Drake v0.16.0¶
Announcements¶
Breaking changes since v0.15.0¶
These are breaking changes that did not undergo a deprecation period:
- Drake no longer supports user-defined scalar types (#12657, #12797, #12823, #12816, #12825)
- See issue #12814 for more details.
- Removed the ability to override LeafSystem allocation methods (#12792)
- Subclasses should use the model vector (or model value) APIs to declare state, parameters, etc. instead of overriding these virtual methods.
- Removed pydrake.examples.AcrobotPlant.CalcPotentialEnergy (#12794)
- Removed pydrake.examples.AcrobotPlant.CalcKineticEnergy (#12794)
- Renamed RigidBodyTree-based implementation of drake::manipulation::planner::ConstraintRelaxingIk to drake::manipulation::planner::ConstraintRelaxingIkRbt (#12732)
- Removed godotengine build rules (#12826)
Changes since v0.15.0:¶
Dynamical Systems¶
New features
- Allow specific cache entries to be initially disabled (#12803)
- Systems reject ContinuousState that they did not create (#12630)
- Added math::IsPositiveDefinite (#12813)
- Added first implementation of general region of attraction code (#12827)
Fixes
- Diagrams now report correct state counts (#12701)
Mathematical Program¶
No changes in this release.
Multibody Dynamics¶
New features
- Added more MultibodyPlant intermediate calculations to cache
- Improved error message for invalid spatial inertia (#12766)
- SpatialInertia support for massless bodies (#12809)
- Velocity-implicit Euler integrator in progress (#12543, #12740)
- Added doc about the availability of force/torque sensor (#12791)
- Added support for derivative of signed distance between a pair of geometries (#12720)
- Added build system skeleton for forthcoming OpenGL render engine (#12623)
- Implemented Composite Body Algorithm to compute the mass matrix (#12764)
- Discrete-mode MultibodyPlant is faster, particularly in cases with branched kinematics, due to incorporation of Composite Body Algorithm in the discrete solver (#12838)
- New hydroelastic contact model in progress (#12597, #12699, #12751,
#12763, #12745, #12730, #12840)
- Still only experimental
- Improve performance
- Improve architecture
Fixes
Miscellaneous features and fixes¶
- Add the capability to visualize collisions in geometry_inspector (#12736)
- Add operator<< to sorted_pair (#12801)
- Fixed allegro_hand discrete update period (#12734)
- Improve the simple_gripper example to make it possible to test more integrators (#12742)
- Added more methods to symbolic::Polynomial (#12835)
- Fixed accidental quadratic parsing of Yaml (#12830)
pydrake bindings¶
- pydrake.systems.framework.System.EvalKineticEnergy (#12794)
- pydrake.systems.framework.System.EvalPotentialEnergy (#12794)
- pydrake.systems.primitives.DiscreteDerivative (#12770)
- pydrake.systems.primitives.StateInterpolatorWithDiscreteDerivative (#12770)
- Fixed pydrake.solvers.ScsSolverDetails numpy-typed fields (#12737)
- Fixed pydrake.solvers.SnoptSolverDetails numpy-typed fields (#12737)
Build system and dependencies¶
- GCC 7.5 is now Ubuntu’s default compiler (#12845)
- Added new dependency on OpenGL on Ubuntu only (#12623)
- Use system Eigen >= 3.3.4, not downloaded bitbucket tag (#12784, #12780)
- Upgraded bazel minimum and recommended versions to 2.0 and 2.1 respectively (#12729)
- Upgraded buildifier to latest release 2.0.0 (#12836)
- Upgraded fcl to latest release (#12762)
- Upgraded ghc_filesystem to latest release 1.3.0 (#12799)
- Upgraded styleguide to latest commit (includes cpplint changes) (#12765, #12800, #12776)
- Fixed missing load() in drake_bazel_installed support (#12605)
Newly-deprecated APIs¶
- APIs:
- drake::examples::kuka_iiwa_arm::EncodeKeyFrames (#12732)
- drake::examples::kuka_iiwa_arm::IiwaContactResultsToExternalTorque (#12732)
- drake::examples::kuka_iiwa_arm::VerifyIiwaTree (#12732)
- drake::manipulation::planner::ConstraintRelaxingIkRbt (#12732)
- DRAKE_DECLARE_COPY_AND_MOVE_AND_ASSIGN (#12735)
- DRAKE_DEFINE_DEFAULT_COPY_AND_MOVE_AND_ASSIGN_T (#12735)
Removal of deprecated items¶
- APIs
- drake::geometry::Capsule::get_length (#12781)
- drake::geometry::Capsule::get_radius (#12781)
- drake::geometry::Cylinder::get_length (#12781)
- drake::geometry::Cylinder::get_radius (#12781)
- drake::geometry::Ellipsoid::get_a (#12781)
- drake::geometry::Ellipsoid::get_b (#12781)
- drake::geometry::Ellipsoid::get_c (#12781)
- drake::geometry::Sphere::get_radius (#12781)
- pydrake.attic.multibody.rigid_body_tree.RigidBodyTree.number_of_positions (#12781)
- pydrake.attic.multibody.rigid_body_tree.RigidBodyTree.number_of_velocities (#12781)
- pydrake.geometry.Capsule.get_length (#12781)
- pydrake.geometry.Capsule.get_radius (#12781)
- pydrake.geometry.Cylinder.get_length (#12781)
- pydrake.geometry.Cylinder.get_radius (#12781)
- pydrake.geometry.Ellipsoid.get_a (#12781)
- pydrake.geometry.Ellipsoid.get_b (#12781)
- pydrake.geometry.Ellipsoid.get_c (#12781)
- pydrake.geometry.Sphere.get_radius (#12781)
- DRAKE_SPDLOG_TRACE (#12781)
- DRAKE_SPDLOG_DEBUG (#12781)
- drake/multibody/tree/multibody_tree_element.h header (#12781)
- Examples:
Notes¶
This release provides pre-compiled binaries named
drake-20200311-{bionic|mac}.tar.gz
. See
https://drake.mit.edu/from_binary.html#nightly-releases for instructions on
how to use them.
Drake binary releases incorporate a pre-compiled version of SNOPT as part of the Mathematical Program toolbox. Thanks to Philip E. Gill and Elizabeth Wong for their kind support.


Timeseries Pandas
2014-10-28
###Time series data plot and table creation with pandas and latex###
- to import the csv file into pandas
df = pd.read_csv('/home/swl-sacon-dst/Documents/GISE_2013/LAB/Aerocet_DATA/TDM/TDM_MASS_20102014_171059-073359.csv')
, based on this - To sepcifiy date time index in the dateframe
df = df.set_index(pd.DatetimeIndex(df['Time']))
, based on this - To resample 1 minute data into 15 minutes by avergae method,
bars=df.resample('15min')
, here default method is mean. based on this - To select specific columns in pandas
df1=df[['Time','PM2.5(ug/m3)','PM10(ug/m3)','TSP(ug/m3)','AT(C)','RH(%)']]
based on this - To plot datframe by
import matplotlib.pyplot as plt; bars['PM2.5(ug/m3)'].plot(marker='v')
and to show the plot baased onimport pylab; pylab.show()
, to show the legend plt.legend().
two methods can be followed, one is direct matplotlib lib as follows
import matplotlib.pyplot as plt
plt.plot_date(x=db.index, y=db['PM2.5(ug/m3)'], fmt="r-")
plt.show()
next methods is direct pandas plot functionaltiy need pylab
import pylab
db.plot(style=['o','rx'])
pylab.show()
plt.legend()
- to round the resampled data based on this
data11=np.round(data1, decimals=2)
import pandas as pd import numpy as np df = pd.readcsv(‘/home/swl-sacon-dst/Documents/GISE2013/LAB/AerocetDATA/TDM/TDMMASS20102014171059-073359.csv’) df = df.setindex(pd.DatetimeIndex(df[‘Time’])) df1=df[[‘Time’,‘PM2.5(ug/m3)’,‘PM10(ug/m3)’,‘TSP(ug/m3)’,‘AT©’,‘RH(%)’]] df1 = df1.setindex(pd.DatetimeIndex(df[‘Time’])) bars=df1.resample(‘15min’) data2=np.round(data1, decimals=2)
####To print table out of dataframe#### 1. Based on earlier note on converting pandas data frame into latex, the following script was used to take the tex from the pandas’ data frame
import pandas as pd
import numpy as np
df = pd.read_csv('TDM_MASS_20102014_171059-073359.csv')
df = df.set_index(pd.DatetimeIndex(df['Time']))
df1=df[['Time','PM2.5(ug/m3)','PM10(ug/m3)','TSP(ug/m3)']]
data1=df1.resample('15min')
data11=np.round(data1, decimals=2)
data11.to_csv('TDM_15min.csv')
data2=pd.read_csv('TDM_15min.csv')
with open("my_table.tex", "w") as f:
f.write("\\begin{tabular}{" + " | ".join(["l"] * len(data2.columns)) + "}\n")
columnLabels = ["\\textbf{%s}" % label for label in data2.columns]
f.write ("%s\\\\\\hline\n" % " & ".join(columnLabels))
for i, row in data2.iterrows():
f.write(" & ".join([str(x) for x in row.values]) + " \\\\\n")
f.write("\\end{tabular}")
f.close


Nutrition
Nutritional recovery
Give your body what it needs to recover fully from the race.
After the race, your primary focus should be on rehydrating your body. On the day of the race, sports drinks were helpful to replace the fluids and salts you lost through perspiration, but after that first day, plain water -- and lots of it -- is all you need.
Also in the days following the race, you should concentrate on filling up your energy stores. A balanced diet of complex carbohydrates to replenish your glycogen stores and protein to rebuild the muscle you broke down during the race will help you refuel effectively, ensure a quick recovery, and get you back out on the road in no time.
For the first few days post race:
• drink before you feel thirsty;
• avoid caffeine and alcohol as they can have a diuretic effect;
• drink water until your urine maintains a pale yellow color;
• make sure you get protein to help your muscles recover -- choose lean meats, low fat dairy, or beans and legumes;
• indulge your food cravings moderately -- the first few days after the race are not the time to diet.
How quickly you recover from the Blue Cross Broad Street Run depends on many factors -- and your nutrition and hydration are key factors that can work together to help you recover better and keep you strong.


Melissa Wolowicz
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{% extends "base.html" %} {% block title %}About this site{% endblock %} {% block content %}
This site is a database of latent variable references that we consider useful for understanding these methods.
If you'd like to contribute any references that we may have overlooked, please email them for our consideration: kgdunn@gmail.com


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$resolve
(service in module dotjem.routing
)
The $resolve
service is used to resolve values for states
Clears a value in the resolver.
key – {string} –
A key for the value to remove from the resolvers cache.
Clears a list of values in the resolver.
keys – {Array} –
An array of keys for the values to remove from the resolvers cache.
Pushes a value into the resolver.
key – {string} –
A key for the value.
value – {Object} –
The value.


@(trackName: String, files: List[String]) @import helper._ @main("All Resource Files for Track " + trackName) {