Call a method to define min/max table in :init-ending.

[snozawa]

Call a method to define min/max table in :init-ending because joint min/max table is jskeus original functionality.
For robots not requiring join min/max table, do nothing and do not change default behavior.
For robots requiring joint min/max table, please define :define-min-max-table method and do not need to call the method explicitly in subclass.

C.f.
start-jsk/rtmros_tutorials#508
start-jsk/rtmros_tutorials#509

[snozawa]

Please review this.
@YoheiKakiuchi

[YoheiKakiuchi]

LGTM

[k-okada]

I also thought min-max-table could move to :init-ending 1. We also need :make-min-max-table thing , otherwise no one knows how to use this. 2. We'd better to find robots that requires this feature other than hrp2/jaxon. So more people feels this is important feature. 2017年4月18日(火) 20:06 Yohei Kakiuchi <notifications@github.com>:

LGTM — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#428 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AAeG3G3u-UrEjg0zJkBcNlvD5DtJ3ongks5rxJkagaJpZM4NAKQf> .

-- -- ◉ Kei Okada

[k-okada]

My comment was wrong, we already have make-min-max-table, so why not use this. or override this. #77 Other issues we want to check: #195 #194 #9 2017年4月18日(火) 20:35 Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>:

I also thought min-max-table could move to :init-ending 1. We also need :make-min-max-table thing , otherwise no one knows how to use this. 2. We'd better to find robots that requires this feature other than hrp2/jaxon. So more people feels this is important feature. 2017年4月18日(火) 20:06 Yohei Kakiuchi ***@***.***>: > LGTM > > — > You are receiving this because you are subscribed to this thread. > Reply to this email directly, view it on GitHub > <#428 (comment)>, or mute > the thread > <https://github.com/notifications/unsubscribe-auth/AAeG3G3u-UrEjg0zJkBcNlvD5DtJ3ongks5rxJkagaJpZM4NAKQf> > . > -- -- ◉ Kei Okada --

-- ◉ Kei Okada

[snozawa]

@YoheiKakiuchi , @k-okada

Thank you for your confirmation and comments.

I also thought min-max-table could move to :init-ending

I think min-max table is already added to :init-ending by this PR.

1. We also need :make-min-max-table thing , otherwise no one knows how to use this.
2. We'd better to find robots that requires this feature other than hrp2/jaxon. So more people feels this is important feature.

I see.
I'll try to create an example to make and add min-max table in irteus/demo.
(may be related with https://github.com/euslisp/jskeus/blob/master/irteus/test/joint.l test program)

[snozawa]

For #428 (comment).

My comment was wrong, we already have make-min-max-table, so why not use this. or override this.

:make-min-max-table is already used for hrp2/jaxon, such as,
https://github.com/start-jsk/rtmros_tutorials/blob/master/hrpsys_ros_bridge_tutorials/euslisp/make-joint-min-max-table.l#L22

From rbrain ages, :make-min-max-table is called in model generation phase, not in :init-ending.
This is because :make-min-max-table takes time.
Therefore, currently

• :make-min-max-table is called in euscollada model generation phase and generated min max table is added as :define-min-max-table (https://github.com/start-jsk/rtmros_tutorials/blob/master/hrpsys_ros_bridge_tutorials/CMakeLists.txt#L99)
• :define-min-max-table is called in :init-ending in eus model instance generation.

For other issues:
#195 and #194 are still not solved, as you said.

#9 is already solved because we do not use hash-table for min-max table.
This is because of loadbility, modurality, and fast access.
#77 (comment)
#77 (comment)

[k-okada]

so, how about this?

   (format f "(defmethod ~A~%" (send (class robot) :name))
   (format f "  (:init-ending~%")
   (format f "    ()~%")
   (format f "    (prog1~%")
   (format f "      (send-super :init-ending)~%")
   (labels
       ((gen-string-name
         (j)
         (if (stringp (send j :name)) (format nil "\"~A\"" (send j :name)) (send j :name))))
     (dolist (j (remove-if-not #'(lambda (j) (send j :joint-min-max-table)) (send robot :joint-list)))
       (format f "      (send (send self :joint ~A) :joint-min-max-table~%" (gen-string-name j))
       (format f "                              '~A~%" (send j :joint-min-max-table))
       (format f "                              )~%")
       (format f "      (send (send self :joint ~A) :joint-min-max-target (send self :joint ~A))~%"
               (gen-string-name j) (gen-string-name (send j :joint-min-max-target)))
       )
     (format f "      ))~%")
     ))

[snozawa]

I see.

Suggested approach (#428 (comment)) is similar to the current version of rtmros_tutorials in terms of start-jsk/rtmros_tutorials#508.

My motivation of this PR is to remove :init-ending definition in robot's model file (such as hrp2jsk.l),
because some robots has :init-ending overwrite in robot utils files.
And, this cause some problem:start-jsk/rtmros_tutorials#508.

The downstream PR start-jsk/rtmros_tutorials#509 can also fix the problem (start-jsk/rtmros_tutorials#508) without using this PR.

If #428 (comment) is better than this PR (adding :define-min-max-table in robot-model's init-ending),
I can close this PR and i can fix the problem through start-jsk/rtmros_tutorials#509.

[k-okada]

Suggested approach (#428 (comment)) is similar to the current version of rtmros_tutorials in terms of start-jsk/rtmros_tutorials#508.

but current version has chance to forget to call define-min-max-table, but my proposal approach is not

My motivation of this PR is to remove :init-ending definition in robot's model file (such as hrp2jsk.l),

It seems current min-max-table is designed to set table when you make each joint, https://github.com/euslisp/jskeus/blob/1.1.0/irteus/irtmodel.l#L44
so best way is to set min-max-table when we make each joint,

[snozawa]

start-jsk/rtmros_tutorials#509