caowangrenbo
cf70b1a1d7
Source: DeepRoboticsLab/sdk_deploy (BSD-3-Clause), M20 sim2real part only. Packages: - invicta_msgs: JointCommandArray, MotionCommand, MotionState; standard messages (sensor_msgs/JointState, sensor_msgs/Imu) elsewhere; shared motion value defs. - invicta_deploy: state machine (idle/standup/rl/joint-damping/lie-down), ONNX policy with per-gait models, auto RL entry after standup with readiness checks, safety loop, gait->model table; no protocol/network code. - invicta_remote: vendor basic_server protocol (UDP + JSON, proto.md V1.2.0), header/MsgId, 0xE0xx error codes, motion/usage-mode/gait translation, telemetry 1002/3,4,5,6 (2/10/2/2 Hz); publishes /motion_command, subscribes /motion_state. - invicta_hardware: joint/IMU bridge skeleton (SocketCAN I/O is TODO), publishes sensor_msgs/JointState + sensor_msgs/Imu, consumes /joint_commands. Verified on ROS Noetic (Ubuntu 20.04) in docker: clean catkin_make, 200 Hz joint state / 50 Hz RL commands / 20 Hz state report, protocol conformance (MotionParam, gait preconditions, error codes), telemetry push, and end-to-end switching of two policy models with a real remote controller.
34 lines
942 B
Plaintext
34 lines
942 B
Plaintext
// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#ifndef EIGEN_JACOBI_MODULE_H
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#define EIGEN_JACOBI_MODULE_H
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#include "Core"
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#include "src/Core/util/DisableStupidWarnings.h"
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/** \defgroup Jacobi_Module Jacobi module
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* This module provides Jacobi and Givens rotations.
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*
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* \code
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* #include <Eigen/Jacobi>
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* \endcode
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*
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* In addition to listed classes, it defines the two following MatrixBase methods to apply a Jacobi or Givens rotation:
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* - MatrixBase::applyOnTheLeft()
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* - MatrixBase::applyOnTheRight().
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*/
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// IWYU pragma: begin_exports
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#include "src/Jacobi/Jacobi.h"
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// IWYU pragma: end_exports
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#include "src/Core/util/ReenableStupidWarnings.h"
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#endif // EIGEN_JACOBI_MODULE_H
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