snapshot of trunk at r364 (svn export)
Working towards more flexible and reusable conversion from URDF to TAO
(and soon also wbc::BranchingRepresentation instances). Added a
urdf_to_tao::LinkFilter interface which will allow us to consider
arbitrary links (actually the joints connecting a given link to its
parent) as "fixed" even through they are not urdf::FIXED joint
types. This is important when reading PR2 definitions, because the
various finger joints in the gripper, for instance, are not really
fixed, but from the point of view of the Whole-Body-Controller they
are.
More useful error message when we cannot find the TAO root node during
conversion from URDF.
flat file link filter loader
added urdf_to_tao::ActiveLinkFilter
r365:
robot state and servo command messages are now optionally auto-resizeable
r366:
re-enable readlog
r367:
Resolved #39. The nwrobot plugin provides a bidirectional RobotAPI via
wbcnet and libnetwrapper. Use on the wbcservo command line like this:
 * client mode
   {{{
    $ ./wbcservo -f ~/soft/robospecs/puma/puma.xml -m -v -R nw:c
   }}}
   You can also specify {{{nw:c:address}}} or {{{mw:c:address:port}}}
 * server mode
   {{{
    $ ./wbcservo -f ~/soft/robospecs/puma/puma.xml -m -v -R nw:s
   }}}
   You can also specify {{{nw:s::port}}} (the address is ignored in
   server mode).
Note that this uses the {{{wbcrun::msg::RobotState}}} and
{{{wbcrun::msg::ServoCommand}}} classes, so you'll have to use the
corresponding wbcnet functions on the other side.

'''NOTE''' this is still largely untested, but it does not crash when
you start it {{{:o)}}}
Merge branch 'mirrorsvn'
renamed some wbc::BranchingRepresentation fields:
{{{
s/linkTagToNodeMap/linkNameToNodeMap/g
s/jointTagToNodeMap/jointNameToNodeMap/g
s/linkTagToSensorMap/linkToSensorMap/g
s/linkTagToSurfaceDepthMap/linkToSurfaceDepthMap/g
}}}
Added some methods to wbc::BranchingRepresentation:
 * setRootName()
 * setLinkNames()
 * setJointNames()
They all have fairly verbose doxygen comments.

Also added joint name tracking to util/urdf_to_tao

...all of this untested for now, but rather easy code.
In shell script, tilda expansion for the home does not always seem to work.
devkit bootstrap script adapted to the layout changes of wbcnet (which
had happened a while back).
make urdf_to_tao behave on systems that do NOT have urdf
dump_tao_tree() now accepts an optional joint-name table
Added capabilities for creating BranchingRepresentation instances from
existing TAO trees (plus some frosting).
 * wbc::BranchingRepresentation::create()
 * wbc::countNumberOfLinks()
 * wbc::computeTotalMass()
Arghl, SAIMatrix::identity(int) was a static method that clashed with
the instance method SAIMatrix::identity() because of C++ name
overloading... leading to code that was intended to automatically
resize and set to identity, but did not do the resizing part. Fixed
that now, by renaming the static method to createIdentity() and adding
an instance method that does take an int argument.
Woah that code was in dire need of some cleanup...
 * added keycode handling to PostureBehavior
 * you can register a key code (from curses) that will act to "freeze"
   the posture (copy the current joint state into the goal posture)
 * similarly, you can specify a key to "float" (which just uses a
   friction task)
 * you can register a whole dictionary of goal postures that will be
   triggered when you press the respective keys
...al the key pressing needs to be done in the wbcuser process after
putting it into curses mode.
update author info
remove some stuff for "minimal" stanford-wbc