Version History of the Type IV Reflexxes Motion Library

Version 1.0 (May 2011)

• First release version of the Type IV Reflexxes Motion Library.

Version 1.1 (July 2011)

• Flag RMLFlags::NO_SYNCHRONIZATION added. This flag is important for one-degree-of-freedom systems and for non-synchronized trajectories for systems with multiple degrees of freedom. If this flag is set, all trajectory parameters will already be computed in Step 1, such that only one system of equations has to be solved per selected degree of freedom. This fact leads to a worst-case execution time of less than 50 percent of the former variant, in which a minimum of two systems of equations had to be solved.
• Minor bug fixes.
• Minor corrections in the documentation.

Version 1.2 (November 2011)

• Improved and updated API (class ReflexxesAPI).
• Feature of time-synchronized target-velocity-based trajectories added
• Compiler flag REFLEXXES_USE_MULTI_THREADING to disable the creation of additional threads (cf. About Multi-Threading).
• Introduction of the flag RMLPositionFlags::BehaviorAfterFinalStateOfMotionIsReached (see also Behavior after the Final State of Motion is Reached).
• Equal and unequal operator for the classes RMLFlags, RMLPositionFlags, and RMLVelocityFlags
• TypeIVRMLPosition::GetNextStateOfMotion() and TypeIVRMLVelocity::GetNextStateOfMotion() now also store all flags to compare the current flags with the last ones.
• RMLVelocitySampleApplication6.cpp was added to demonstrate time-synchronized trajectories.
• The implementations of the methods
  • ReflexxesAPI::RMLPositionAtAGivenSampleTime() and
  • ReflexxesAPI::RMLVelocityAtAGivenSampleTime()
  were corrected.
• Update of the documentation.
  • New page: About the Flag RMLFlags::PHASE_SYNCHRONIZATION_IF_POSSIBLE
  • New page: Behavior after the Final State of Motion is Reached
• Minor fixes and improvements.

Version 1.2.1 (February 2012)

• Update and minor corrections of the documentation.
• Minor fixes and improvements.

Version 1.2.2 (March 2012)

• API GetReferenceOfXXX() methods removed.
• RMLOutputParameters::Echo() is now protected.
• Minor fixes and improvements.