Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- start [2021/07/05 14:22] – [Changelog] oliver
+++ start [2022/07/19 17:13] (aktuell) – [Changelog] oliver
@@ Zeile 31: / Zeile 31: @@
 -----------------
-== Nimue Platform 0.101 - 2021-06 ==
+== 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 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. Not the attributes can be used to prohibit calculation for specific trials.
+     * The calculation element "LocalCoordinateSystem" has not considered the includes/excludes attributes. Now the attributes can be used to prohibit calculation for specific trials.
      * The <Phase>-Element has added wrong phases in the special case that there are single frames fulfilling the inphase-function. Theses 1-frame-length-phases are excluded now as it is specified.
      * The <LocalCoordinateSystem>-Element overwrites the original given (by the attribute) global position. A new object is now created to prevent for this behavoir.
@@ Zeile 53: / Zeile 127: @@
      * New feature: The element <LocalCoordinateSystem> supports calibration.
      * Documentation for the <GlobalFrame>-element in Show4d added.
 -----------------
 == Nimue Platform 0.99 - 2020-12 ==
 -----------------
 **Changed**
      * The axes calculated with AoR estimation based on the SARA algorithm are now normalized.