config.h   config.h 
skipping to change at line 40 skipping to change at line 40
#define OPENRAVE_API OPENRAVE_HELPER_DLL_IMPORT #define OPENRAVE_API OPENRAVE_HELPER_DLL_IMPORT
#endif // OPENRAVE_DLL_EXPORTS #endif // OPENRAVE_DLL_EXPORTS
#define OPENRAVE_LOCAL OPENRAVE_HELPER_DLL_LOCAL #define OPENRAVE_LOCAL OPENRAVE_HELPER_DLL_LOCAL
#else // OPENRAVE_DLL is not defined: this means OpenRAVE is a static lib. #else // OPENRAVE_DLL is not defined: this means OpenRAVE is a static lib.
#define OPENRAVE_API #define OPENRAVE_API
#define OPENRAVE_LOCAL #define OPENRAVE_LOCAL
#endif // OPENRAVE_DLL #endif // OPENRAVE_DLL
#define OPENRAVE_VERSION_MAJOR 0 #define OPENRAVE_VERSION_MAJOR 0
#define OPENRAVE_VERSION_MINOR 8 #define OPENRAVE_VERSION_MINOR 8
#define OPENRAVE_VERSION_PATCH 0 #define OPENRAVE_VERSION_PATCH 2
#define OPENRAVE_VERSION_COMBINED(major, minor, patch) (((major) << 16) | ( (minor) << 8) | (patch)) #define OPENRAVE_VERSION_COMBINED(major, minor, patch) (((major) << 16) | ( (minor) << 8) | (patch))
#define OPENRAVE_VERSION OPENRAVE_VERSION_COMBINED(OPENRAVE_VERSION_MAJOR, OPENRAVE_VERSION_MINOR, OPENRAVE_VERSION_PATCH) #define OPENRAVE_VERSION OPENRAVE_VERSION_COMBINED(OPENRAVE_VERSION_MAJOR, OPENRAVE_VERSION_MINOR, OPENRAVE_VERSION_PATCH)
#define OPENRAVE_VERSION_EXTRACT_MAJOR(version) (((version)>>16)&0xff) #define OPENRAVE_VERSION_EXTRACT_MAJOR(version) (((version)>>16)&0xff)
#define OPENRAVE_VERSION_EXTRACT_MINOR(version) (((version)>>8)&0xff) #define OPENRAVE_VERSION_EXTRACT_MINOR(version) (((version)>>8)&0xff)
#define OPENRAVE_VERSION_EXTRACT_PATCH(version) (((version))&0xff) #define OPENRAVE_VERSION_EXTRACT_PATCH(version) (((version))&0xff)
#define OPENRAVE_VERSION_STRING "0.8.0" #define OPENRAVE_VERSION_STRING "0.8.2"
#define OPENRAVE_VERSION_STRING_FORMAT(version) boost::str(boost::format("% s.%s.%s")%(OPENRAVE_VERSION_EXTRACT_MAJOR(version))%(OPENRAVE_VERSION_EXTRA CT_MINOR(version))%(OPENRAVE_VERSION_EXTRACT_PATCH(version))) #define OPENRAVE_VERSION_STRING_FORMAT(version) boost::str(boost::format("% s.%s.%s")%(OPENRAVE_VERSION_EXTRACT_MAJOR(version))%(OPENRAVE_VERSION_EXTRA CT_MINOR(version))%(OPENRAVE_VERSION_EXTRACT_PATCH(version)))
#define OPENRAVE_VERSION_GE(major1, minor1, patch1, major2, minor2, patch2) (OPENRAVE_VERSION_COMBINED(major1, minor1, patch1) >= OPENRAVE_VERSION_COM BINED(major2, minor2, patch2)) #define OPENRAVE_VERSION_GE(major1, minor1, patch1, major2, minor2, patch2) (OPENRAVE_VERSION_COMBINED(major1, minor1, patch1) >= OPENRAVE_VERSION_COM BINED(major2, minor2, patch2))
#define OPENRAVE_VERSION_MINIMUM(major, minor, patch) OPENRAVE_VERSION_GE(O PENRAVE_VERSION_MAJOR, OPENRAVE_VERSION_MINOR, OPENRAVE_VERSION_PATCH, majo r, minor, patch) #define OPENRAVE_VERSION_MINIMUM(major, minor, patch) OPENRAVE_VERSION_GE(O PENRAVE_VERSION_MAJOR, OPENRAVE_VERSION_MINOR, OPENRAVE_VERSION_PATCH, majo r, minor, patch)
// if 0, single precision // if 0, single precision
// if 1, double precision // if 1, double precision
#define OPENRAVE_PRECISION 1 #define OPENRAVE_PRECISION 1
#define OPENRAVE_PLUGINS_INSTALL_DIR "/home/ut/testing/openrave/0.8.0/share #define OPENRAVE_PLUGINS_INSTALL_DIR "/home/ut/testing/openrave/0.8.2/share
/openrave-0.8/plugins" /openrave-0.8/plugins"
#define OPENRAVE_DATA_INSTALL_DIR "/home/ut/testing/openrave/0.8.0/share/op #define OPENRAVE_DATA_INSTALL_DIR "/home/ut/testing/openrave/0.8.2/share/op
enrave-0.8" enrave-0.8"
#define OPENRAVE_PYTHON_INSTALL_DIR "/home/ut/testing/openrave/0.8.0/lib/py #define OPENRAVE_PYTHON_INSTALL_DIR "/home/ut/testing/openrave/0.8.2/lib/py
thon2.7/site-packages" thon2.7/site-packages"
// the python path that OpenRAVE was compiled with
#define OPENRAVE_PYTHON_EXECUTABLE "/usr/bin/python"
#endif #endif
 End of changes. 3 change blocks. 
8 lines changed or deleted 11 lines changed or added


 openrave.h   openrave.h 
skipping to change at line 970 skipping to change at line 970
- \b joint_values - The joint values of a kinbody/robot. The jo int names with the name of the body can follow. - \b joint_values - The joint values of a kinbody/robot. The jo int names with the name of the body can follow.
- \b joint_velocities - The joint velocities (1/second) of a ki nbody/robot. The name of the body with the joint names can follow. - \b joint_velocities - The joint velocities (1/second) of a ki nbody/robot. The name of the body with the joint names can follow.
- \b joint_accelerations - The joint accelerations (1/second^2) of a kinbody/robot. The name of the body with the joint names can follow. - \b joint_accelerations - The joint accelerations (1/second^2) of a kinbody/robot. The name of the body with the joint names can follow.
- \b joint_torques - The joint torques (Newton meter) of a kinb ody/robot. The name of the body with the joint names can follow. - \b joint_torques - The joint torques (Newton meter) of a kinb ody/robot. The name of the body with the joint names can follow.
- \b affine_transform - An affine transformation [quaternion, t ranslation]. The name of the body with selected affine dofs (see \ref DOFAf fine) can follow. - \b affine_transform - An affine transformation [quaternion, t ranslation]. The name of the body with selected affine dofs (see \ref DOFAf fine) can follow.
- \b affine_velocities - The velocity (1/second) of the affine transformation [rotation axis, translation velocity], the name of the body can follow. - \b affine_velocities - The velocity (1/second) of the affine transformation [rotation axis, translation velocity], the name of the body can follow.
- \b affine_accelerations - The velocity (1/second^2) of the af fine transformation [rotation axis, translation velocity], the name of the body can follow. - \b affine_accelerations - The velocity (1/second^2) of the af fine transformation [rotation axis, translation velocity], the name of the body can follow.
- \b ikparam_values - The values of an IkParmeterization. The i kparam type is stored as the second value in name - \b ikparam_values - The values of an IkParmeterization. The i kparam type is stored as the second value in name
- \b ikparam_velocities - velocity of an IkParmeterization. The ikparam type is stored as the second value in name - \b ikparam_velocities - velocity of an IkParmeterization. The ikparam type is stored as the second value in name
- \b iswaypoint - non-zero if the point represents a major knot point of the trajectory - \b iswaypoint - non-zero if the point represents a major knot point of the trajectory
- \b grab - Used to grab bodies given a robot's links. The name - \b grab - \b deprecated Used to grab bodies given a robot's l
of the robot name along with the link indices to grab can follow. inks. The name of the robot link along with the link indices to grab can fo
llow. This is not portable when loading the enviroment from scratch since b
ody IDs can change, so don't use it.
- \b grabbody - Grabs the body. The configuration values are 1
for grab and 0 for release. The group name format is: bodyname robotname ro
botlinkindex. Only 1 DOF is accepted.
*/ */
std::string name; std::string name;
/** \brief Describes how the data should be interpolated. Common me thods are: /** \brief Describes how the data should be interpolated. Common me thods are:
- \b previous - the previous waypoint's value is always chosen - \b previous - the previous waypoint's value is always chosen
- \b next - the next waypoint's value is always chosen - \b next - the next waypoint's value is always chosen
- \b linear - linear interpolation (default) - \b linear - linear interpolation (default)
- \b quadratic - position is piecewise-quadratic, velocity is p iecewise-linear, acceleration is one of -amax, 0, or amax - \b quadratic - position is piecewise-quadratic, velocity is p iecewise-linear, acceleration is one of -amax, 0, or amax
- \b cubic - 3 degree polynomial - \b cubic - 3 degree polynomial
- \b quadric - 4 degree polynomial - \b quadric - 4 degree polynomial
 End of changes. 1 change blocks. 
2 lines changed or deleted 7 lines changed or added

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