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start [2020/10/29 13:05] – [Changelog] oliverstart [2022/07/19 17:13] (aktuell) – [Changelog] oliver
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 ----------------- -----------------
-== Nimue Platform 0.99 2020-10 ==+== Nimue Platform 0.105 2022-07 ==
 ----------------- -----------------
 +**Added**
 +
 +     * Better documentation with examples of PointSetFit
 +
 +-----------------
 +== Nimue Platform 0.105 - 2022-02 ==
 +-----------------
 +
 +**Fixed**
 +
 +     * Dataminer: Calculation of standard deviations failed
 +     * DH Calc Element: modified dh and classical dh, index numbers start now at meaningfull positions (for modified dh alpha an r starts from 1 and d and theta starts from 0. For classical DH all parameters start with index 1.
 +     * ransaclin filter does not work for input data including NaN-values. NaN-values are now automatically excluded. But keep in mind to adjust the parameters in these cases.
 +
 +**Added**
 +
 +     * New functionality of the Forward Kinematics element which allows calculations based on modfied Denavit Hartenberg parameters
 +
 +-----------------
 +== Nimue Platform 0.104 - 2021-11 ==
 +-----------------
 +
 +**Fixed**
 +
 +     * <DH>-Element now corretly determines the position trajectories
 +
 +-----------------
 +== Nimue Platform 0.103 - 2021-10 ==
 +-----------------
 +
 +**Added**
 +
 +     * Method getFramesOfEachIntervall() extended to be able to get frames also from phases
 +     * Added functionality to DenavitHartenberg Calc element to determine mean/std of d,r,alpha and theta values directly as parameters calculated by the element itself.
 +     * Added warning messages if a filter results in a complete trajectory with at minimum of one component is NaN for each frame
 +     * Addes "lastD" parameter to the DH-element to define the TCP coordinate system by translation about this parameter around the z-axis of the last joint axis.
 +     * Element to calculate forward kinematics based on Denavit Hartenberg convention
 +
 +**Fixed**
 +
 +     * Added test for all values to be equal of 0.0 of matrix-3d objects and set them them to Double.MINVALUE if not all values are exatly 0.0 to exclude them for substitution by the Vicon WORKAROUND filter isersoSelective-Filter.
 +     * Wrong ResouceBundle name "javax.vecmath.ExceptionString" in vecmath: VecMathI18N.java
 +     * Fixed constructor of DualVector6e elements used in the DH-element.
 +
 +-----------------
 +== Nimue Platform 0.102 - 2021-09 ==
 +-----------------
 +
 +**Added**
 +     * New attribute "expectedPhasesCount" added to the element "Phase" which defines the expected count of phases. If the created count of phases does not fit this values defined by this attribute a warning is given.
 +     * New element <DH> to determine several variants of DH-parameters from circle fits.
 +     * New Datamining parameter Types: "std" and "frames"
 +     * Completion of RANSAC-Linear-Filter to preprocess static measurement-data to eliminate outliers.
 +     * Support for filtering of quaternion-type timeseries during trial-loading for processing
 +     * Added "fit" parameter to ransaclin() to substitute excluded frames with the fit value instead of NaN.
 +     * Additional attributes "minthreshold", "maxthreashold" to the <Event>-element, alow to use methods max/minvelocity in combination with "tolerance".
 +     * New attribute "invert" added to the phase-element.
 +
 +**Fixed**
 +     * Loading RANSAC-Linear filter failed due to wrong specification of implementation class name
 +     * Filterchain interation - only the first filter was used
 +     * Event-Docu corrected
 +
 +**ToDo**
 +     * Filter zero2nan for matrix3x3, not only all zero but also unit-matrix with 1 in diagonal elements
 +     * Workaround that fills all components of a matrix3d to NaN if ransaclin() has set only some of them to NaN
 +     * if group names inclunde "_" then they are excluded from the shown list in the DataExplorer
 +
 +-----------------
 +== Nimue Platform 0.101 - 2021-07 ==
 +-----------------
 +
 +**Added**
 +     * New function ddist(A,B,ref) to define a singed length of a vector based on a given reference vector.
 +     * New property "seperateGroupFiles" for the outputhandler MotionDataOutputHandler to save data for each calcgroup into sepearte files
 +     * New function mdho() to determine the origin of a coordinate system based on modifed Denavit Hartenberg convention
 +     * New function mdh() to determine the 4x4-Matrix of modified Denavit Hartenberg convention
 +
 +-----------------
 +== Nimue Platform 0.100 - 2021-04 ==
 +-----------------
 +**Fixed**
 +     * The calculation element "LocalCoordinateSystem" has not considered the includes/excludes attributes. Now the attributes can be used to prohibit calculation for specific trials.
 +     * The <Phase>-Element has added wrong phases in the special case that there are single frames fulfilling the inphase-function. Theses 1-frame-length-phases are excluded now as it is specified.
 +     * The <LocalCoordinateSystem>-Element overwrites the original given (by the attribute) global position. A new object is now created to prevent for this behavoir. 
 +     * The <GlobalCoordinateSystem>-element overwrites the original gien (by attribute) local position and rotation. New objects are now created to preent for this behavoir.
 +     * The <Point>-Element used with calibration for specified phases does not work correct because the complete trial length is used instead only the number of frames from all phases together. Fixed by determing the the number of counts from the frames-object.
 +     * poc()-function bug fixed
 +
 +**Added**
 +     * Timeseries read to be processed can be renamed defined by a mapping element in the input labelset. This was implemented explicit for GenericData, generic-c3d and vicon-c3d files only. The mapping functionality is now added for files in the d3d-file-format.
 +     * New feature: Attribute "autodetectStaticFrames" can be used to calibrate a point based on a non static trial by autodetection of static frames.
 +     * New feature: The element <LocalCoordinateSystem> supports calibration.
 +     * Documentation for the <GlobalFrame>-element in Show4d added.
 +
 +-----------------
 +== Nimue Platform 0.99 - 2020-12 ==
 +-----------------
 +
 **Changed** **Changed**
      * The axes calculated with AoR estimation based on the SARA algorithm are now normalized.      * The axes calculated with AoR estimation based on the SARA algorithm are now normalized.
 +     * The attribute "Rotation" of the <CoordinateSystem>-element is interpreted as the name of a trajectory defining a matrix3d which descirbed the orientation of the coordinate system. This includes the automatically creation of alias trajectories for the columns of the matrix. This is changed to allow an arbitray formula describing the rotation. With this change alias trajectories are no longer created automatically.
 +     * AoRSARA: Missing or not available movingCoordinateSystem/coordinateSystem is logged and not stops further processing
  
 **Added** **Added**
      * PointSetFit calc-element to fit two point sets based on singular value decomposition.       * PointSetFit calc-element to fit two point sets based on singular value decomposition. 
      * Transpose function t() for 4x4 matrix type      * Transpose function t() for 4x4 matrix type
 +     * implemenation of iCoordinateSystem in the PointSetFit element to use the element name as a reference in the attributes of AoR-circle-fit calculation elements.
 +     * The DataExplorer is now able to collect trial data from more than one motiondata file e.g. v3d and rtde, into one DataCollection, to be able to plot timeseries of all data files together inside one plot.
 +     * PointSetFit: Possibility to use two different set of phases for each of the trajectories. This allows to work with trajectories which have different delays.
 +     * PointSetFit: Automatically exclude phases for which one of the trajectories has no values.
 +     * PointSetFit: New attribute "maxVariation"
 +     * Export Data: The name of the phase defined as the labelgroup name is added as a suffix to the output filename. 
  
 **Fixed** **Fixed**
Zeile 45: Zeile 152:
      * Sequences of trial types works now the same way as if the trial types are used separately, e.g. triggering works, configuration is read from the single trial types, etc.      * Sequences of trial types works now the same way as if the trial types are used separately, e.g. triggering works, configuration is read from the single trial types, etc.
      * Constant types Vector3d, Matrix3d, Vector4d, Matrix4d and Quat4d are saved now properly in the session parameter file if the parameters are created by calibration. The functions vec(), vec4(), mat(), mat4() and q() are used.      * Constant types Vector3d, Matrix3d, Vector4d, Matrix4d and Quat4d are saved now properly in the session parameter file if the parameters are created by calibration. The functions vec(), vec4(), mat(), mat4() and q() are used.
 +     * Catch NumberFormatException if in the Visual4d-View an undfined color name is used. 
 +     * If differentiation configuration is used in inputlabelsets to read data from multiple motiondata files warnings are thrown because of trying to create differentiations multiple times.
  
 **ToDo** **ToDo**
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 **Planed** **Planed**
-   * The json export and also processing save as json, do both not save derivatives but shoud.+   * The json export and also processing save as json, do both not save derivatives but should.
  
 =====Applications based on this platform===== =====Applications based on this platform=====
start.1603973150.txt.gz · Zuletzt geändert: 2020/10/29 13:05 von oliver

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