http://wiki.darwinbots.com/index.php?title=Darwinbots3/Tasks&feed=atom&action=historyDarwinbots3/Tasks - Revision history2024-03-29T14:01:42ZRevision history for this page on the wikiMediaWiki 1.29.0http://wiki.darwinbots.com/index.php?title=Darwinbots3/Tasks&diff=4964&oldid=prevDragonlordged at 23:27, 30 November 20092009-11-30T23:27:50Z<p></p>
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<td colspan='2' style="background-color: white; color:black; text-align: center;">Revision as of 23:27, 30 November 2009</td>
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<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>* Someone needs to take a look at finding the points of collision between two "fat" splines.  Imagine a line segment.  Now move a sphere along the line segment.  You have a capsule.  Now replace the line segment with a polygon (cubic most likely).  See [http://www.gamedev.net/community/forums/topic.asp?topic_id=547699 this thread] I wrote on gamedev talking about it from a broadphase point of view.  Someone mentioned "multidimensional Sturm's theorem".  Also, there's [http://www.cs.uiowa.edu/~kearney/pubs/CurvesAndSufacesClosestPoint.pdf closest point on spline to point], which could maybe be expanded in some way, or the basic idea mined.</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>* Someone needs to take a look at finding the points of collision between two "fat" splines.  Imagine a line segment.  Now move a sphere along the line segment.  You have a capsule.  Now replace the line segment with a polygon (cubic most likely).  See [http://www.gamedev.net/community/forums/topic.asp?topic_id=547699 this thread] I wrote on gamedev talking about it from a broadphase point of view.  Someone mentioned "multidimensional Sturm's theorem".  Also, there's [http://www.cs.uiowa.edu/~kearney/pubs/CurvesAndSufacesClosestPoint.pdf closest point on spline to point], which could maybe be expanded in some way, or the basic idea mined.</div></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td></tr>
<tr><td class='diff-marker'>−</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>== UI.Controls <del class="diffchange diffchange-inline">taks </del>==</div></td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>== UI.Controls <ins class="diffchange diffchange-inline">tasks </ins>==</div></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>* Build an exception console.  Basically when Darwinbots is running, when an exception is encountered I want a special exception explorer to pop up on the screen that lets the user examine the exception (in a non modal way), log it in some ways (send an error report, save it to disk, save the currently running sim, etc.), and then ignore it and continue on with the sim (actually the sim should attempt to continue without the user present, but that's another story).</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>* Build an exception console.  Basically when Darwinbots is running, when an exception is encountered I want a special exception explorer to pop up on the screen that lets the user examine the exception (in a non modal way), log it in some ways (send an error report, save it to disk, save the currently running sim, etc.), and then ignore it and continue on with the sim (actually the sim should attempt to continue without the user present, but that's another story).</div></td></tr>
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</table>Dragonlordgedhttp://wiki.darwinbots.com/index.php?title=Darwinbots3/Tasks&diff=4953&oldid=prevNumsgil at 00:15, 15 October 20092009-10-15T00:15:52Z<p></p>
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<td colspan='2' style="background-color: white; color:black; text-align: center;">Revision as of 00:15, 15 October 2009</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l14" >Line 14:</td>
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<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>* Right now there are methods for finding roots of up to quartic polynomials analytically.  No general analytic methods exist beyond quartic, so we need an iterative general polynomial root finder.  This is actually a sort of tricky problem from a numerical standpoint.  See section 9.5 in Numerical Recipes in C ("Roots of Polynomials").  Because finding all the roots might be computationally expensive and probably unnecessary, allowing the user to extract roots one at a time with successive calls would work well.  The primary use case in mind would involve finding the least positive real root >= 0 (collisions between cubic splines).</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>* Right now there are methods for finding roots of up to quartic polynomials analytically.  No general analytic methods exist beyond quartic, so we need an iterative general polynomial root finder.  This is actually a sort of tricky problem from a numerical standpoint.  See section 9.5 in Numerical Recipes in C ("Roots of Polynomials").  Because finding all the roots might be computationally expensive and probably unnecessary, allowing the user to extract roots one at a time with successive calls would work well.  The primary use case in mind would involve finding the least positive real root >= 0 (collisions between cubic splines).</div></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td></tr>
<tr><td class='diff-marker'>−</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* Someone needs to take a look at finding the points of collision between two "fat" splines.  Imagine a line segment.  Now move a sphere along the line segment.  You have a capsule.  Now replace the line segment with a polygon (cubic most likely).  See [http://www.gamedev.net/community/forums/topic.asp?topic_id=547699 this thread] I wrote on gamedev talking about it from a broadphase point of view.  Someone mentioned "multidimensional Sturm's theorem".</div></td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* Someone needs to take a look at finding the points of collision between two "fat" splines.  Imagine a line segment.  Now move a sphere along the line segment.  You have a capsule.  Now replace the line segment with a polygon (cubic most likely).  See [http://www.gamedev.net/community/forums/topic.asp?topic_id=547699 this thread] I wrote on gamedev talking about it from a broadphase point of view.  Someone mentioned "multidimensional Sturm's theorem"<ins class="diffchange diffchange-inline">.  Also, there's [http://www.cs.uiowa.edu/~kearney/pubs/CurvesAndSufacesClosestPoint.pdf closest point on spline to point], which could maybe be expanded in some way, or the basic idea mined</ins>.</div></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>== UI.Controls taks ==</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>== UI.Controls taks ==</div></td></tr>
</table>Numsgilhttp://wiki.darwinbots.com/index.php?title=Darwinbots3/Tasks&diff=4952&oldid=prevNumsgil at 23:34, 14 October 20092009-10-14T23:34:21Z<p></p>
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<td colspan='2' style="background-color: white; color:black; text-align: center;">Revision as of 23:34, 14 October 2009</td>
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<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>== Azimuth tasks ==</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>== Azimuth tasks ==</div></td></tr>
<tr><td class='diff-marker'>−</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* <del class="diffchange diffchange-inline">Construct a Cholesky decomposer.  See </del>the <del class="diffchange diffchange-inline">existing code for LU decomposition to get an idea of how the format works.  Make sure to test thoroughly to see that it properly handles singular, non symmetric, and non positive definite matrices</del>.  See <del class="diffchange diffchange-inline">section 2.9 in Numerical Recipes in C</del>.</div></td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* <ins class="diffchange diffchange-inline">Expand </ins>the <ins class="diffchange diffchange-inline">rectangular matrix class</ins>.  See <ins class="diffchange diffchange-inline">SquareMatrix</ins>.</div></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td></tr>
<tr><td class='diff-marker'>−</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del class="diffchange diffchange-inline">* Construct a rectangular matrix class.  Probably should name it MNRectangularMatrix.  Use NSquareMatrix as a template.  Be sure that the interface allows users to use a NSquareMatrix as a MNRectangularMatrix.</del></div></td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* Construct a QR decomposer.  See the existing code for LU decomposition to get an idea of how the format works.  Make sure to test thoroughly to see that it properly handles full rank, below full rank, and rectangular (full and non full rank) matrices.  Since QR decomposer works on rectangular matrices, the interface will be a little different than for the others<ins class="diffchange diffchange-inline">.  Also, because it needs to handle arbitrary matrices, a rank revealing QR (RRQR) decomposer is in order</ins>.</div></td></tr>
<tr><td class='diff-marker'>−</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> </div></td><td colspan="2"> </td></tr>
<tr><td class='diff-marker'>−</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* Construct a QR decomposer.  See the existing code for LU decomposition to get an idea of how the format works.  Make sure to test thoroughly to see that it properly handles full rank, below full rank, and rectangular (full and non full rank) matrices.  Since QR decomposer works on rectangular matrices, the interface will be a little different than for the others.</div></td><td colspan="2"> </td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>* Construct a sparse Cholesky decomposer.  I don't have any references for this.</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>* Construct a sparse Cholesky decomposer.  I don't have any references for this.</div></td></tr>
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<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>* Construct a sparse QR decomposer.  There's whole sections on this in Numerical Methods for Least Squares Problems, but I haven't read them yet.</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>* Construct a sparse QR decomposer.  There's whole sections on this in Numerical Methods for Least Squares Problems, but I haven't read them yet.</div></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td></tr>
<tr><td class='diff-marker'>−</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* Right now there are methods for finding roots of up to quartic polynomials analytically.  No analytic methods exist beyond quartic, so we need an iterative general polynomial root finder.  This is actually a sort of tricky problem from a numerical standpoint.  See section 9.5 in Numerical Recipes in C ("Roots of Polynomials").  Because finding all the roots might be computationally expensive and probably unnecessary, allowing the user to extract roots one at a time with successive calls would work well.  The primary use case in mind would involve finding the least positive real root >= 0 (collisions between cubic splines).</div></td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* Right now there are methods for finding roots of up to quartic polynomials analytically.  No <ins class="diffchange diffchange-inline">general </ins>analytic methods exist beyond quartic, so we need an iterative general polynomial root finder.  This is actually a sort of tricky problem from a numerical standpoint.  See section 9.5 in Numerical Recipes in C ("Roots of Polynomials").  Because finding all the roots might be computationally expensive and probably unnecessary, allowing the user to extract roots one at a time with successive calls would work well.  The primary use case in mind would involve finding the least positive real root >= 0 (collisions between cubic splines)<ins class="diffchange diffchange-inline">.</ins></div></td></tr>
<tr><td colspan="2"> </td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div> </div></td></tr>
<tr><td colspan="2"> </td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins class="diffchange diffchange-inline">* Someone needs to take a look at finding the points of collision between two "fat" splines.  Imagine a line segment.  Now move a sphere along the line segment.  You have a capsule.  Now replace the line segment with a polygon (cubic most likely).  See [http://www.gamedev.net/community/forums/topic.asp?topic_id=547699 this thread] I wrote on gamedev talking about it from a broadphase point of view.  Someone mentioned "multidimensional Sturm's theorem"</ins>.</div></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>== UI.Controls taks ==</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>== UI.Controls taks ==</div></td></tr>
</table>Numsgilhttp://wiki.darwinbots.com/index.php?title=Darwinbots3/Tasks&diff=4948&oldid=prevNumsgil at 06:51, 27 September 20092009-09-27T06:51:24Z<p></p>
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<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>== Azimuth tasks ==</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>== Azimuth tasks ==</div></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>* Construct a Cholesky decomposer.  See the existing code for LU decomposition to get an idea of how the format works.  Make sure to test thoroughly to see that it properly handles singular, non symmetric, and non positive definite matrices.  See section 2.9 in Numerical Recipes in C.</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>* Construct a Cholesky decomposer.  See the existing code for LU decomposition to get an idea of how the format works.  Make sure to test thoroughly to see that it properly handles singular, non symmetric, and non positive definite matrices.  See section 2.9 in Numerical Recipes in C.</div></td></tr>
<tr><td colspan="2"> </td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;"></ins></div></td></tr>
<tr><td colspan="2"> </td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">* Construct a rectangular matrix class.  Probably should name it MNRectangularMatrix.  Use NSquareMatrix as a template.  Be sure that the interface allows users to use a NSquareMatrix as a MNRectangularMatrix.</ins></div></td></tr>
<tr><td colspan="2"> </td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;"></ins></div></td></tr>
<tr><td colspan="2"> </td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">* Construct a QR decomposer.  See the existing code for LU decomposition to get an idea of how the format works.  Make sure to test thoroughly to see that it properly handles full rank, below full rank, and rectangular (full and non full rank) matrices.  Since QR decomposer works on rectangular matrices, the interface will be a little different than for the others.</ins></div></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>* Construct a sparse Cholesky decomposer.  I don't have any references for this.</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>* Construct a sparse Cholesky decomposer.  I don't have any references for this.</div></td></tr>
</table>Numsgilhttp://wiki.darwinbots.com/index.php?title=Darwinbots3/Tasks&diff=4947&oldid=prevNumsgil at 22:16, 17 September 20092009-09-17T22:16:13Z<p></p>
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<td colspan='2' style="background-color: white; color:black; text-align: center;">Revision as of 22:16, 17 September 2009</td>
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<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>* Construct a sparse QR decomposer.  There's whole sections on this in Numerical Methods for Least Squares Problems, but I haven't read them yet.</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>* Construct a sparse QR decomposer.  There's whole sections on this in Numerical Methods for Least Squares Problems, but I haven't read them yet.</div></td></tr>
<tr><td colspan="2"> </td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;"></ins></div></td></tr>
<tr><td colspan="2"> </td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">* Right now there are methods for finding roots of up to quartic polynomials analytically.  No analytic methods exist beyond quartic, so we need an iterative general polynomial root finder.  This is actually a sort of tricky problem from a numerical standpoint.  See section 9.5 in Numerical Recipes in C ("Roots of Polynomials").  Because finding all the roots might be computationally expensive and probably unnecessary, allowing the user to extract roots one at a time with successive calls would work well.  The primary use case in mind would involve finding the least positive real root >= 0 (collisions between cubic splines).</ins></div></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>== UI.Controls taks ==</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>== UI.Controls taks ==</div></td></tr>
</table>Numsgilhttp://wiki.darwinbots.com/index.php?title=Darwinbots3/Tasks&diff=4946&oldid=prevNumsgil at 21:56, 13 September 20092009-09-13T21:56:45Z<p></p>
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<td colspan='2' style="background-color: white; color:black; text-align: center;">Revision as of 21:56, 13 September 2009</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l17" >Line 17:</td>
<td colspan="2" class="diff-lineno">Line 17:</td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>* Build a GDI implementation.  Consult the XNA implementation as necessary to get an idea of what to do.  Should be pretty easy, since you don't have to worry about batching.</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>* Build a GDI implementation.  Consult the XNA implementation as necessary to get an idea of what to do.  Should be pretty easy, since you don't have to worry about batching.</div></td></tr>
<tr><td colspan="2"> </td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;"></ins></div></td></tr>
<tr><td colspan="2"> </td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">* Graphics.Core is woefully under tested because I wasn't really certain what I was doing as I was doing it, as far as interface goes.  Just go back through and try to test as much of the code that's untested at the moment as possible.</ins></div></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>== Non module specific ==</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>== Non module specific ==</div></td></tr>
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</table>Numsgilhttp://wiki.darwinbots.com/index.php?title=Darwinbots3/Tasks&diff=4945&oldid=prevNumsgil at 21:47, 13 September 20092009-09-13T21:47:29Z<p></p>
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<td colspan='2' style="background-color: white; color:black; text-align: center;">Revision as of 21:47, 13 September 2009</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l17" >Line 17:</td>
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<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>* Build a GDI implementation.  Consult the XNA implementation as necessary to get an idea of what to do.  Should be pretty easy, since you don't have to worry about batching.</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>* Build a GDI implementation.  Consult the XNA implementation as necessary to get an idea of what to do.  Should be pretty easy, since you don't have to worry about batching.</div></td></tr>
<tr><td colspan="2"> </td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;"></ins></div></td></tr>
<tr><td colspan="2"> </td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">== Non module specific ==</ins></div></td></tr>
<tr><td colspan="2"> </td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">* Code coverage - Each module (hopefully) has some unit tests.  Right now there's no way to tell how much of a module is being tested and how much is completely untested.  Either find or build some tools that allow us to determine how much of the code is covered by the unit tests.</ins></div></td></tr>
<tr><td colspan="2"> </td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;"></ins></div></td></tr>
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</table>Numsgilhttp://wiki.darwinbots.com/index.php?title=Darwinbots3/Tasks&diff=4944&oldid=prevNumsgil: New page: == References == * [http://www.nrbook.com/a/bookcpdf.php Numerical Recipes in C] * Numerical Methods for Least Squared Problems by Ake Bjorck. ISBN: 0-89871-360-9 == Azimuth tasks == * C...2009-09-13T21:40:16Z<p>New page: == References == * [http://www.nrbook.com/a/bookcpdf.php Numerical Recipes in C] * Numerical Methods for Least Squared Problems by Ake Bjorck. ISBN: 0-89871-360-9 == Azimuth tasks == * C...</p>
<p><b>New page</b></p><div>== References ==<br />
* [http://www.nrbook.com/a/bookcpdf.php Numerical Recipes in C]<br />
* Numerical Methods for Least Squared Problems by Ake Bjorck. ISBN: 0-89871-360-9<br />
<br />
== Azimuth tasks ==<br />
* Construct a Cholesky decomposer. See the existing code for LU decomposition to get an idea of how the format works. Make sure to test thoroughly to see that it properly handles singular, non symmetric, and non positive definite matrices. See section 2.9 in Numerical Recipes in C.<br />
<br />
* Construct a sparse Cholesky decomposer. I don't have any references for this.<br />
<br />
* Construct a sparse QR decomposer. There's whole sections on this in Numerical Methods for Least Squares Problems, but I haven't read them yet.<br />
<br />
== UI.Controls taks ==<br />
* Build an exception console. Basically when Darwinbots is running, when an exception is encountered I want a special exception explorer to pop up on the screen that lets the user examine the exception (in a non modal way), log it in some ways (send an error report, save it to disk, save the currently running sim, etc.), and then ignore it and continue on with the sim (actually the sim should attempt to continue without the user present, but that's another story).<br />
<br />
== Graphics.Core tasks ==<br />
* Build a skeletal animation system. Not strictly necessary for Darwinbots but would be nice to have. See the implementation of Collage to get an idea of what needs to happen.<br />
<br />
* Build a GDI implementation. Consult the XNA implementation as necessary to get an idea of what to do. Should be pretty easy, since you don't have to worry about batching.</div>Numsgil