sensor_msgs/JointState - ROS

Raw message definition:

string[] name
float64[] position
float64[] velocity
float64[] effort

# This is a message that holds data to describe the state of a set of torque controlled joints. 
#
# The state of each joint (revolute or prismatic) is defined by:
#  * the position of the joint (rad or m),
#  * the velocity of the joint (rad/s or m/s) and 
#  * the effort that is applied in the joint (Nm or N).
#
# Each joint is uniquely identified by its name
# The header specifies the time at which the joint states were recorded. All the joint states
# in one message have to be recorded at the same time.
#
# This message consists of a multiple arrays, one for each part of the joint state. 
# The goal is to make each of the fields optional. When e.g. your joints have no
# effort associated with them, you can leave the effort array empty. 
#
# All arrays in this message should have the same size, or be empty.
# This is the only way to uniquely associate the joint name with the correct
# states.

from http://www.ros.org/doc/api/sensor_msgs/html/msg/JointState.html

금산

하늘과 너무 잘 어울리는 간판

몇몇 집은 열었지만

 

찾아간 날은 정기휴일 !

 

삼계탕집에서 인삼주가 신기한 도로시

jebns

처음에 jebns가 뭔가 했다.

.....sugar

getGaussianKernel

getGaussianKernel : Returns Gaussian filter coefficients.
getGaussianKernel(int ksize, double sigma, int ktype=CV_64F )

ksize – Aperture size. It should be odd ( \texttt{ksize} \mod 2 = 1 ) and positive.

sigma – Gaussian standard deviation. If it is non-positive, it is computed from ksize as sigma = 0.3*((ksize-1)*0.5 - 1) + 0.8 .

ktype – Type of filter coefficients. It can be CV_32f or CV_64F .

int M = 101;

double sigma = 10;

Mat_ g = getGaussianKernel(M, sigma, CV_64F);

for(int i=0; i

{

double g1 = g(i,0);

Dbg("%f", g1);

}

Mat_ 접근

// more convenient forms of row and element access operators 

    _Tp* operator [](int y);

    const _Tp* operator [](int y) const;

    _Tp& operator ()(int row, int col);

    const _Tp& operator ()(int row, int col) const;

    _Tp& operator ()(Point pt);

    const _Tp& operator ()(Point pt) const;

아래는 http://bytefish.de/blog/opencv/code_snippets/ 에서 가져옴

template

void printMat(const cv::Mat_<_tp>& mat) {

    typedef typename DataType<_tp>::work_type _wTp;

    for(int i = 0; i < mat.rows; i++)

        for(int j=0; j < mat.cols; j++)

            cout << (_wTp) mat(i,j) << " ";

    cout << endl;

}

Typical orbits

회전체 모드해석 수업때 이종원 교수님 강의 중 나온 내용.

Matlab으로 그려본 것.

그림만 봐도 spectrum 해석하기 이전에 분석할 수 있음.

Hypocycloid

(more information : http://mathworld.wolfram.com/Hypocycloid.html)

Hypotrochoid

Epitrochoid

Epitrochoid 와 Hypotrochoid에 대한 추가 문서 : http://www.durangobill.com/Trochoids.html

Matlab code: https://github.com/dalek7/Algorithms/tree/master/Curves/special_plane_curves

귀여운 이모티콘

누가 그렸는지 볼때마다 참 잘했다는 생각이드는 카카오톡 이모티콘

iOS에서 OpenCV 2.4.5 linking

iOS에서 OpenCV 2.4.5 linking 할때 생기는 에러.

std::__1::__vector_base_common::__throw_length_error() const", referenced from:

libc++ .dylib 넣으면 됨.

---------------------------------------------------------------
from http://libcxx.llvm.org/

libc++ is a new implementation of the C++ standard library, targeting C++11.

All of the code in libc++ is dual licensed under the MIT license and the UIUC License (a BSD-like license).

Features and Goals

• Correctness as defined by the C++11 standard.
• Fast execution.
• Minimal memory use.
• Fast compile times.
• ABI compatibility with gcc's libstdc++ for some low-level features such as exception objects, rtti and memory allocation.
• Extensive unit tests.

물수제비..

쿠시야 이 호수 이름이 뭐였지?

Moka Express

뮌헨의 어느 백화점에서 쿠시의 추천으로 구매한 40 유로짜리 Moka Express

색다른 맛의 커피를 느낄수 있을까? ㅎㅎ

나트륨

많이도 먹는구나 ㅎㅎ

Curvature Scale Space

Smooth operator 결과. sigma 를 높임에 따라 뭉게진다.
cyan은 원 sine curve + 15% noise

2차원 커브에 적용. 빨간 점은 커브가 zero-crossing되는 지점.

재밌다 ㅋㅋ

Thanks to Roy

Violence doesn’t end violence. It extends it.

크리스마스에 핫초코 마시며 재미있게 본 에피소드. "A Town Called Mercy"
아래 대사가 와 닫는다.
The Doctor: Don’t you see? Violence doesn’t end violence. It extends it. And I don’t think you want to do this. I don’t think you want to become that man.

아래는 http://en.wikipedia.org/wiki/A_Town_Called_Mercy 에서
"A Town Called Mercy" received generally positive to mixed reviews from critics. IGN's Matt Risely rated the episode 8.5 out of 10, calling it "a weighty, progressive, sumptuous and entertaining adventure". He praised Whithouse and Metzstein for setting the right mood and found the highlight to be the Doctor's moral uncertainty. Dan Martin of The Guardian described it as "a complex morality dilemma fizzing with sharp dialogue". He wrote that it was Gillan who "emerged as the real star of the episode", citing Amy's conversation with the Doctor about how travelling alone had affected him.

Molex

자주 쓰는 몰렉스
53047-02 (충전 배터리 작은 단자)
5267-02

Lithium Ion/Polymer USB Battery Charger IC

MAX 1555

The MAX1551/MAX1555 charge a single-cell lithium-ion (Li+) battery from both USB* and AC adapter sources. They operate with no external FETs or diodes, and accept operating input voltages up to 7V

Current is automatically reduced to a trickle when charging is complete.