EusLisp is an integrated programming system for the research on intelligent robots based on Common Lisp and Object-Oriented programming. [Manual](http://euslisp.github.io/EusLisp/manual.html ) [マニュアル](http://euslisp.github.io/EusLisp/jmanual.html )
License: Other
I need range function, which return (list 0 1 2 3) by (range 3), for start-jsk/rtmros_tutorials#71.
Now, I'm implementing range function in https://github.com/start-jsk/rtmros_tutorials/pull/71/files#diff-593ce387ed2190d39cabefd5de3453b8R87 in above PR, but I think this is general function and should be merged this repository.
How do you think?
#21 break model generating codes, especially in rbrain/xx.l.
see #21 (comment) to how to reproduce this
I found multiplication bug between a large integer and a large float:
nozawa@nozawa-ThinkPad-T400s:/tmp$ eus0
set ARCHDIR to Linux
use the location of executables to set EUSDIR
set EUSDIR to /home/nozawa/ros/groovy/jsk-ros-pkg/euslisp/jskeus/eus
configuring by "/home/nozawa/ros/groovy/jsk-ros-pkg/euslisp/jskeus/eus/lib/eusrt.l"
;; l/readmacro.l ;; l/object.l ;; l/packsym.l ;; l/common.l ;; constants ;; l/stream.l ;; l/string.l ;; l/loader.l ;; l/pprint.l ;; l/process.l ;; l/hashtab.l\
;; l/array.l ;; l/mathtran.l ;; l/eusdebug.l ;; l/eusforeign.l ;; l/coordinates.l ;; l/tty.l ;; l/history.l ;; l/toplevel.l ;; comp/trans.l ;; comp/comp.l ;;\
comp/builtins.l ;; l/par.l ;; helpsub ;; eushelp-undefined ;; fstringdouble
EusLisp 8.26(r658M) for Linux created on nozawa-ThinkPad-T400s(Mon Dec 9 21:40:08 JST 2013)
1.eus0$ (/ -1000000000 1e9)
1.0 ;; NG, this should be -1.0 (large integer and large float)
2.eus0$ (* -1000000000 1e-9)
-1.0 ;; OK (large integer and large float)
5.eus0$ (/ (float -1000000000) 1e9)
-1.0 ;; OK (large float and large float)
6.eus0$ (/ -1000000000 1000000000)
-1 ;; OK (large integer and large ingeter)
8.eus0$ (/ -100000000 1e9)
-0.1 ;; OK (small integer and large float)
This occurs just in 32bit Linux.
64bit Linux is OK.
mkdir is already implemented at -> https://github.com/euslisp/EusLisp/blob/master/lisp/c/unixcall.c#L2064, but not on the manual.pdf
It take 14 minutes
$ time git clone https://github.com/euslisp/EusLisp.git
Cloning into 'EusLisp'...
remote: Counting objects: 16146, done.
remote: Compressing objects: 100% (3874/3874), done.
remote: Total 16146 (delta 12530), reused 15674 (delta 12191)
Receiving objects: 100% (16146/16146), 40.18 MiB | 52 KiB/s, done.
Resolving deltas: 100% (12530/12530), done.
hub clone https://github.com/euslisp/EusLisp.git 4.16s user 0.91s system 0% cpu 13:55.06 total
jsk_robot/jsk_nao_robot/naoeus/euslisp/nao-interface.lの中の :servo-on / off について、
関節名を指定した場合だけ、関節にかかるstiffnessの値を変えることができるようにしたいです。
(send ni :servo-on ((&optional) limb joint) stiffness)のようなイメージです。
オプショナル変数の有無で場合分けをしたいのですが、ドキュメントにはsupplied-pのような変数はサポートされていないと書いてありました。
何か良い方法をご存知の方はご教示ください。
directory-p in section 9.8 seems obsoleted?
eusgl$ (directory-p "/tmp")
eusgl 0 error: undefined function directory-p in #<compiled-code #X496a190>
5.E1-eusgl$ reset
6.eusgl$ (probe-file "/tmp")
dotimes blockの中でcontinue文と同じ動作ををさせるにはどうすればよいでしょうか。
たとえば
(assert (eq (send (send *sm* :start-state) :name) :a))
とすると、
TEST-NAME: test-methods
now testing...
start testing [test-methods]
[ERROR] test (eq (send (send *sm* :start-state) :name) :a) failed ... ( mstart testing [test-methods]
a (&optional args) (ros::ros-info called :d) :success)
over) :fail)
)
.�).
というようにtest (eq (send (send *sm* :start-state) :name) :a) failedからfailしたassert箇所はわかりますが、この時に(send (send *sm* :start-state) :name)は何だったのかをエラー表示して欲しい。
とくにREPLが使えないときに重宝すると思います。
http://docs.python.jp/2/library/unittest.html
pythonにはassertXXXXというメソッドがいくつも定義されているが、これらはそういう目的を満たすためだと考えられる。
実装案：
(assert (eq A B))タイプと(assert (equal A B)タイプくらいを特別に実装しておく(assert (check A B)) -> (setq args (mapcar #'eval (cdr pred))) (assert (apply #'check args))としてassert failのときにargsを表示するtraceしてassert failのときに表示する説明が難しかったので具体例で説明すると、
#f(0.0 1.0 2.0 3.0 4.0 5.0 6.0 7.0 8.0 9.0 10.0 11.0 12.0 13.0 14.0 15.0 16.0 17.0 18.0 19.0 20.0 21.0 22.0 23.0 24.0 25.0 26.0 27.0 28.0 29.0 30.0 31.0 32.0 33.0 34.0 35.0 36.0 37.0 38.0 39.0 40.0 41.0 42.0 43.0 44.0 45.0 46.0 47.0 48.0 49.0 50.0 51.0 52.0 53.0 54.0 55.0 56.0 57.0 58.0 59.0 60.0 61.0 62.0 63.0 64.0 65.0 66.0 67.0 68.0 69.0 70.0 71.0 72.0 73.0 74.0 75.0 76.0 77.0 78.0 79.0 80.0 81.0 82.0 83.0 84.0 85.0 86.0 87.0 88.0 89.0 90.0 91.0 92.0 93.0 94.0 95.0 96.0 97.0 98.0 99.0 100.0 101.0 102.0 103.0 104.0 105.0 106.0 107.0 108.0 109.0 110.0 111.0 112.0 113.0 114.0 115.0 116.0 117.0 118.0 119.0 120.0 121.0 122.0 123.0 124.0 125.0 126.0 127.0 128.0 129.0 130.0 131.0 132.0 133.0 134.0 135.0 136.0 137.0 138.0 139.0 140.0 141.0 142.0 143.0 144.0 145.0 146.0 147.0 148.0 149.0 150.0 151.0 152.0 153.0 154.0 155.0 156.0 157.0 158.0 159.0 160.0 161.0 162.0 163.0 164.0 165.0 166.0 167.0 168.0 169.0 170.0 171.0 172.0 173.0 174.0 175.0 176.0 177.0 178.0 179.0 180.0 181.0 182.0 183.0 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1155.0 1156.0 1157.0 1158.0 1159.0 1160.0 1161.0 1162.0 1163.0 1164.0 1165.0 1166.0 1167.0 1168.0 1169.0 1170.0 1171.0 1172.0 1173.0 1174.0 1175.0 1176.0 1177.0 1178.0 1179.0 1180.0 1181.0 1182.0 1183.0 1184.0 1185.0 1186.0 1187.0 1188.0 1189.0 1190.0 1191.0 1192.0 1193.0 1194.0 1195.0 1196.0 1197.0 1198.0 1199.0 1200.0 1201.0 1202.0 1203.0 1204.0 1205.0 1206.0 1207.0 1208.0 1209.0 1210.0 1211.0 1212.0 1213.0 1214.0 1215.0 1216.0 1217.0 1218.0 1219.0 1220.0 1221.0 1222.0 1223.0 1224.0 1225.0 1226.0 1227.0 1228.0 1229.0 1230.0 1231.0 1232.0 1233.0 1234.0 1235.0 1236.0 1237.0 1238.0 1239.0 1240.0 1241.0 1242.0 1243.0 1244.0 1245.0 1246.0 1247.0 1248.0 1249.0 1250.0 1251.0 1252.0 1253.0 1254.0 1255.0 1256.0 1257.0 1258.0 1259.0 1260.0 1261.0 1262.0 1263.0 1264.0 1265.0 1266.0 1267.0 1268.0 1269.0 1270.0 1271.0 1272.0 1273.0 1274.0 1275.0 1276.0 1277.0 1278.0 1279.0 1280.0 1281.0 1282.0 1283.0 1284.0 1285.0 1286.0 1287.0 1288.0 1289.0 1290.0 1291.0 1292.0 1293.0 1294.0 1295.0 1296.0 1297.0 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1441.0 1442.0 1443.0 1444.0 1445.0 1446.0 1447.0 1448.0 1449.0 1450.0 1451.0 1452.0 1453.0 1454.0 1455.0 1456.0 1457.0 1458.0 1459.0 1460.0 1461.0 1462.0 1463.0 1464.0 1465.0 1466.0 1467.0 1468.0 1469.0 1470.0 1471.0 1472.0 1473.0 1474.0 1475.0 1476.0 1477.0 1478.0 1479.0 1480.0 1481.0 1482.0 1483.0 1484.0 1485.0 1486.0 1487.0 1488.0 1489.0 1490.0 1491.0 1492.0 1493.0 1494.0 1495.0 1496.0 1497.0 1498.0 1499.0)
を評価すると途中でかっこが勝手に付けられた状態で
のように途中で打ち切られてしまいます。
Q: How to create 2x2 matrix from (float-vector 1 2) by (* #f1 2)^T #f(1 2))
asked by @h-kamada
setq a (matrix (float-vector 1 2))
#2f((1.0 2.0))
(m* (transpose a) a )
#2f((1.0 2.0) (2.0 4.0))
このような関数or方法はあるのでしょうか？
例えば、
(defun func1 (a1 &key k1 (k2 t))
... )という関数があるとして、これを以下のようにcallした時に
(func1 "fuga")
関数内で
(dolist (arg *args-of-this-func*)
(format "~A: ~A~%" (car arg) (cdr arg))
;; => (:a1 . "fuga")
;; (:k1 . nil)
;; (:k2 . t)のようにアクセスできると大変嬉しいです。
Yohei Kakiuchi が4年以上前に追加. 約4年前に更新.
ステータス: 新規 開始日: 2010/05/20
優先度: 高め 期日:
担当者: Yohei Kakiuchi 進捗 %:
0%
カテゴリ: - 作業時間の記録: -
対象バージョン: -
説明
整数のマトリックスを読み込むと変になります。
56.jskrbeusgl$ setq a #2i((0 0) (0 0))
;p=pointer?(0xbe69c10)
;p=pointer?(0xbe69bf8)
57.jskrbeusgl$ a
make-arrayで作ることはできます。
リードマクロの問題ではないかと推測されます。
59.jskrbeusgl$ setq b (make-array (list 2 2) :element-type :integer)
60.jskrbeusgl$ b
履歴
#1 Yohei Kakiuchi が約4年前に更新
Yohei Kakiuchi wrote:
整数のマトリックスを読み込むと変になります。 [...]
make-arrayで作ることはできます。 リードマクロの問題ではないかと推測されます。 [...]
lisp/l/array.l の 209行めread-integer-arrayがコメントアウトされている。
理由はあるでしょうか？ とりあえず使えるようですが。
(eval-when (load eval)
(set-dispatch-macro-character ## #\A 'read-array)
(set-dispatch-macro-character ## #\F 'read-float-array)
;(set-dispatch-macro-character ## #\I 'read-integer-array)
)
Feature request of EUSLISP_LOAD_PATH.
https://github.com/euslisp/EusLisp/blob/master/lisp/l/loader.l#L173
Currently *load-path* is defined by EUSDIR, but it would be useful we can use EUSLISP_LOAD_PATH environment variable like PYTHONPATH in order to use require without path to lisp file.
this e-mail is originally posted from Henry Baker to [email protected] on Mon, Jul 22, 2013 at 11:19 PM
I'm trying to display a body that was created using 'make-body-from-vertices'.
The body consists of 87618 faces, 131427 edges, 41653 vertices, and takes
1827 seconds (about 1/2 hour) to create the body using 'make-body-from-vertices'.
The body is apparently correctly made, and responds to a number of queries, e.g.,
:faces, :edges, :vertices, :euler.
euler number is 1079.
primitive-body-p is t.
However, when I do (objects mybody), the Xwin display comes up with the coordinate
axes, but then a segmentation fault occurs.
This body can be successfully loaded & displayed using a number of other programs,
e.g., OpenSCAD, VisCAM View, netfabb Studio, Meshlab, etc.
It's going to be difficult to debug this if it takes 30 minutes just to create
the body !
I notice that many of the EusLisp demo bodies have been 'dumped' out. What is
the procedure for 'dumping' an EusLisp body into a file?
などありますか。特にrobot-interfaceクラスのインスタンスに対して使いたいです。
やりたいことは、ロボットのステート（認識結果やアングルベクターなど）がslotsに入っているので、
testを行うときにそのままロードして各メソッドのテストをする、ということです。
rosbagを再生してもいいですが、さっとできる方がいいのと、
あるメソッドのための初期姿勢に移動するために準備（必要なメソッドを順に呼ぶ）が必要なのをどうにかしたいというものです。
jmanual.pdf のP.14のサンプルを実行するとマニュアルと異なる挙動をする。
(let ((x 1))
(declare (special x))
(let* ((x (+ x x)) (y x))
(let* ((y (+ y y)) (z (+ x x)))
(declare (special x))
(format t "x=~S y=~s z=~s" x y z))))
マニュアルでは、 --> x=1 y=4 z=2 となっているが、 --> eusgl 0 error: unbound variable x in (+ x x) となる。
I'd like to read lines which has more than 8192 characters .
Currently, we can read lines until 8192 characters because of immediate in lisp/c/lispio.c.
Is there any reason to use 8192?
Any problems with the following increasing?
Index: lispio.c
===================================================================
--- lispio.c (リビジョン 669)
+++ lispio.c (作業コピー)
@@ -212,13 +212,13 @@
pointer argv[];
{ register pointer strm;
pointer eoferrorp=T,eofvalue=NIL;
- byte cb[8192];
+ byte cb[16384];
register int i=0,ch;
ckarg2(0,3);
strm=getinstream(ctx,n,argv[0]);
if (n>=2) eoferrorp=argv[1];
if (n==3) eofvalue=argv[2];
- while (i<8192) {
+ while (i<16384) {
ch=readch(strm);
if (ch=='\n') break;
else if (ch==EOF) {this post is originally posted at http://sourceforge.net/p/jskeus/mailman/jskeus-users/thread/E1V09Oo-0003S0-3Y%40elasmtp-banded.atl.sa.earthlink.net/#msg31186987.
Hi all:
You have a very impressive system.
I've been able to fire up the irteus system & view all the demos.
I've been able to load individual models -- e.g., the coffee-cup -- and display them in the IRT viewer window.
The IRT viewer window allows me to rotate the cup with the left mouse button, but how do you move in & out & move side to side?
In many other 3D viewers that I've used, the mouse scroll-wheel moves in & out (zooms), while the right mouse button moves (translates) side to side & up and down.
Is there an easy way to get this behavior in the irteus viewer?
Also, is it possible to see the source file for the coffee cup? It looks like the coffee cup is the compiled output of some other program.
Thanks very much for your help.
Henry Baker
Santa Barbara, CA
I see this topic several times and now I have it again...
I'd like to launch euslisp without bootstraping messages.
I missed several important error message because of a lot of bootstraping messages from multiple euslisp processes.
Formula: https://gist.github.com/wkentaro/e4299847bbf2eb45661b
% brew install euslisp --verbose --debug
/usr/local/Library/brew.rb (Formulary::FormulaLoader): loading /usr/local/Library/Formula/euslisp.rb
/usr/local/Library/Homebrew/build.rb (Formulary::FromPathLoader): loading /usr/local/Library/Formula/euslisp.rb
==> Downloading https://github.com/euslisp/EusLisp/archive/EusLisp-9.15.tar.gz
Already downloaded: /Library/Caches/Homebrew/euslisp-9.15.tar.gz
==> Verifying euslisp-9.15.tar.gz checksum
tar xf /Library/Caches/Homebrew/euslisp-9.15.tar.gz
==> make eus0
mkdir -p /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin
mkdir -p /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/bin
mkdir -p /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj
mkdir -p /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/lib
(cd /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15; test -e include || ln -sf lisp/c include)
(cd c; \
gcc -c -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/fcall.o -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include fcall.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/memory.o memory.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/makes.o makes.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/eval.o eval.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/leo.o leo.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/eusstream.o eusstream.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/reader.o reader.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/printer.o printer.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/intern.o intern.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/sequence.o sequence.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/lists.o lists.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/predicates.o predicates.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/specials.o specials.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/lispio.o lispio.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/vectorarray.o vectorarray.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/arith.o arith.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/matrix.o matrix.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/calleus.o calleus.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/charstring.o charstring.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/unixcall.o unixcall.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/sysfunc.o sysfunc.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/eusioctl.o eusioctl.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/compsub.o compsub.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/eus.o eus.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/loadelf.o loadelf.c)
( sh tool/makedate > c/makedate.c)
fatal: Not a git repository (or any of the parent directories): .git
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/makedate.o makedate.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/big.o big.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/fstringdouble.o fstringdouble.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/helpsub.o helpsub.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/mthread.o mthread.c)
(cd c; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/mthread_posix.o mthread_posix.c)
(cd tool; \
gcc -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/bin/gccls gccls.c ;\
cd /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15 )
(cd l; /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/bin/gccls constants.l; \
gcc -c -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/constants.l.o -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include constants.l.c; \
/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/bin/gccls eusstart.l; \
gcc -c -Dx86_64 -Wno-return-type -DLinux -D_REENTRANT -DVERSION=\"9.15\" -DDarwin -DLIB6 -falign-functions=8 -fPIC -g -DTHREADED -DPTHREAD -DX_V11R6_1 -DGCC -DGCC3 -DGCC4 -I/usr/include -I/opt/local/include -I/opt/X11/include -I/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/include -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/eusstart.l.o eusstart.l.c)
(gcc -o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/bin/eus0 /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/fcall.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/memory.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/makes.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/eval.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/leo.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/eusstream.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/reader.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/printer.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/intern.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/sequence.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/lists.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/predicates.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/specials.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/lispio.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/vectorarray.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/arith.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/matrix.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/calleus.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/charstring.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/unixcall.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/sysfunc.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/eusioctl.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/compsub.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/eus.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/loadelf.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/makedate.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/big.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/fstringdouble.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/helpsub.o \
/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/constants.l.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/eusstart.l.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/mthread.o /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/mthread_posix.o \
-ldl -lm -lpthread ; \
cd /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/bin; rm -f euscomp; ln -sf eus0 euscomp)
==> make eus1
(echo /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/readmacro; /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/bin/euscomp <tool/compile_l.l >/dev/null)
/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/readmacro
/bin/sh: line 1: 94484 Segmentation fault: 11 /private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/bin/euscomp < tool/compile_l.l > /dev/null
make: *** [/private/tmp/euslisp20150908-94285-ib6h43/EusLisp-EusLisp-9.15/Darwin/obj/readmacro.o] Error 139
/usr/local/Library/Homebrew/debrew.rb:11:in `raise'
BuildError: Failed executing: make eus1
1. raise
2. ignore
3. backtrace
4. irb
5. shell
Choose an action:It fails at make eus1.
cobra% gdb euscomp
GNU gdb (GDB) 7.10
Copyright (C) 2015 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law. Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-apple-darwin14.5.0".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
<http://www.gnu.org/software/gdb/bugs/>.
Find the GDB manual and other documentation resources online at:
<http://www.gnu.org/software/gdb/documentation/>.
For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from euscomp...(no debugging symbols found)...done.
(gdb) run < tool/compile_l.l
Starting program: /private/tmp/euslisp20150908-95456-iolg32/EusLisp-EusLisp-9.15/Darwin/bin/euscomp < tool/compile_l.l
warning: `/BinaryCache/coreTLS/coreTLS-35.40.1~1/Objects/coretls.build/coretls.build/Objects-normal/x86_64/system_coretls_vers.o': can't open to read symbols: No such file or directory.
warning: Could not open OSO archive file "/BinaryCache/coreTLS/coreTLS-35.40.1~1/Symbols/BuiltProducts/libcoretls_ciphersuites.a"
warning: Could not open OSO archive file "/BinaryCache/coreTLS/coreTLS-35.40.1~1/Symbols/BuiltProducts/libcoretls_handshake.a"
warning: Could not open OSO archive file "/BinaryCache/coreTLS/coreTLS-35.40.1~1/Symbols/BuiltProducts/libcoretls_record.a"
warning: Could not open OSO archive file "/BinaryCache/coreTLS/coreTLS-35.40.1~1/Symbols/BuiltProducts/libcoretls_stream_parser.a"
Program received signal SIGSEGV, Segmentation fault.
0xffffffffffffffff in ?? ()
In some cases, cd does not work.
First of all, test cases are here:
eus0
1.eus0$ (cd (unix:getenv "EUSDIR"))
t ;; work correcly
2.eus0$ (setq aa (unix:getenv "EUSDIR"))
"/home/nozawa/ros/hydro_parent/devel/share/euslisp/jskeus/eus/"
3.eus0$ (cd aa)
-2 ;; does not work?
4.eus0$ (cd (format nil "~A" aa))
t ;; work correctly
I checked if return code from cd is t, pwd value is correctly changed.
I'd like to get convex hull for support polygon calculation.
I cannot get convex hull because of "edgeq error" from convex-hull-3d.
I tried the following command:
(load "models/h7-robot.l")
(setq *h7* (h7))
(objects (list (send *h7* :rleg :ankle-r :child-link)))
(convex-hull-3d (remove-duplicates
(flatten (send-all (send (send *h7* :rleg :ankle-r :child-link) :bodies) :vertices))
:test #'(lambda (x y) (eps-v= x y *epsilon*))))
I obtain the following error:
irteusgl 0 error: edgeq error!! in (convex-hull-3d (remove-duplicates (flatten (send-all (send (send *h7* :rleg :ankle-r :child-link) :bodies) :vertices)) :test #'(lambda (x y) (eps-v= x y *epsilon*))))
I also tried quickhull function, but obtained points are not correct (not convex hull).
(send-all (quickhull (remove-duplicates (flatten (send-all (send (send *h7* :rleg :ankle-r :child-link) :bodies) :vertices))
:test #'(lambda (x y) (eps-v= x y *epsilon*)))) :draw-on :flush t :size 10 :color #f( 1 0 0))
long side and short side's direction is odd
In Picture, left side leg is right.
例えば1000個の独立した位置に対するIKを解く場合、並列に解くにはどうすればいいでしょうか
Euslispにはmulti-thread対応していると思うんですが、サンプルなどはないでしょうか
eusを何個か立ち上げて解を書き出すということもできると思うが、もっといい方法があればご教示ください。
I'd like to split a string by a separater.
3.irteusgl$ (split-function " " "1 2 3 4 5")
(list "1" "2" "3" "4" "5")
Is there any way to split string like this?
http://jenkins.ros.org/job/ros-hydro-euslisp_binarydeb_precise_amd64/2/consoleFull said
compiling file: /tmp/buildd/ros-hydro-euslisp-1.0.2-0precise-20140328-1351/jskeus/eus//lib/llib/pgsql.l
�[1;31m/tmp/buildd/ros-hydro-euslisp-1.0.2-0precise-20140328-1351/jskeus/eus/Linux64/bin/eus2 0 error: file #P"/usr/lib/libpq.so" not found in (load "/usr/lib/libpq.so")�[0m
nil
lマクロとlambda関数について質問させてください。
下に示すようなeusのコードを実行すると、
1.irteusgl$ demo
[ INFO] [1446446798.232458366]: a:goto-front-of-fridge b:(:rarm :larm)
[ INFO] [1446446798.232677039]: a:base-go-to-fridge b:(:base :larm)
nil
2.irteusgl$ func
(lambda-closure nil 15480480 0 (userdata) (ros::ros-info "a:~A b:~A" (car ag) (cadr ag)))
3.irteusgl$ funcall func 2
;; Segmentation Fault.
;; in (funcall func 2)
;; You are still in a signal handler.
;;Try reset or throw to upper level as soon as possible.
;; code=1797480240 x=6b235e00 addr=ec36a0
となります。
hoge1が実行されている際、a , bにはリスト化した中身がしっかりと渡されていますが、
lambda関数の中身に関してはa, bの値はcar ag などのようにしか反映されていないようです。
どのように記述すればfunc の中身の,a ,bにあたるものが反映されるでしょうか。
(defmacro hoge1 (a b)
`(let ()
(ros::ros-info "a:~A b:~A" ,a ,b)
(setq func #'(lambda (userdata)
(ros::ros-info "a:~A b:~A" ,a ,b)
))))
(defmacro hoge2 (arg)
`(let ()
(dolist (ag ,arg)
(hoge1
(car ag) (cadr ag))
)))
(defun demo ()
(hoge2
'((goto-front-of-fridge (:rarm :larm))
(base-go-to-fridge (:base :larm))
))
)
newcoords
manual : (:newcoords (newrot newpos))
coords : (:newcoords (newrot &optional newpos))
1.eusgl$ (defun make-door nil
(let (b1)
(setq b1 (make-cube 5 40 90))
(setq c1 (make-cylinder 5 5))
(setq c2 (make-cylinder 5 5))
(send c1 :rotate (deg2rad 90) :y)
(send c1 :locate #f(5 15 0))
(send c2 :rotate (deg2rad 90) :y)
(send c2 :locate #f(-5 15 0))
(setq b1 (body+ b1 c1))
(setq b1 (body+ b1 c2))
(send b1 :locate #f(5 20 0))
(send b1 :set-color :blue)
b1))
make-door
2.eusgl$ nil
2.eusgl$ make-door
eusgl 0 error: outer circuit not found
in (body+ b1 c1)
Reported by @kindsenior
It seems there are limitation in numbers if piped fork streams
(setq *p* (piped-fork "bash"))
(progn (setq i 0) (do-until-key (format *p* "ls~%") (warn " ~s" i) (incf i)))
I doubt that it forget to close file stream.
There might be limitation in read/write stream??
Because of recent change of euslisp package, maybe it seems that euslisp must be installed under non ROS package system.(e.g. apt-get for Ubuntu)
On the other side, ROS supports Homebrew and has own tap(tap is similar to ppa on apt system).
Homebrew also has binary distribution system called Bottle.
So I intend to release euslisp (and jskeus) as homebrew packages.
How do you think of this? (Is there any problem?)
(ros::roseus "test")
(require :pr2-interface "package://pr2eus/pr2-interface.l")
(load "package://jsk_demo_common/euslisp/attention-observation.l")
(require :pr2-move "package://jsk_demo_common/euslisp/pr2-move.l")
(load "models/room73b2-scene.l")
(load "lisp/comp/builtins.l")
(room73b2)
(dolist (obj (send room73b2 :objects) nil)
(ros::ros-info "obj:~A" obj)
(setq obj (copy-object obj))
)
を走らせると、copy-object でsegmentation faultする。
gdbすると次のようになる。
;p=pointer?(0x68dd140)
Program received signal SIGSEGV, Segmentation fault.
0x000000000041b262 in copyobj (ctx=0x7510b0, org=0x68e8798) at leo.c:560
560 if (p_marked(org)) return(cpvec[intval(x)]);
(gdb)
pythonで言うところの
In [17]: struct.unpack('f', struct.pack('i', 1105199104))
Out[17]: (28.0,)をeuslispで実行したいのですが，どのようにすればよいでしょうか．
this issue is originally posted at http://sourceforge.net/p/jskeus/mailman/jskeus-users/ byFrom: Henry Baker hbaker1@pi...
I've found Sugihara & Iri's 1989 paper "A Solid Modelling System
Free from Topological Inconsistency" to be an incredibly elegant
way to do Constructive Solid Geometry.
Sugihara, K., and Iri, M.. "A Solid Modelling System Free
from Topological Inconsistency". J. Info. Proc., v12#4, 1989,
380-393.
Has anyone implemented these ideas in EusLisp?
Since EusLisp has bignums, at least a research-quality implementation
could be done in EusLisp that didn't worry about overflow.
jmanual.pdf のP.81
sys:poke value [vector] address value type
となっているが、value type -> value-type で一つの引数
以下が、テストプログラム。
(setq *global-variable* 1)
(defun test-func (x) (+ *global-variable* 1))
(print (test-func 1))
(setq f (let (f) (setq f #'test-func) (print (funcall f 1)) f))
(print (funcall f 1)) ;; seg fault may occure here
ファイルは
https://github.com/euslisp/jskeus/blob/master/irteus/irtglrgb.l
色見本は
http://en.wikipedia.org/wiki/X11_color_names
マニュアルにこの情報を追加する必要が有る．@Tnoriaki
I don't know the detail of the function, but I found it a little bit wired that:
Roll2-Roll1=Yaw1-Yaw2 = PI =Pitch1 + Pitch2, but did not equal to Pitch1 - Pitch2
Is this the normal output?
roseus output:
52.E11-irteusgl$ send *co* :rpy-angle
((-0.065534 -0.021481 0.084433) (3.07606 -3.12011 -3.05716))
53.E11-irteusgl$ (- (caar *) (cadr *)
)
/home/chen/ros/hydro/src/jsk-ros-pkg/jsk_roseus/euslisp/jskeus/eus/Linux64/bin/irteusgl 0 error: number expected in (- (caar *) (cadr *))
54.E12-irteusgl$ caar *
-0.065534
55.E12-irteusgl$ setq rpy (send *co* :rpy-angle)
((-0.065534 -0.021481 0.084433) (3.07606 -3.12011 -3.05716))
I would like to convert interger to string.
For example,
(setq name "fig")
(setq count 1)
(convert 1 to "1"
count -> converted1) <- I don't know how to do it
(setq picture-name (concatenate string name converted1))
(picture-name)-> "fig1"
I found there is write-to-string method in common lisp.
Could you tell me if there is some way like this in euslisp?
I'm very sorry if there is some explanation in jmanual, but I could not find it.
This is originally posted http://sourceforge.net/p/jskeus/mailman/jskeus-users/thread/E1V1qiy-0007ol-0C%40elasmtp-dupuy.atl.sa.earthlink.net/#msg31221389
Attached is a file that demonstrates the issues with both 'make-body-from-vertices' and with the display code that causes a segmentation fault.
Simply fire up 'irteusgl' and tell it '(load "struto.l")'.
The file will create a list of 87618 face triangles, then call 'make-body-from-vertices' on this list, and then call '(objects mybody)' on the resulting body.
On a standard EusLisp, the 'make-body-from-vertices' will take perhaps 30 minutes, and the call to 'objects' will then crash.
With the modified 'make-body-from-vertices' and the modified 'remove-duplicates' (see my previous messages), the 'make-body-from-vertices' should take perhaps 40 seconds, and the call to 'objects' will crash.
I don't know what the problem is with the system crashing.
in euslisp:
15.irteusgl$ lisp::char<= #\a #\c
nil
16.irteusgl$ lisp::char>= #\a #\c
thowever in sbcl (Common Lisp):
* (char<= #\a #\c)
T
* (char>= #\a #\c)
NILI think it is opposite, and euslisp returns wrong...
5.irteusgl$ (rotation-angle (unit-matrix))
nil
6.irteusgl$ (rotation-angle (rotation-matrix pi/2 :z))
(1.5708 #f(-nan -nan -nan))
Do we fix this problem on jskrbeus?
this issue is originally posted at http://sourceforge.net/p/jskeus/mailman/jskeus-users/ byFrom: Henry Baker hbaker1@pi... - 2013-07-24 04:31:37
There are several places in the EusLisp documentation where the word 'integer' should be replaced by 'fixnum', because 'integer' refers to either a fixnum or a bignum. In particular, on page 5 under 'Data Types', the word 'integer' is used instead of 'fixnum' to refer to 30-bit immediate integers.
Also, under 'Compatibility with Common Lisp', bignums are supported.
I'd like to get Euslisp print result from outside of Euslisp such as bash like this:
bash$ AA=$(eusgl "(print \"AA\")" "(exit)")
If I execute the command, I obtain this result:
# executed command
bash$ AA=$(eusgl "(print \"AA\")" "(exit)")
set ARCHDIR to Linux64
use the location of executables to set EUSDIR
set EUSDIR to /home/nozawa/ros/groovy/jsk-ros-pkg/jsk_roseus/euslisp/jskeus/eus
configuring by "/home/nozawa/ros/groovy/jsk-ros-pkg/jsk_roseus/euslisp/jskeus/eus/lib/eusrt.l"
connected to Xserver DISPLAY=:0.0
X events are being asynchronously monitored.
EusLisp 9.00(fcc6e04) for Linux64 created on W540-nozawa(Sun Apr 27 23:29:41 JST 2014)
# result
bash$ echo $AA
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;;\
geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin ;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined\
;; fstringdouble "AA"
The result includes both desired output and output of system::exec-module-init.
https://github.com/euslisp/EusLisp/blob/master/lisp/l/eusstart.l#L277
If output from system::exec-module-init is printed to standard-error instead of standard-output,
I can separate desired output from output of system::exec-module-init.
Moreover, other outputs like "load-library", which are printed at the beginning of Euslisp,
are output to standard-error.
Is there any reason to use standard-output in system::exec-module-init?
This post is originally posted at http://sourceforge.net/p/jskeus/mailman/jskeus-users/thread/E1V1MvE-0003Zg-Hx%40elasmtp-mealy.atl.sa.earthlink.net/#msg31202908
I've tracked down some of the issues re excessively long runtimes for 'make-body-from-vertices',
found in 'primt.l' in the 'geo' directory.
In addition to the performance problem with 'remove-duplicates', there is also a performance
problem with the use of 'assoc' in 'make-body-from-vertices'.
'assoc' is being called to search a list of 41653 vertices, which is intolerably slow.
By replacing the call to 'assoc' with a hash table, the performance of 'make-body-from vertices'
was improved from 30 minutes to 39 seconds !!
39 seconds is still too slow for simply creating a body with 87618 faces, 131427 edges and 41653
vertices, but it is at least tolerable.
(defun make-body-from-vertices (face-vertices &optional (klass body-class))
; face-vertices=(list #f(x1 y1 z1) #f(x2 y2 z2) ...) ...
(let* ((vlist (mapcar #'list
(remove-duplicates
(apply #'append face-vertices)
:test #'equal)))
(vhash (make-hash-table :size (* 2 (length vlist)) :test #'equal))
faces bod)
(dolist (vlist-entry vlist) ; Populate hash table.
(or (gethash (car vlist-entry) vhash)
(setf (gethash (car vlist-entry) vhash) vlist-entry)))
(dolist (fverts face-vertices)
(let ((fvlist))
(dolist (fv fverts)
;; (push (assoc fv vlist) fvlist)
;; (push (assoc fv vlist :test #'equal) fvlist) ; *** Too slow !!! ***
(push (gethash fv vhash) fvlist))
(push (make-face-from-vertices (nreverse fvlist)) faces)) )
(setq bod (instance body-class :init :faces (nreverse faces)))
(send bod :csg (list (cons :body-from-vertices face-vertices)))
bod) )
BTW, after creating this large, complex body, I still can't display it, as irteusgl produces
a segmentation fault when '(objects mybody)' is executed.
マシンをインストールしてから一回リブートしないと
以下のエラーが出ることがあります。
現状の対処法は、インストール後に一回リブートして、
DISPLAY= catkin build euslisp
とするようです。
leus@leus-ThinkPad-T410:~/ros/hydro_parent/build/euslisp$ make
can't load font "-courier-medium-r--8-"can't load font
"-courier-medium-r--10-"can't load font
"-courier-medium-r--12-"can't load font
"-courier-medium-r--14-"can't load font
"-courier-medium-r--18-"can't load font
"-courier-bold-r--12-"can't load font
"-courier-bold-r--14-"can't load font
"-courier-bold-r--18-"can't load font
"-courier-bold-r--24-"can't load font
"-times-medium-r--10-"can't load font
"-times-medium-r--12-"can't load font "-times-bold-r--12-"can't
load font "-times-bold-r--14-"can't load font
"-times-bold-r--18-"can't load font "-times-bold-r--24-"can't
load font "lucidasans-bold-12"can't load font
"lucidasans-bold-14"can't load font
"-Helvetica-Bold-R-Normal--12-"can't load font
"-Helvetica-Medium-R-Normal--12-"X Error of failed request:
BadFont (invalid Font parameter)
Major opcode of failed request: 56 (X_ChangeGC)
Resource id in failed request: 0x0
Serial number of failed request: 49
Current serial number in output stream: 58
make[4]: ** [/home/leus/ros/hydro_parent/src/euslisp/Linux64/obj/glconst.o]
エラー 1
[100%] Built target compile_euslisp
Hi, I'm interested in implementing the RGC.
I have read the paper and the relevant Makefile.
@k-okada What should I do next?
PS: README.rgc is unreadable.
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