added visual paradigm file and started changing composition example to draw tree using graphiz
tree drawing example
more complex tree example is added
make sure tree element names appear in the same order in std::map as in tree topology. This is kind of annoying maybe should consider a different mechanism
inverse dynamics for complex tree works, need to do the example using external forces and rtt component
outward DFS policy needs to be corrected, it is overwriting input which must not be changed. Also implement 5 arg version of operations and DFS walk. This is required for Fext which is independent of child/parent state
check all the function arguments for const references. It seems to conflict. Started rewriting outward iteration with uses tempState
added some trace logs, sth is wrong with composed operation arguments that is being called in DFSPolicy
minor argument changes
problem with arguments is resolved. The issue was Selector template with created a dummy type for unexisting parameters when they exceeded operation specific NumberOfParams value. Since initially it was 3, the composition was not working for 5 params. Now it works both for 3 and 5. Requires further tests
cleaned up most of the things (some of overloaded operators), now need to correct 5 argument operation call in 4arg outward traversal and check the functionality of each 5 arg operation
fpga test
removed chain specific implementations, as a temporary solution put Fext in JointState structure. Fext can not be part of the link state since its value is independent of other links. Later, should consider how to do it cleanly. Also ID with External forces works now. Need to correct5 arg version operation call in 4arg outward sweep. It should not change linkStateIn.
minor change to accumulate operation, added default constructor
input link states require a reset at each loop updates (whenver algorithm runs more than one time (over a long period of time). This is because of the 3 arg DFS walk, which is not const correct with respect to input link state info. Still needs to be corrected but a reset should work as a temporary solution )
some minor changes