha1 = "0bd934e15f5df97414aa81abf74ba8a2d5042964" +git-tree-sha1 = "ead48f10ad295afe72046ab0f2b9d704466452a0" uuid = "50d2b5c4-7a5e-59d5-8109-a42b560f39c0" -version = "0.15.0" +version = "0.14.0" [[LibGit2]] -deps = ["Printf"] uuid = "76f85450-5226-5b5a-8eaa-529ad045b433" [[LibVPX_jll]] @@ -245,21 +270,21 @@ version = "0.3.1" [[MechanismGeometries]] deps = ["ColorTypes", "CoordinateTransformations", "GeometryTypes", "LightXML", "LinearAlgebra", "RigidBodyDynamics", "Rotations", "StaticArrays"] -git-tree-sha1 = "3d3b4d13b42e542543a6c7f6f27b08fbe9b9aa00" +git-tree-sha1 = "86ab29ff501fe86e41962efa33433768a706c447" uuid = "931e9471-e8fb-5385-a477-07ad12718aca" -version = "0.4.1" +version = "0.5.0" [[MeshCat]] -deps = ["Base64", "BinDeps", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryTypes", "LinearAlgebra", "Logging", "MsgPack", "Mux", "Parameters", "Requires", "Rotations", "Sockets", "StaticArrays", "UUIDs", "WebSockets"] -git-tree-sha1 = "c843a8be339987d1d36ca81becb6457268137081" +deps = ["Base64", "BinDeps", "Blink", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryTypes", "LinearAlgebra", "Logging", "MsgPack", "Mux", "Parameters", "Requires", "Rotations", "Sockets", "StaticArrays", "UUIDs", "WebSockets"] +git-tree-sha1 = "4774064e4772f55efbeceafd303fdf5827a9f4ad" uuid = "283c5d60-a78f-5afe-a0af-af636b173e11" -version = "0.11.0" +version = "0.11.2" [[MeshCatMechanisms]] deps = ["ColorTypes", "CoordinateTransformations", "GeometryTypes", "InteractBase", "Interpolations", "LoopThrottle", "MechanismGeometries", "MeshCat", "Mux", "OrderedCollections", "RigidBodyDynamics"] -git-tree-sha1 = "40c93a8b669e827d97f22631352ecc6df7d64576" +git-tree-sha1 = "cbbbd5b996096c5e3bbe38bd01fca9816bc566b8" uuid = "6ad125db-dd91-5488-b820-c1df6aab299d" -version = "0.7.0" +version = "0.7.1" [[Mmap]] uuid = "a63ad114-7e13-5084-954f-fe012c677804" @@ -270,6 +295,12 @@ git-tree-sha1 = "a8cbf066b54d793b9a48c5daa5d586cf2b5bd43d" uuid = "99f44e22-a591-53d1-9472-aa23ef4bd671" version = "1.1.0" +[[Mustache]] +deps = ["Printf", "Tables"] +git-tree-sha1 = "fcfc8266461f2905534aa00c0fc59b8751b1026e" +uuid = "ffc61752-8dc7-55ee-8c37-f3e9cdd09e70" +version = "1.0.3" + [[Mux]] deps = ["AssetRegistry", "Base64", "HTTP", "Hiccup", "Lazy", "Pkg", "Sockets", "WebSockets"] git-tree-sha1 = "3621676e7f711aca14d783d1bff9ac379d9df6b7" @@ -328,7 +359,7 @@ uuid = "fa939f87-e72e-5be4-a000-7fc836dbe307" version = "1.1.0" [[Pkg]] -deps = ["Dates", "LibGit2", "Markdown", "Printf", "REPL", "Random", "SHA", "UUIDs"] +deps = ["Dates", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "UUIDs"] uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" [[Printf]] @@ -368,9 +399,9 @@ version = "2.2.0" [[Rotations]] deps = ["LinearAlgebra", "StaticArrays", "Statistics"] -git-tree-sha1 = "7f7f93ce41c5764602a8922ec152467eba7920da" +git-tree-sha1 = "445b72242dbdecba9bfc42034daafdd901bbf6a9" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "1.0.0" +version = "1.0.1" [[SHA]] uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" @@ -399,6 +430,18 @@ version = "0.12.3" deps = ["LinearAlgebra", "SparseArrays"] uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2" +[[TableTraits]] +deps = ["IteratorInterfaceExtensions"] +git-tree-sha1 = "b1ad568ba658d8cbb3b892ed5380a6f3e781a81e" +uuid = "3783bdb8-4a98-5b6b-af9a-565f29a5fe9c" +version = "1.0.0" + +[[Tables]] +deps = ["DataAPI", "DataValueInterfaces", "IteratorInterfaceExtensions", "LinearAlgebra", "TableTraits", "Test"] +git-tree-sha1 = "c45dcc27331febabc20d86cb3974ef095257dcf3" +uuid = "bd369af6-aec1-5ad0-b16a-f7cc5008161c" +version = "1.0.4" + [[Test]] deps = ["Distributed", "InteractiveUtils", "Logging", "Random"] uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40" diff --git a/examples/4. Jacobian IK and Control/Manifest.toml b/examples/4. Jacobian IK and Control/Manifest.toml index 6bd80e3d..7c82b00b 100644 --- a/examples/4. Jacobian IK and Control/Manifest.toml +++ b/examples/4. Jacobian IK and Control/Manifest.toml @@ -58,9 +58,9 @@ version = "0.10.3" [[Colors]] deps = ["ColorTypes", "FixedPointNumbers", "InteractiveUtils", "Reexport"] -git-tree-sha1 = "2fdeb981ebcf52cd800ddb6a0aa5eac34153552d" +git-tree-sha1 = "db9c215e2d92379d341e40dd1d5be893af2bfeb2" uuid = "5ae59095-9a9b-59fe-a467-6f913c188581" -version = "0.12.0" +version = "0.12.1" [[Contour]] deps = ["StaticArrays"] @@ -81,9 +81,9 @@ version = "1.3.0" [[DataStructures]] deps = ["InteractiveUtils", "OrderedCollections"] -git-tree-sha1 = "7d7578b00789cf16c5f68fad71868e773edd58a2" +git-tree-sha1 = "af6d9c86e191c917c2276fbede1137e8ea20157f" uuid = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8" -version = "0.17.16" +version = "0.17.17" [[DataValueInterfaces]] git-tree-sha1 = "bfc1187b79289637fa0ef6d4436ebdfe6905cbd6" @@ -160,9 +160,9 @@ version = "0.8.3" [[HTTP]] deps = ["Base64", "Dates", "IniFile", "MbedTLS", "Sockets"] -git-tree-sha1 = "fe31f4ff144392ad8176f5c7c03cca6ba320271c" +git-tree-sha1 = "ec87d5e2acbe1693789efbbe14f5ea7525758f71" uuid = "cd3eb016-35fb-5094-929b-558a96fad6f3" -version = "0.8.14" +version = "0.8.15" [[Hiccup]] deps = ["MacroTools", "Test"] @@ -178,9 +178,9 @@ version = "0.5.0" [[InteractBase]] deps = ["Base64", "CSSUtil", "Colors", "Dates", "JSExpr", "JSON", "Knockout", "Observables", "OrderedCollections", "Random", "WebIO", "Widgets"] -git-tree-sha1 = "40bbaae0e7e35257aaf730cbd2f3b4c69705ffdb" +git-tree-sha1 = "2a7c0cc638f10b44e0e8b77b8f9a7f839ca853ba" uuid = "d3863d7c-f0c8-5437-a7b4-3ae773c01009" -version = "0.10.4" +version = "0.10.5" [[InteractiveUtils]] deps = ["Markdown"] @@ -188,9 +188,9 @@ uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" [[Interpolations]] deps = ["AxisAlgorithms", "LinearAlgebra", "OffsetArrays", "Random", "Ratios", "SharedArrays", "SparseArrays", "StaticArrays", "WoodburyMatrices"] -git-tree-sha1 = "3af735234d9b1ff9ff1af89875735cd9549c0c5f" +git-tree-sha1 = "2b7d4e9be8b74f03115e64cf36ed2f48ae83d946" uuid = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59" -version = "0.12.9" +version = "0.12.10" [[IteratorInterfaceExtensions]] git-tree-sha1 = "a3f24677c21f5bbe9d2a714f95dcd58337fb2856" @@ -223,12 +223,11 @@ version = "3.100.0+1" [[Lazy]] deps = ["MacroTools"] -git-tree-sha1 = "0bd934e15f5df97414aa81abf74ba8a2d5042964" +git-tree-sha1 = "ead48f10ad295afe72046ab0f2b9d704466452a0" uuid = "50d2b5c4-7a5e-59d5-8109-a42b560f39c0" -version = "0.15.0" +version = "0.14.0" [[LibGit2]] -deps = ["Printf"] uuid = "76f85450-5226-5b5a-8eaa-529ad045b433" [[LibVPX_jll]] @@ -299,16 +298,16 @@ uuid = "931e9471-e8fb-5385-a477-07ad12718aca" version = "0.4.1" [[MeshCat]] -deps = ["Base64", "BinDeps", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryTypes", "LinearAlgebra", "Logging", "MsgPack", "Mux", "Parameters", "Requires", "Rotations", "Sockets", "StaticArrays", "UUIDs", "WebSockets"] -git-tree-sha1 = "c843a8be339987d1d36ca81becb6457268137081" +deps = ["Base64", "BinDeps", "Blink", "Cassette", "Colors", "CoordinateTransformations", "DocStringExtensions", "FFMPEG", "GeometryTypes", "LinearAlgebra", "Logging", "MsgPack", "Mux", "Parameters", "Requires", "Rotations", "Sockets", "StaticArrays", "UUIDs", "WebSockets"] +git-tree-sha1 = "4774064e4772f55efbeceafd303fdf5827a9f4ad" uuid = "283c5d60-a78f-5afe-a0af-af636b173e11" -version = "0.11.0" +version = "0.11.2" [[MeshCatMechanisms]] deps = ["ColorTypes", "CoordinateTransformations", "GeometryTypes", "InteractBase", "Interpolations", "LoopThrottle", "MechanismGeometries", "MeshCat", "Mux", "OrderedCollections", "RigidBodyDynamics"] -git-tree-sha1 = "40c93a8b669e827d97f22631352ecc6df7d64576" +git-tree-sha1 = "cbbbd5b996096c5e3bbe38bd01fca9816bc566b8" uuid = "6ad125db-dd91-5488-b820-c1df6aab299d" -version = "0.7.0" +version = "0.7.1" [[Missings]] deps = ["DataAPI"] @@ -327,9 +326,9 @@ version = "1.1.0" [[Mustache]] deps = ["Printf", "Tables"] -git-tree-sha1 = "2e11fc5de3a01d23482a257e22009ddaab058d9a" +git-tree-sha1 = "fcfc8266461f2905534aa00c0fc59b8751b1026e" uuid = "ffc61752-8dc7-55ee-8c37-f3e9cdd09e70" -version = "1.0.2" +version = "1.0.3" [[Mux]] deps = ["AssetRegistry", "Base64", "HTTP", "Hiccup", "Lazy", "Pkg", "Sockets", "WebSockets"] @@ -394,7 +393,7 @@ uuid = "fa939f87-e72e-5be4-a000-7fc836dbe307" version = "1.1.0" [[Pkg]] -deps = ["Dates", "LibGit2", "Markdown", "Printf", "REPL", "Random", "SHA", "UUIDs"] +deps = ["Dates", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "UUIDs"] uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" [[PlotThemes]] @@ -405,15 +404,15 @@ version = "2.0.0" [[PlotUtils]] deps = ["ColorSchemes", "Colors", "Dates", "Printf", "Random", "Reexport", "Statistics"] -git-tree-sha1 = "59ec24a0c96c513533e488dff1433df1bd3d6b9f" +git-tree-sha1 = "ce26340b638fdf02965a6a65aa7916d40a8c774c" uuid = "995b91a9-d308-5afd-9ec6-746e21dbc043" -version = "1.0.3" +version = "1.0.4" [[Plots]] deps = ["Base64", "Contour", "Dates", "FFMPEG", "FixedPointNumbers", "GR", "GeometryTypes", "JSON", "LinearAlgebra", "Measures", "NaNMath", "Pkg", "PlotThemes", "PlotUtils", "Printf", "REPL", "Random", "RecipesBase", "RecipesPipeline", "Reexport", "Requires", "Showoff", "SparseArrays", "Statistics", "StatsBase", "UUIDs"] -git-tree-sha1 = "bd3d8f1b8e93c0541023f55acaf92f872cb0001e" +git-tree-sha1 = "a784969eee5bfba15d151c260d0f1d724e625592" uuid = "91a5bcdd-55d7-5caf-9e0b-520d859cae80" -version = "1.3.1" +version = "1.3.6" [[Printf]] deps = ["Unicode"] @@ -463,9 +462,9 @@ version = "2.2.0" [[Rotations]] deps = ["LinearAlgebra", "StaticArrays", "Statistics"] -git-tree-sha1 = "7f7f93ce41c5764602a8922ec152467eba7920da" +git-tree-sha1 = "445b72242dbdecba9bfc42034daafdd901bbf6a9" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "1.0.0" +version = "1.0.1" [[SHA]] uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" diff --git a/examples/5. Derivatives and gradients using ForwardDiff/Manifest.toml b/examples/5. Derivatives and gradients using ForwardDiff/Manifest.toml index 9623fdf8..00999865 100644 --- a/examples/5. Derivatives and gradients using ForwardDiff/Manifest.toml +++ b/examples/5. Derivatives and gradients using ForwardDiff/Manifest.toml @@ -64,7 +64,6 @@ uuid = "682c06a0-de6a-54ab-a142-c8b1cf79cde6" version = "0.21.0" [[LibGit2]] -deps = ["Printf"] uuid = "76f85450-5226-5b5a-8eaa-529ad045b433" [[Libdl]] @@ -120,7 +119,7 @@ uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0" version = "1.0.4" [[Pkg]] -deps = ["Dates", "LibGit2", "Markdown", "Printf", "REPL", "Random", "SHA", "UUIDs"] +deps = ["Dates", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "UUIDs"] uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" [[Printf]] @@ -149,9 +148,9 @@ version = "2.2.0" [[Rotations]] deps = ["LinearAlgebra", "StaticArrays", "Statistics"] -git-tree-sha1 = "7f7f93ce41c5764602a8922ec152467eba7920da" +git-tree-sha1 = "445b72242dbdecba9bfc42034daafdd901bbf6a9" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "1.0.0" +version = "1.0.1" [[SHA]] uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" @@ -168,9 +167,9 @@ uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" [[SpecialFunctions]] deps = ["OpenSpecFun_jll"] -git-tree-sha1 = "a69e1eaf3397fbb5a4d718538463e5cc20ef42a4" +git-tree-sha1 = "d8d8b8a9f4119829410ecd706da4cc8594a1e020" uuid = "276daf66-3868-5448-9aa4-cd146d93841b" -version = "0.10.2" +version = "0.10.3" [[StaticArrays]] deps = ["LinearAlgebra", "Random", "Statistics"] @@ -191,12 +190,6 @@ git-tree-sha1 = "d539b357e7695d80c75f5b066cec5d8c45886ab2" uuid = "94a5cd58-49a0-5741-bd07-fa4f4be8babf" version = "1.1.0" -[[URIParser]] -deps = ["Test", "Unicode"] -git-tree-sha1 = "6ddf8244220dfda2f17539fa8c9de20d6c575b69" -uuid = "30578b45-9adc-5946-b283-645ec420af67" -version = "0.4.0" - [[UUIDs]] deps = ["Random", "SHA"] uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4" diff --git a/examples/6. Symbolics using SymPy/Manifest.toml b/examples/6. Symbolics using SymPy/Manifest.toml index 53f6be0e..9e9e898d 100644 --- a/examples/6. Symbolics using SymPy/Manifest.toml +++ b/examples/6. Symbolics using SymPy/Manifest.toml @@ -3,17 +3,11 @@ [[Base64]] uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" -[[BinDeps]] -deps = ["Libdl", "Pkg", "SHA", "URIParser", "Unicode"] -git-tree-sha1 = "66158ad56b4bf6cc8413b37d0b7bc52402682764" -uuid = "9e28174c-4ba2-5203-b857-d8d62c4213ee" -version = "1.0.0" - -[[BinaryProvider]] -deps = ["Libdl", "SHA"] -git-tree-sha1 = "5b08ed6036d9d3f0ee6369410b830f8873d4024c" -uuid = "b99e7846-7c00-51b0-8f62-c81ae34c0232" -version = "0.5.8" +[[CompilerSupportLibraries_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "7c4f882c41faa72118841185afc58a2eb00ef612" +uuid = "e66e0078-7015-5450-92f7-15fbd957f2ae" +version = "0.3.3+0" [[Conda]] deps = ["JSON", "VersionParsing"] @@ -51,11 +45,17 @@ uuid = "76f85450-5226-5b5a-8eaa-529ad045b433" [[Libdl]] uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" +[[Libiconv_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "e5256a3b0ebc710dbd6da0c0b212164a3681037f" +uuid = "94ce4f54-9a6c-5748-9c1c-f9c7231a4531" +version = "1.16.0+2" + [[LightXML]] -deps = ["BinaryProvider", "Libdl"] -git-tree-sha1 = "be855e3c975b89746b09952407c156b5e4a33a1d" +deps = ["Libdl", "XML2_jll"] +git-tree-sha1 = "e129d9391168c677cd4800f5c0abb1ed8cb3794f" uuid = "9c8b4983-aa76-5018-a973-4c85ecc9e179" -version = "0.8.1" +version = "0.9.0" [[LinearAlgebra]] deps = ["Libdl"] @@ -83,14 +83,20 @@ uuid = "d6f4376e-aef5-505a-96c1-9c027394607a" [[Mmap]] uuid = "a63ad114-7e13-5084-954f-fe012c677804" +[[OpenSpecFun_jll]] +deps = ["CompilerSupportLibraries_jll", "Libdl", "Pkg"] +git-tree-sha1 = "d51c416559217d974a1113522d5919235ae67a87" +uuid = "efe28fd5-8261-553b-a9e1-b2916fc3738e" +version = "0.5.3+3" + [[Parsers]] deps = ["Dates", "Test"] -git-tree-sha1 = "d6d82d5bdbb75048e574cd2d2c89dfbf2c74250c" +git-tree-sha1 = "f0abb338b4d00306500056a3fd44c221b8473ef2" uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0" -version = "1.0.0" +version = "1.0.4" [[Pkg]] -deps = ["Dates", "LibGit2", "Markdown", "Printf", "REPL", "Random", "SHA", "UUIDs"] +deps = ["Dates", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "UUIDs"] uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" [[Printf]] @@ -112,9 +118,9 @@ deps = ["Serialization"] uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c" [[RecipesBase]] -git-tree-sha1 = "7bdce29bc9b2f5660a6e5e64d64d91ec941f6aa2" +git-tree-sha1 = "54f8ceb165a0f6d083f0d12cb4996f5367c6edbc" uuid = "3cdcf5f2-1ef4-517c-9805-6587b60abb01" -version = "0.7.0" +version = "1.0.1" [[Reexport]] deps = ["Pkg"] @@ -130,9 +136,9 @@ version = "2.2.0" [[Rotations]] deps = ["LinearAlgebra", "StaticArrays", "Statistics"] -git-tree-sha1 = "d5f83867093db7319a9366d55f29280ecae9bcda" +git-tree-sha1 = "445b72242dbdecba9bfc42034daafdd901bbf6a9" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "0.13.0" +version = "1.0.1" [[SHA]] uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" @@ -148,16 +154,16 @@ deps = ["LinearAlgebra", "Random"] uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" [[SpecialFunctions]] -deps = ["BinDeps", "BinaryProvider", "Libdl"] -git-tree-sha1 = "3bdd374b6fd78faf0119b8c5d538788dbf910c6e" +deps = ["OpenSpecFun_jll"] +git-tree-sha1 = "d8d8b8a9f4119829410ecd706da4cc8594a1e020" uuid = "276daf66-3868-5448-9aa4-cd146d93841b" -version = "0.8.0" +version = "0.10.3" [[StaticArrays]] deps = ["LinearAlgebra", "Random", "Statistics"] -git-tree-sha1 = "5a3bcb6233adabde68ebc97be66e95dcb787424c" +git-tree-sha1 = "5c06c0aeb81bef54aed4b3f446847905eb6cbda0" uuid = "90137ffa-7385-5640-81b9-e52037218182" -version = "0.12.1" +version = "0.12.3" [[Statistics]] deps = ["LinearAlgebra", "SparseArrays"] @@ -165,9 +171,9 @@ uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2" [[SymPy]] deps = ["LinearAlgebra", "PyCall", "RecipesBase", "SpecialFunctions"] -git-tree-sha1 = "80c5fa117b3cd0881b6ceedf5839b624bafdffb9" +git-tree-sha1 = "2432fb4f6cfa66eed8e4bf97a79566e475ae9308" uuid = "24249f21-da20-56a4-8eb1-6a02cf4ae2e6" -version = "1.0.18" +version = "1.0.24" [[Test]] deps = ["Distributed", "InteractiveUtils", "Logging", "Random"] @@ -178,12 +184,6 @@ git-tree-sha1 = "d539b357e7695d80c75f5b066cec5d8c45886ab2" uuid = "94a5cd58-49a0-5741-bd07-fa4f4be8babf" version = "1.1.0" -[[URIParser]] -deps = ["Test", "Unicode"] -git-tree-sha1 = "6ddf8244220dfda2f17539fa8c9de20d6c575b69" -uuid = "30578b45-9adc-5946-b283-645ec420af67" -version = "0.4.0" - [[UUIDs]] deps = ["Random", "SHA"] uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4" @@ -192,11 +192,23 @@ uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4" uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5" [[UnsafeArrays]] -git-tree-sha1 = "1de6ef280110c7ad3c5d2f7a31a360b57a1bde21" +git-tree-sha1 = "9740b414f85ec2fa9135066f81b1fb14212befd6" uuid = "c4a57d5a-5b31-53a6-b365-19f8c011fbd6" -version = "1.0.0" +version = "1.0.1" [[VersionParsing]] git-tree-sha1 = "80229be1f670524750d905f8fc8148e5a8c4537f" uuid = "81def892-9a0e-5fdd-b105-ffc91e053289" version = "1.2.0" + +[[XML2_jll]] +deps = ["Libdl", "Libiconv_jll", "Pkg", "Zlib_jll"] +git-tree-sha1 = "987c02a43fa10a491a5f0f7c46a6d3559ed6a8e2" +uuid = "02c8fc9c-b97f-50b9-bbe4-9be30ff0a78a" +version = "2.9.9+4" + +[[Zlib_jll]] +deps = ["Libdl", "Pkg"] +git-tree-sha1 = "a2e0d558f6031002e380a90613b199e37a8565bf" +uuid = "83775a58-1f1d-513f-b197-d71354ab007a" +version = "1.2.11+10" diff --git a/examples/7. Rigorous error bounds using IntervalArithmetic/Manifest.toml b/examples/7. Rigorous error bounds using IntervalArithmetic/Manifest.toml index 19eaedff..c13d2cb7 100644 --- a/examples/7. Rigorous error bounds using IntervalArithmetic/Manifest.toml +++ b/examples/7. Rigorous error bounds using IntervalArithmetic/Manifest.toml @@ -40,12 +40,11 @@ uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" [[IntervalArithmetic]] deps = ["CRlibm", "FastRounding", "LinearAlgebra", "Markdown", "Random", "RecipesBase", "RoundingEmulator", "SetRounding", "StaticArrays"] -git-tree-sha1 = "b502bb7fba674f4b98202c5da0b17f86d8a3f48e" +git-tree-sha1 = "7b9cff52423350ab06862d495e9bb56d68a98ecc" uuid = "d1acc4aa-44c8-5952-acd4-ba5d80a2a253" -version = "0.17.2" +version = "0.17.3" [[LibGit2]] -deps = ["Printf"] uuid = "76f85450-5226-5b5a-8eaa-529ad045b433" [[Libdl]] @@ -81,7 +80,7 @@ deps = ["Base64"] uuid = "d6f4376e-aef5-505a-96c1-9c027394607a" [[Pkg]] -deps = ["Dates", "LibGit2", "Markdown", "Printf", "REPL", "Random", "SHA", "UUIDs"] +deps = ["Dates", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "UUIDs"] uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" [[Printf]] @@ -115,9 +114,9 @@ version = "2.2.0" [[Rotations]] deps = ["LinearAlgebra", "StaticArrays", "Statistics"] -git-tree-sha1 = "7f7f93ce41c5764602a8922ec152467eba7920da" +git-tree-sha1 = "445b72242dbdecba9bfc42034daafdd901bbf6a9" uuid = "6038ab10-8711-5258-84ad-4b1120ba62dc" -version = "1.0.0" +version = "1.0.1" [[RoundingEmulator]] git-tree-sha1 = "40b9edad2e5287e05bd413a38f61a8ff55b9557b" From c00b3fc0addeb532a828aeca26fbc7ce01bb1a67 Mon Sep 17 00:00:00 2001 From: Twan Koolen Date: Mon, 1 Jun 2020 07:12:49 -0400 Subject: [PATCH 4/7] Use ModifiedRodriguesParam as alias for MRP for readability. --- src/RigidBodyDynamics.jl | 3 +++ src/joint_types/spquat_floating.jl | 12 ++++++------ src/spatial/util.jl | 13 ++++++++----- test/runtests.jl | 2 ++ test/test_mechanism_algorithms.jl | 2 +- 5 files changed, 20 insertions(+), 12 deletions(-) diff --git a/src/RigidBodyDynamics.jl b/src/RigidBodyDynamics.jl index dc38a241..1365ee42 100644 --- a/src/RigidBodyDynamics.jl +++ b/src/RigidBodyDynamics.jl @@ -161,6 +161,9 @@ export BodyID, segments +# Type aliases +const ModifiedRodriguesParam = Rotations.MRP + include(joinpath("custom_collections", "custom_collections.jl")) include(joinpath("graphs", "Graphs.jl")) include(joinpath("spatial", "Spatial.jl")) diff --git a/src/joint_types/spquat_floating.jl b/src/joint_types/spquat_floating.jl index f04457ee..1f3fc8a4 100644 --- a/src/joint_types/spquat_floating.jl +++ b/src/joint_types/spquat_floating.jl @@ -1,7 +1,7 @@ """ $(TYPEDEF) -A floating joint type that uses a SPQuat representation for orientation. +A floating joint type that uses an 'SPQuat' ( representation for orientation. Floating joints are 6-degree-of-freedom joints that are in a sense degenerate, as they impose no constraints on the relative motion between two bodies. @@ -27,12 +27,12 @@ has_fixed_subspaces(jt::SPQuatFloating) = true isfloating(::Type{<:SPQuatFloating}) = true @propagate_inbounds function rotation(jt::SPQuatFloating, q::AbstractVector) - MRP(q[1], q[2], q[3]) + ModifiedRodriguesParam(q[1], q[2], q[3]) end @propagate_inbounds function set_rotation!(q::AbstractVector, jt::SPQuatFloating, rot::Rotation{3}) T = eltype(rot) - spq = convert(MRP{T}, rot) + spq = convert(ModifiedRodriguesParam{T}, rot) q[1] = spq.x q[2] = spq.y q[3] = spq.z @@ -112,7 +112,7 @@ end @propagate_inbounds function configuration_derivative_to_velocity_adjoint!(fq, jt::SPQuatFloating, q::AbstractVector, fv) - spq = MRP(q[1], q[2], q[3]) + spq = ModifiedRodriguesParam(q[1], q[2], q[3]) rot = velocity_jacobian(angular_velocity_in_body, spq)' * angular_velocity(jt, fv) trans = spq * linear_velocity(jt, fv) set_rotation!(fq, jt, rot) @@ -164,14 +164,14 @@ end @propagate_inbounds function zero_configuration!(q::AbstractVector, jt::SPQuatFloating) T = eltype(q) - set_rotation!(q, jt, one(MRP{T})) + set_rotation!(q, jt, one(ModifiedRodriguesParam{T})) set_translation!(q, jt, zero(SVector{3, T})) nothing end @propagate_inbounds function rand_configuration!(q::AbstractVector, jt::SPQuatFloating) T = eltype(q) - set_rotation!(q, jt, rand(MRP{T})) + set_rotation!(q, jt, rand(ModifiedRodriguesParam{T})) set_translation!(q, jt, rand(SVector{3, T}) .- 0.5) nothing end diff --git a/src/spatial/util.jl b/src/spatial/util.jl index 0ba3aa4c..7f3aaf88 100644 --- a/src/spatial/util.jl +++ b/src/spatial/util.jl @@ -1,3 +1,6 @@ +# Type aliases +using ..RigidBodyDynamics: ModifiedRodriguesParam + ## Colwise # TODO: replace with future mapslices specialization, see https://github.com/JuliaArrays/StaticArrays.jl/pull/99 """ @@ -129,10 +132,10 @@ function angular_velocity_in_body end -q.y q.x q.w]) / 2 end -@inline function velocity_jacobian(::typeof(spquat_derivative), q::MRP) +@inline function velocity_jacobian(::typeof(spquat_derivative), q::ModifiedRodriguesParam) quat = UnitQuaternion(q) dQuat_dW = velocity_jacobian(quaternion_derivative, quat) - dSPQuat_dQuat = Rotations.jacobian(MRP, quat) + dSPQuat_dQuat = Rotations.jacobian(ModifiedRodriguesParam, quat) dSPQuat_dQuat * dQuat_dW end @@ -143,7 +146,7 @@ end -q.z q.y -q.x q.w] end -@inline function velocity_jacobian(::typeof(angular_velocity_in_body), q::MRP) +@inline function velocity_jacobian(::typeof(angular_velocity_in_body), q::ModifiedRodriguesParam) quat = UnitQuaternion(q) dW_dQuat = velocity_jacobian(angular_velocity_in_body, quat) dQuat_dSPQuat = Rotations.jacobian(UnitQuaternion, q) @@ -155,7 +158,7 @@ end velocity_jacobian(quaternion_derivative, q) * angular_velocity_in_body end -@inline function spquat_derivative(q::MRP, angular_velocity_in_body::AbstractVector) +@inline function spquat_derivative(q::ModifiedRodriguesParam, angular_velocity_in_body::AbstractVector) @boundscheck length(angular_velocity_in_body) == 3 || error("size mismatch") velocity_jacobian(spquat_derivative, q) * angular_velocity_in_body end @@ -165,7 +168,7 @@ end velocity_jacobian(angular_velocity_in_body, q) * quat_derivative end -@inline function angular_velocity_in_body(q::MRP, spq_derivative::AbstractVector) +@inline function angular_velocity_in_body(q::ModifiedRodriguesParam, spq_derivative::AbstractVector) @boundscheck length(spq_derivative) == 3 || error("size mismatch") velocity_jacobian(angular_velocity_in_body, q) * spq_derivative end diff --git a/test/runtests.jl b/test/runtests.jl index a090d8f5..b4098601 100644 --- a/test/runtests.jl +++ b/test/runtests.jl @@ -13,6 +13,8 @@ import Base.Iterators: filter import ForwardDiff import LightXML +using RigidBodyDynamics: ModifiedRodriguesParam + include("test_exports.jl") include("test_graph.jl") include("test_custom_collections.jl") diff --git a/test/test_mechanism_algorithms.jl b/test/test_mechanism_algorithms.jl index 543b1e3e..1fba421d 100644 --- a/test/test_mechanism_algorithms.jl +++ b/test/test_mechanism_algorithms.jl @@ -888,7 +888,7 @@ end for joint_k = tree_joints(state_orig.mechanism) joint_type_k = joint_type(joint_k) if isa(joint_type_k, SPQuatFloating) - RigidBodyDynamics.set_rotation!(state_orig.q[joint_k], joint_type_k, MRP(UnitQuaternion(-0.5, randn(), randn(), randn()))) + RigidBodyDynamics.set_rotation!(state_orig.q[joint_k], joint_type_k, ModifiedRodriguesParam(UnitQuaternion(-0.5, randn(), randn(), randn()))) end end setdirty!(state_orig) From f5a2a3a0e6194f0a00126e0e8138630e4e6a60dd Mon Sep 17 00:00:00 2001 From: Twan Koolen Date: Mon, 1 Jun 2020 07:35:47 -0400 Subject: [PATCH 5/7] Drop compat for Julia < 1.3 --- Project.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Project.toml b/Project.toml index 0cf0d763..73d2a5e8 100644 --- a/Project.toml +++ b/Project.toml @@ -24,7 +24,7 @@ Rotations = "1" StaticArrays = "0.8, 0.9, 0.10, 0.11, 0.12" TypeSortedCollections = "1" UnsafeArrays = "1" -julia = "0.7, 1" +julia = "1.3" [extras] ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210" From 12a9b561870fb0444870e210657269f2eb7d7f3d Mon Sep 17 00:00:00 2001 From: Twan Koolen Date: Mon, 1 Jun 2020 07:49:39 -0400 Subject: [PATCH 6/7] Doc update. --- src/joint_types/spquat_floating.jl | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/joint_types/spquat_floating.jl b/src/joint_types/spquat_floating.jl index 1f3fc8a4..63402919 100644 --- a/src/joint_types/spquat_floating.jl +++ b/src/joint_types/spquat_floating.jl @@ -1,7 +1,8 @@ """ $(TYPEDEF) -A floating joint type that uses an 'SPQuat' ( representation for orientation. +A floating joint type that uses a modified Rodrigues parameter (`Rotations.MRP`, +previously known as `Rotations.SPQuat`) representation for orientation. Floating joints are 6-degree-of-freedom joints that are in a sense degenerate, as they impose no constraints on the relative motion between two bodies. From a31baa87a5b37d059f08bff8884618cca69b96f4 Mon Sep 17 00:00:00 2001 From: Twan Koolen Date: Tue, 2 Jun 2020 07:23:49 -0400 Subject: [PATCH 7/7] Travis update. --- .travis.yml | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/.travis.yml b/.travis.yml index 97888f4c..5e84a429 100644 --- a/.travis.yml +++ b/.travis.yml @@ -3,8 +3,7 @@ os: - linux - osx julia: - - 1.0 - - 1.1 + - 1.3 - nightly matrix: fast_finish: true @@ -21,13 +20,13 @@ notifications: before_script: - export PYTHON="" # for SymPy after_success: - - if [[ $TRAVIS_JULIA_VERSION = 1.1 ]]; then + - if [[ $TRAVIS_JULIA_VERSION = 1.3 ]]; then julia --project -e 'using Pkg; pkg"add Coverage"; using Coverage; Codecov.submit(Codecov.process_folder())'; fi jobs: include: - stage: Documentation - julia: 1.1 + julia: 1.3 os: linux script: - julia --project=docs -e 'using Pkg; Pkg.instantiate()'