[ { "path": ".git/HEAD", "content": "ref: refs/heads/main\n" }, { "path": ".git/config", "content": "[core]\n\trepositoryformatversion = 1\n\tfilemode = true\n\tbare = false\n\tlogallrefupdates = true\n[remote \"origin\"]\n\turl = https://github.com/steffanlloyd/quik\n\ttagOpt = --no-tags\n\tfetch = +refs/heads/main:refs/remotes/origin/main\n\tpromisor = true\n\tpartialclonefilter = blob:limit=1048576\n[branch \"main\"]\n\tremote = origin\n\tmerge = refs/heads/main\n" }, { "path": ".git/description", "content": "Unnamed repository; edit this file 'description' to name the repository.\n" }, { "path": ".git/hooks/applypatch-msg.sample", "content": "#!/bin/sh\n#\n# An example hook script to check the commit log message taken by\n# applypatch from an e-mail message.\n#\n# The hook should exit with non-zero status after issuing an\n# appropriate message if it wants to stop the commit. The hook is\n# allowed to edit the commit message file.\n#\n# To enable this hook, rename this file to \"applypatch-msg\".\n\n. git-sh-setup\ncommitmsg=\"$(git rev-parse --git-path hooks/commit-msg)\"\ntest -x \"$commitmsg\" && exec \"$commitmsg\" ${1+\"$@\"}\n:\n" }, { "path": ".git/hooks/commit-msg.sample", "content": "#!/bin/sh\n#\n# An example hook script to check the commit log message.\n# Called by \"git commit\" with one argument, the name of the file\n# that has the commit message. The hook should exit with non-zero\n# status after issuing an appropriate message if it wants to stop the\n# commit. The hook is allowed to edit the commit message file.\n#\n# To enable this hook, rename this file to \"commit-msg\".\n\n# Uncomment the below to add a Signed-off-by line to the message.\n# Doing this in a hook is a bad idea in general, but the prepare-commit-msg\n# hook is more suited to it.\n#\n# SOB=$(git var GIT_AUTHOR_IDENT | sed -n 's/^\\(.*>\\).*$/Signed-off-by: \\1/p')\n# grep -qs \"^$SOB\" \"$1\" || echo \"$SOB\" >> \"$1\"\n\n# This example catches duplicate Signed-off-by lines.\n\ntest \"\" = \"$(grep '^Signed-off-by: ' \"$1\" |\n\t sort | uniq -c | sed -e '/^[ \t]*1[ \t]/d')\" || {\n\techo >&2 Duplicate Signed-off-by lines.\n\texit 1\n}\n" }, { "path": ".git/hooks/fsmonitor-watchman.sample", "content": "#!/usr/bin/perl\n\nuse strict;\nuse warnings;\nuse IPC::Open2;\n\n# An example hook script to integrate Watchman\n# (https://facebook.github.io/watchman/) with git to speed up detecting\n# new and modified files.\n#\n# The hook is passed a version (currently 2) and last update token\n# formatted as a string and outputs to stdout a new update token and\n# all files that have been modified since the update token. Paths must\n# be relative to the root of the working tree and separated by a single NUL.\n#\n# To enable this hook, rename this file to \"query-watchman\" and set\n# 'git config core.fsmonitor .git/hooks/query-watchman'\n#\nmy ($version, $last_update_token) = @ARGV;\n\n# Uncomment for debugging\n# print STDERR \"$0 $version $last_update_token\\n\";\n\n# Check the hook interface version\nif ($version ne 2) {\n\tdie \"Unsupported query-fsmonitor hook version '$version'.\\n\" .\n\t \"Falling back to scanning...\\n\";\n}\n\nmy $git_work_tree = get_working_dir();\n\nmy $retry = 1;\n\nmy $json_pkg;\neval {\n\trequire JSON::XS;\n\t$json_pkg = \"JSON::XS\";\n\t1;\n} or do {\n\trequire JSON::PP;\n\t$json_pkg = \"JSON::PP\";\n};\n\nlaunch_watchman();\n\nsub launch_watchman {\n\tmy $o = watchman_query();\n\tif (is_work_tree_watched($o)) {\n\t\toutput_result($o->{clock}, @{$o->{files}});\n\t}\n}\n\nsub output_result {\n\tmy ($clockid, @files) = @_;\n\n\t# Uncomment for debugging watchman output\n\t# open (my $fh, \">\", \".git/watchman-output.out\");\n\t# binmode $fh, \":utf8\";\n\t# print $fh \"$clockid\\n@files\\n\";\n\t# close $fh;\n\n\tbinmode STDOUT, \":utf8\";\n\tprint $clockid;\n\tprint \"\\0\";\n\tlocal $, = \"\\0\";\n\tprint @files;\n}\n\nsub watchman_clock {\n\tmy $response = qx/watchman clock \"$git_work_tree\"/;\n\tdie \"Failed to get clock id on '$git_work_tree'.\\n\" .\n\t\t\"Falling back to scanning...\\n\" if $? != 0;\n\n\treturn $json_pkg->new->utf8->decode($response);\n}\n\nsub watchman_query {\n\tmy $pid = open2(\\*CHLD_OUT, \\*CHLD_IN, 'watchman -j --no-pretty')\n\tor die \"open2() failed: $!\\n\" .\n\t\"Falling back to scanning...\\n\";\n\n\t# In the query expression below we're asking for names of files that\n\t# changed since $last_update_token but not from the .git folder.\n\t#\n\t# To accomplish this, we're using the \"since\" generator to use the\n\t# recency index to select candidate nodes and \"fields\" to limit the\n\t# output to file names only. Then we're using the \"expression\" term to\n\t# further constrain the results.\n\tmy $last_update_line = \"\";\n\tif (substr($last_update_token, 0, 1) eq \"c\") {\n\t\t$last_update_token = \"\\\"$last_update_token\\\"\";\n\t\t$last_update_line = qq[\\n\"since\": $last_update_token,];\n\t}\n\tmy $query = <<\"\tEND\";\n\t\t[\"query\", \"$git_work_tree\", {$last_update_line\n\t\t\t\"fields\": [\"name\"],\n\t\t\t\"expression\": [\"not\", [\"dirname\", \".git\"]]\n\t\t}]\n\tEND\n\n\t# Uncomment for debugging the watchman query\n\t# open (my $fh, \">\", \".git/watchman-query.json\");\n\t# print $fh $query;\n\t# close $fh;\n\n\tprint CHLD_IN $query;\n\tclose CHLD_IN;\n\tmy $response = do {local $/; };\n\n\t# Uncomment for debugging the watch response\n\t# open ($fh, \">\", \".git/watchman-response.json\");\n\t# print $fh $response;\n\t# close $fh;\n\n\tdie \"Watchman: command returned no output.\\n\" .\n\t\"Falling back to scanning...\\n\" if $response eq \"\";\n\tdie \"Watchman: command returned invalid output: $response\\n\" .\n\t\"Falling back to scanning...\\n\" unless $response =~ /^\\{/;\n\n\treturn $json_pkg->new->utf8->decode($response);\n}\n\nsub is_work_tree_watched {\n\tmy ($output) = @_;\n\tmy $error = $output->{error};\n\tif ($retry > 0 and $error and $error =~ m/unable to resolve root .* directory (.*) is not watched/) {\n\t\t$retry--;\n\t\tmy $response = qx/watchman watch \"$git_work_tree\"/;\n\t\tdie \"Failed to make watchman watch '$git_work_tree'.\\n\" .\n\t\t \"Falling back to scanning...\\n\" if $? != 0;\n\t\t$output = $json_pkg->new->utf8->decode($response);\n\t\t$error = $output->{error};\n\t\tdie \"Watchman: $error.\\n\" .\n\t\t\"Falling back to scanning...\\n\" if $error;\n\n\t\t# Uncomment for debugging watchman output\n\t\t# open (my $fh, \">\", \".git/watchman-output.out\");\n\t\t# close $fh;\n\n\t\t# Watchman will always return all files on the first query so\n\t\t# return the fast \"everything is dirty\" flag to git and do the\n\t\t# Watchman query just to get it over with now so we won't pay\n\t\t# the cost in git to look up each individual file.\n\t\tmy $o = watchman_clock();\n\t\t$error = $output->{error};\n\n\t\tdie \"Watchman: $error.\\n\" .\n\t\t\"Falling back to scanning...\\n\" if $error;\n\n\t\toutput_result($o->{clock}, (\"/\"));\n\t\t$last_update_token = $o->{clock};\n\n\t\teval { launch_watchman() };\n\t\treturn 0;\n\t}\n\n\tdie \"Watchman: $error.\\n\" .\n\t\"Falling back to scanning...\\n\" if $error;\n\n\treturn 1;\n}\n\nsub get_working_dir {\n\tmy $working_dir;\n\tif ($^O =~ 'msys' || $^O =~ 'cygwin') {\n\t\t$working_dir = Win32::GetCwd();\n\t\t$working_dir =~ tr/\\\\/\\//;\n\t} else {\n\t\trequire Cwd;\n\t\t$working_dir = Cwd::cwd();\n\t}\n\n\treturn $working_dir;\n}\n" }, { "path": ".git/hooks/post-update.sample", "content": "#!/bin/sh\n#\n# An example hook script to prepare a packed repository for use over\n# dumb transports.\n#\n# To enable this hook, rename this file to \"post-update\".\n\nexec git update-server-info\n" }, { "path": ".git/hooks/pre-applypatch.sample", "content": "#!/bin/sh\n#\n# An example hook script to verify what is about to be committed\n# by applypatch from an e-mail message.\n#\n# The hook should exit with non-zero status after issuing an\n# appropriate message if it wants to stop the commit.\n#\n# To enable this hook, rename this file to \"pre-applypatch\".\n\n. git-sh-setup\nprecommit=\"$(git rev-parse --git-path hooks/pre-commit)\"\ntest -x \"$precommit\" && exec \"$precommit\" ${1+\"$@\"}\n:\n" }, { "path": ".git/hooks/pre-commit.sample", "content": "#!/bin/sh\n#\n# An example hook script to verify what is about to be committed.\n# Called by \"git commit\" with no arguments. The hook should\n# exit with non-zero status after issuing an appropriate message if\n# it wants to stop the commit.\n#\n# To enable this hook, rename this file to \"pre-commit\".\n\nif git rev-parse --verify HEAD >/dev/null 2>&1\nthen\n\tagainst=HEAD\nelse\n\t# Initial commit: diff against an empty tree object\n\tagainst=$(git hash-object -t tree /dev/null)\nfi\n\n# If you want to allow non-ASCII filenames set this variable to true.\nallownonascii=$(git config --type=bool hooks.allownonascii)\n\n# Redirect output to stderr.\nexec 1>&2\n\n# Cross platform projects tend to avoid non-ASCII filenames; prevent\n# them from being added to the repository. We exploit the fact that the\n# printable range starts at the space character and ends with tilde.\nif [ \"$allownonascii\" != \"true\" ] &&\n\t# Note that the use of brackets around a tr range is ok here, (it's\n\t# even required, for portability to Solaris 10's /usr/bin/tr), since\n\t# the square bracket bytes happen to fall in the designated range.\n\ttest $(git diff-index --cached --name-only --diff-filter=A -z $against |\n\t LC_ALL=C tr -d '[ -~]\\0' | wc -c) != 0\nthen\n\tcat <<\\EOF\nError: Attempt to add a non-ASCII file name.\n\nThis can cause problems if you want to work with people on other platforms.\n\nTo be portable it is advisable to rename the file.\n\nIf you know what you are doing you can disable this check using:\n\n git config hooks.allownonascii true\nEOF\n\texit 1\nfi\n\n# If there are whitespace errors, print the offending file names and fail.\nexec git diff-index --check --cached $against --\n" }, { "path": ".git/hooks/pre-merge-commit.sample", "content": "#!/bin/sh\n#\n# An example hook script to verify what is about to be committed.\n# Called by \"git merge\" with no arguments. The hook should\n# exit with non-zero status after issuing an appropriate message to\n# stderr if it wants to stop the merge commit.\n#\n# To enable this hook, rename this file to \"pre-merge-commit\".\n\n. git-sh-setup\ntest -x \"$GIT_DIR/hooks/pre-commit\" &&\n exec \"$GIT_DIR/hooks/pre-commit\"\n:\n" }, { "path": ".git/hooks/pre-push.sample", "content": "#!/bin/sh\n\n# An example hook script to verify what is about to be pushed. Called by \"git\n# push\" after it has checked the remote status, but before anything has been\n# pushed. If this script exits with a non-zero status nothing will be pushed.\n#\n# This hook is called with the following parameters:\n#\n# $1 -- Name of the remote to which the push is being done\n# $2 -- URL to which the push is being done\n#\n# If pushing without using a named remote those arguments will be equal.\n#\n# Information about the commits which are being pushed is supplied as lines to\n# the standard input in the form:\n#\n# \n#\n# This sample shows how to prevent push of commits where the log message starts\n# with \"WIP\" (work in progress).\n\nremote=\"$1\"\nurl=\"$2\"\n\nzero=$(git hash-object --stdin &2 \"Found WIP commit in $local_ref, not pushing\"\n\t\t\texit 1\n\t\tfi\n\tfi\ndone\n\nexit 0\n" }, { "path": ".git/hooks/pre-rebase.sample", "content": "#!/bin/sh\n#\n# Copyright (c) 2006, 2008 Junio C Hamano\n#\n# The \"pre-rebase\" hook is run just before \"git rebase\" starts doing\n# its job, and can prevent the command from running by exiting with\n# non-zero status.\n#\n# The hook is called with the following parameters:\n#\n# $1 -- the upstream the series was forked from.\n# $2 -- the branch being rebased (or empty when rebasing the current branch).\n#\n# This sample shows how to prevent topic branches that are already\n# merged to 'next' branch from getting rebased, because allowing it\n# would result in rebasing already published history.\n\npublish=next\nbasebranch=\"$1\"\nif test \"$#\" = 2\nthen\n\ttopic=\"refs/heads/$2\"\nelse\n\ttopic=`git symbolic-ref HEAD` ||\n\texit 0 ;# we do not interrupt rebasing detached HEAD\nfi\n\ncase \"$topic\" in\nrefs/heads/??/*)\n\t;;\n*)\n\texit 0 ;# we do not interrupt others.\n\t;;\nesac\n\n# Now we are dealing with a topic branch being rebased\n# on top of master. Is it OK to rebase it?\n\n# Does the topic really exist?\ngit show-ref -q \"$topic\" || {\n\techo >&2 \"No such branch $topic\"\n\texit 1\n}\n\n# Is topic fully merged to master?\nnot_in_master=`git rev-list --pretty=oneline ^master \"$topic\"`\nif test -z \"$not_in_master\"\nthen\n\techo >&2 \"$topic is fully merged to master; better remove it.\"\n\texit 1 ;# we could allow it, but there is no point.\nfi\n\n# Is topic ever merged to next? If so you should not be rebasing it.\nonly_next_1=`git rev-list ^master \"^$topic\" ${publish} | sort`\nonly_next_2=`git rev-list ^master ${publish} | sort`\nif test \"$only_next_1\" = \"$only_next_2\"\nthen\n\tnot_in_topic=`git rev-list \"^$topic\" master`\n\tif test -z \"$not_in_topic\"\n\tthen\n\t\techo >&2 \"$topic is already up to date with master\"\n\t\texit 1 ;# we could allow it, but there is no point.\n\telse\n\t\texit 0\n\tfi\nelse\n\tnot_in_next=`git rev-list --pretty=oneline ^${publish} \"$topic\"`\n\t/usr/bin/perl -e '\n\t\tmy $topic = $ARGV[0];\n\t\tmy $msg = \"* $topic has commits already merged to public branch:\\n\";\n\t\tmy (%not_in_next) = map {\n\t\t\t/^([0-9a-f]+) /;\n\t\t\t($1 => 1);\n\t\t} split(/\\n/, $ARGV[1]);\n\t\tfor my $elem (map {\n\t\t\t\t/^([0-9a-f]+) (.*)$/;\n\t\t\t\t[$1 => $2];\n\t\t\t} split(/\\n/, $ARGV[2])) {\n\t\t\tif (!exists $not_in_next{$elem->[0]}) {\n\t\t\t\tif ($msg) {\n\t\t\t\t\tprint STDERR $msg;\n\t\t\t\t\tundef $msg;\n\t\t\t\t}\n\t\t\t\tprint STDERR \" $elem->[1]\\n\";\n\t\t\t}\n\t\t}\n\t' \"$topic\" \"$not_in_next\" \"$not_in_master\"\n\texit 1\nfi\n\n<<\\DOC_END\n\nThis sample hook safeguards topic branches that have been\npublished from being rewound.\n\nThe workflow assumed here is:\n\n * Once a topic branch forks from \"master\", \"master\" is never\n merged into it again (either directly or indirectly).\n\n * Once a topic branch is fully cooked and merged into \"master\",\n it is deleted. If you need to build on top of it to correct\n earlier mistakes, a new topic branch is created by forking at\n the tip of the \"master\". This is not strictly necessary, but\n it makes it easier to keep your history simple.\n\n * Whenever you need to test or publish your changes to topic\n branches, merge them into \"next\" branch.\n\nThe script, being an example, hardcodes the publish branch name\nto be \"next\", but it is trivial to make it configurable via\n$GIT_DIR/config mechanism.\n\nWith this workflow, you would want to know:\n\n(1) ... if a topic branch has ever been merged to \"next\". Young\n topic branches can have stupid mistakes you would rather\n clean up before publishing, and things that have not been\n merged into other branches can be easily rebased without\n affecting other people. But once it is published, you would\n not want to rewind it.\n\n(2) ... if a topic branch has been fully merged to \"master\".\n Then you can delete it. More importantly, you should not\n build on top of it -- other people may already want to\n change things related to the topic as patches against your\n \"master\", so if you need further changes, it is better to\n fork the topic (perhaps with the same name) afresh from the\n tip of \"master\".\n\nLet's look at this example:\n\n\t\t o---o---o---o---o---o---o---o---o---o \"next\"\n\t\t / / / /\n\t\t / a---a---b A / /\n\t\t/ / / /\n\t / / c---c---c---c B /\n\t / / / \\ /\n\t / / / b---b C \\ /\n\t / / / / \\ /\n ---o---o---o---o---o---o---o---o---o---o---o \"master\"\n\n\nA, B and C are topic branches.\n\n * A has one fix since it was merged up to \"next\".\n\n * B has finished. It has been fully merged up to \"master\" and \"next\",\n and is ready to be deleted.\n\n * C has not merged to \"next\" at all.\n\nWe would want to allow C to be rebased, refuse A, and encourage\nB to be deleted.\n\nTo compute (1):\n\n\tgit rev-list ^master ^topic next\n\tgit rev-list ^master next\n\n\tif these match, topic has not merged in next at all.\n\nTo compute (2):\n\n\tgit rev-list master..topic\n\n\tif this is empty, it is fully merged to \"master\".\n\nDOC_END\n" }, { "path": ".git/hooks/pre-receive.sample", "content": "#!/bin/sh\n#\n# An example hook script to make use of push options.\n# The example simply echoes all push options that start with 'echoback='\n# and rejects all pushes when the \"reject\" push option is used.\n#\n# To enable this hook, rename this file to \"pre-receive\".\n\nif test -n \"$GIT_PUSH_OPTION_COUNT\"\nthen\n\ti=0\n\twhile test \"$i\" -lt \"$GIT_PUSH_OPTION_COUNT\"\n\tdo\n\t\teval \"value=\\$GIT_PUSH_OPTION_$i\"\n\t\tcase \"$value\" in\n\t\techoback=*)\n\t\t\techo \"echo from the pre-receive-hook: ${value#*=}\" >&2\n\t\t\t;;\n\t\treject)\n\t\t\texit 1\n\t\tesac\n\t\ti=$((i + 1))\n\tdone\nfi\n" }, { "path": ".git/hooks/prepare-commit-msg.sample", "content": "#!/bin/sh\n#\n# An example hook script to prepare the commit log message.\n# Called by \"git commit\" with the name of the file that has the\n# commit message, followed by the description of the commit\n# message's source. The hook's purpose is to edit the commit\n# message file. If the hook fails with a non-zero status,\n# the commit is aborted.\n#\n# To enable this hook, rename this file to \"prepare-commit-msg\".\n\n# This hook includes three examples. The first one removes the\n# \"# Please enter the commit message...\" help message.\n#\n# The second includes the output of \"git diff --name-status -r\"\n# into the message, just before the \"git status\" output. It is\n# commented because it doesn't cope with --amend or with squashed\n# commits.\n#\n# The third example adds a Signed-off-by line to the message, that can\n# still be edited. This is rarely a good idea.\n\nCOMMIT_MSG_FILE=$1\nCOMMIT_SOURCE=$2\nSHA1=$3\n\n/usr/bin/perl -i.bak -ne 'print unless(m/^. Please enter the commit message/..m/^#$/)' \"$COMMIT_MSG_FILE\"\n\n# case \"$COMMIT_SOURCE,$SHA1\" in\n# ,|template,)\n# /usr/bin/perl -i.bak -pe '\n# print \"\\n\" . `git diff --cached --name-status -r`\n# \t if /^#/ && $first++ == 0' \"$COMMIT_MSG_FILE\" ;;\n# *) ;;\n# esac\n\n# SOB=$(git var GIT_COMMITTER_IDENT | sed -n 's/^\\(.*>\\).*$/Signed-off-by: \\1/p')\n# git interpret-trailers --in-place --trailer \"$SOB\" \"$COMMIT_MSG_FILE\"\n# if test -z \"$COMMIT_SOURCE\"\n# then\n# /usr/bin/perl -i.bak -pe 'print \"\\n\" if !$first_line++' \"$COMMIT_MSG_FILE\"\n# fi\n" }, { "path": ".git/hooks/push-to-checkout.sample", "content": "#!/bin/sh\n\n# An example hook script to update a checked-out tree on a git push.\n#\n# This hook is invoked by git-receive-pack(1) when it reacts to git\n# push and updates reference(s) in its repository, and when the push\n# tries to update the branch that is currently checked out and the\n# receive.denyCurrentBranch configuration variable is set to\n# updateInstead.\n#\n# By default, such a push is refused if the working tree and the index\n# of the remote repository has any difference from the currently\n# checked out commit; when both the working tree and the index match\n# the current commit, they are updated to match the newly pushed tip\n# of the branch. This hook is to be used to override the default\n# behaviour; however the code below reimplements the default behaviour\n# as a starting point for convenient modification.\n#\n# The hook receives the commit with which the tip of the current\n# branch is going to be updated:\ncommit=$1\n\n# It can exit with a non-zero status to refuse the push (when it does\n# so, it must not modify the index or the working tree).\ndie () {\n\techo >&2 \"$*\"\n\texit 1\n}\n\n# Or it can make any necessary changes to the working tree and to the\n# index to bring them to the desired state when the tip of the current\n# branch is updated to the new commit, and exit with a zero status.\n#\n# For example, the hook can simply run git read-tree -u -m HEAD \"$1\"\n# in order to emulate git fetch that is run in the reverse direction\n# with git push, as the two-tree form of git read-tree -u -m is\n# essentially the same as git switch or git checkout that switches\n# branches while keeping the local changes in the working tree that do\n# not interfere with the difference between the branches.\n\n# The below is a more-or-less exact translation to shell of the C code\n# for the default behaviour for git's push-to-checkout hook defined in\n# the push_to_deploy() function in builtin/receive-pack.c.\n#\n# Note that the hook will be executed from the repository directory,\n# not from the working tree, so if you want to perform operations on\n# the working tree, you will have to adapt your code accordingly, e.g.\n# by adding \"cd ..\" or using relative paths.\n\nif ! git update-index -q --ignore-submodules --refresh\nthen\n\tdie \"Up-to-date check failed\"\nfi\n\nif ! git diff-files --quiet --ignore-submodules --\nthen\n\tdie \"Working directory has unstaged changes\"\nfi\n\n# This is a rough translation of:\n#\n# head_has_history() ? \"HEAD\" : EMPTY_TREE_SHA1_HEX\nif git cat-file -e HEAD 2>/dev/null\nthen\n\thead=HEAD\nelse\n\thead=$(git hash-object -t tree --stdin &2\n\texit 1\n}\n\nunset GIT_DIR GIT_WORK_TREE\ncd \"$worktree\" &&\n\nif grep -q \"^diff --git \" \"$1\"\nthen\n\tvalidate_patch \"$1\"\nelse\n\tvalidate_cover_letter \"$1\"\nfi &&\n\nif test \"$GIT_SENDEMAIL_FILE_COUNTER\" = \"$GIT_SENDEMAIL_FILE_TOTAL\"\nthen\n\tgit config --unset-all sendemail.validateWorktree &&\n\ttrap 'git worktree remove -ff \"$worktree\"' EXIT &&\n\tvalidate_series\nfi\n" }, { "path": ".git/hooks/update.sample", "content": "#!/bin/sh\n#\n# An example hook script to block unannotated tags from entering.\n# Called by \"git receive-pack\" with arguments: refname sha1-old sha1-new\n#\n# To enable this hook, rename this file to \"update\".\n#\n# Config\n# ------\n# hooks.allowunannotated\n# This boolean sets whether unannotated tags will be allowed into the\n# repository. By default they won't be.\n# hooks.allowdeletetag\n# This boolean sets whether deleting tags will be allowed in the\n# repository. By default they won't be.\n# hooks.allowmodifytag\n# This boolean sets whether a tag may be modified after creation. By default\n# it won't be.\n# hooks.allowdeletebranch\n# This boolean sets whether deleting branches will be allowed in the\n# repository. By default they won't be.\n# hooks.denycreatebranch\n# This boolean sets whether remotely creating branches will be denied\n# in the repository. By default this is allowed.\n#\n\n# --- Command line\nrefname=\"$1\"\noldrev=\"$2\"\nnewrev=\"$3\"\n\n# --- Safety check\nif [ -z \"$GIT_DIR\" ]; then\n\techo \"Don't run this script from the command line.\" >&2\n\techo \" (if you want, you could supply GIT_DIR then run\" >&2\n\techo \" $0 )\" >&2\n\texit 1\nfi\n\nif [ -z \"$refname\" -o -z \"$oldrev\" -o -z \"$newrev\" ]; then\n\techo \"usage: $0 \" >&2\n\texit 1\nfi\n\n# --- Config\nallowunannotated=$(git config --type=bool hooks.allowunannotated)\nallowdeletebranch=$(git config --type=bool hooks.allowdeletebranch)\ndenycreatebranch=$(git config --type=bool hooks.denycreatebranch)\nallowdeletetag=$(git config --type=bool hooks.allowdeletetag)\nallowmodifytag=$(git config --type=bool hooks.allowmodifytag)\n\n# check for no description\nprojectdesc=$(sed -e '1q' \"$GIT_DIR/description\")\ncase \"$projectdesc\" in\n\"Unnamed repository\"* | \"\")\n\techo \"*** Project description file hasn't been set\" >&2\n\texit 1\n\t;;\nesac\n\n# --- Check types\n# if $newrev is 0000...0000, it's a commit to delete a ref.\nzero=$(git hash-object --stdin &2\n\t\t\techo \"*** Use 'git tag [ -a | -s ]' for tags you want to propagate.\" >&2\n\t\t\texit 1\n\t\tfi\n\t\t;;\n\trefs/tags/*,delete)\n\t\t# delete tag\n\t\tif [ \"$allowdeletetag\" != \"true\" ]; then\n\t\t\techo \"*** Deleting a tag is not allowed in this repository\" >&2\n\t\t\texit 1\n\t\tfi\n\t\t;;\n\trefs/tags/*,tag)\n\t\t# annotated tag\n\t\tif [ \"$allowmodifytag\" != \"true\" ] && git rev-parse $refname > /dev/null 2>&1\n\t\tthen\n\t\t\techo \"*** Tag '$refname' already exists.\" >&2\n\t\t\techo \"*** Modifying a tag is not allowed in this repository.\" >&2\n\t\t\texit 1\n\t\tfi\n\t\t;;\n\trefs/heads/*,commit)\n\t\t# branch\n\t\tif [ \"$oldrev\" = \"$zero\" -a \"$denycreatebranch\" = \"true\" ]; then\n\t\t\techo \"*** Creating a branch is not allowed in this repository\" >&2\n\t\t\texit 1\n\t\tfi\n\t\t;;\n\trefs/heads/*,delete)\n\t\t# delete branch\n\t\tif [ \"$allowdeletebranch\" != \"true\" ]; then\n\t\t\techo \"*** Deleting a branch is not allowed in this repository\" >&2\n\t\t\texit 1\n\t\tfi\n\t\t;;\n\trefs/remotes/*,commit)\n\t\t# tracking branch\n\t\t;;\n\trefs/remotes/*,delete)\n\t\t# delete tracking branch\n\t\tif [ \"$allowdeletebranch\" != \"true\" ]; then\n\t\t\techo \"*** Deleting a tracking branch is not allowed in this repository\" >&2\n\t\t\texit 1\n\t\tfi\n\t\t;;\n\t*)\n\t\t# Anything else (is there anything else?)\n\t\techo \"*** Update hook: unknown type of update to ref $refname of type $newrev_type\" >&2\n\t\texit 1\n\t\t;;\nesac\n\n# --- Finished\nexit 0\n" }, { "path": ".git/info/exclude", "content": "# git ls-files --others --exclude-from=.git/info/exclude\n# Lines that start with '#' are comments.\n# For a project mostly in C, the following would be a good set of\n# exclude patterns (uncomment them if you want to use them):\n# *.[oa]\n# *~\n" }, { "path": ".git/logs/HEAD", "content": "0000000000000000000000000000000000000000 a9ebd1f21dfd3c9f0869140dfb0a4ae5a538cccc appuser 1779396077 +0000\tclone: from https://github.com/steffanlloyd/quik\n" }, { "path": ".git/logs/refs/heads/main", "content": "0000000000000000000000000000000000000000 a9ebd1f21dfd3c9f0869140dfb0a4ae5a538cccc appuser 1779396077 +0000\tclone: from https://github.com/steffanlloyd/quik\n" }, { "path": ".git/logs/refs/remotes/origin/HEAD", "content": "0000000000000000000000000000000000000000 a9ebd1f21dfd3c9f0869140dfb0a4ae5a538cccc appuser 1779396077 +0000\tclone: from https://github.com/steffanlloyd/quik\n" }, { "path": ".git/objects/pack/pack-4053744f65cc88ed0e06b753c1e70251da189553.promisor", "content": "a9ebd1f21dfd3c9f0869140dfb0a4ae5a538cccc refs/heads/main\n" }, { "path": ".git/objects/pack/pack-e6a3f6d55016b489f57c6cf6a74e750109c0fabb.promisor", "content": "" }, { "path": ".git/packed-refs", "content": "# pack-refs with: peeled fully-peeled sorted \na9ebd1f21dfd3c9f0869140dfb0a4ae5a538cccc refs/remotes/origin/main\n" }, { "path": ".git/refs/heads/main", "content": "a9ebd1f21dfd3c9f0869140dfb0a4ae5a538cccc\n" }, { "path": ".git/refs/remotes/origin/HEAD", "content": "ref: refs/remotes/origin/main\n" }, { "path": ".git/shallow", "content": "a9ebd1f21dfd3c9f0869140dfb0a4ae5a538cccc\n" }, { "path": ".gitignore", "content": "# Ignore all\n*\n\n# Unignore all with extensions\n!*.*\n\n# Unignore all dirs\n!*/\n\n# Don't track content of these folders\n**/codegen/\ncodegen/\n*media/\n*slprj/\n*bak/\n**/bak/\n/temp/*\nscripts/\n*.autosave\n*.asv\nsave_data/*\n**/save_data/*\n\n# Ignore config file\n*config.m\n\n# Ignore simulink real time folders\n*_maci64/\n*_rtt/\n*_sldrt_ert_maci64/\n*sldrt_maci64/\n*_rtw/\n**_rtw/\n*.rxm64\n*.slxc\n*.prj\n\n*.DS_store\n\n# Ignore sublime folders\n*.sublime-project\n*.sublime-workspace\n*.xcodeproj\n\n# Compiled source #\n###################\n*.com\n*.class\n*.dll\n*.exe\n*.o\n*.so\n*.so\n*.mex*\n*.mexmaci64\n\n# Packages #\n############\n# it's better to unpack these files and commit the raw source\n# git has its own built in compression methods\n*.7z\n*.dmg\n*.gz\n*.iso\n*.jar\n*.rar\n*.tar\n*.zip\n" }, { "path": "CMakeLists.txt", "content": "cmake_minimum_required(VERSION 3.8)\nproject(quik)\n\nif(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES \"Clang\")\n add_compile_options(-Wall -Wextra -Wpedantic)\nendif()\n\n# find dependencies\nfind_package(Eigen3 REQUIRED NO_MODULE)\nfind_package(ament_cmake REQUIRED)\nfind_package(rclcpp REQUIRED)\nfind_package(std_msgs REQUIRED)\nfind_package(geometry_msgs REQUIRED)\nfind_package(rosidl_default_generators REQUIRED)\n\ninclude_directories(include)\ninclude_directories(${EIGEN3_INCLUDE_DIR})\n\nrosidl_generate_interfaces(${PROJECT_NAME}\n \"srv/IKService.srv\"\n \"srv/FKService.srv\"\n \"srv/JacobianService.srv\"\n DEPENDENCIES geometry_msgs std_msgs\n)\n\n# Install header files\ninstall(DIRECTORY include/\n DESTINATION include\n)\n\n# Add executable\nadd_executable(sample_cpp_usage\n src/sample_cpp_usage.cpp\n src/geometry.cpp)\nament_target_dependencies(sample_cpp_usage Eigen3)\n\nadd_executable(ros_kinematics_service_node\n src/ros_kinematics_service_node.cpp\n src/geometry.cpp\n src/ros_helpers.cpp)\nament_target_dependencies(ros_kinematics_service_node\n rclcpp\n Eigen3\n rosidl_default_runtime\n geometry_msgs\n std_msgs)\n\nadd_executable(sample_ros_client_node\n src/sample_ros_client_node.cpp\n src/geometry.cpp\n src/ros_helpers.cpp)\nament_target_dependencies(sample_ros_client_node\n rclcpp\n Eigen3\n rosidl_default_runtime\n geometry_msgs\n std_msgs)\n\nadd_executable(sample_ros_cpp_node\n src/sample_ros_cpp_node.cpp\n src/geometry.cpp\n src/ros_helpers.cpp)\nament_target_dependencies(sample_ros_cpp_node\n rclcpp\n Eigen3\n rosidl_default_runtime\n geometry_msgs\n std_msgs)\n\nament_export_dependencies(rosidl_default_runtime)\n\n# Install library and create export set\ninstall(TARGETS\n sample_cpp_usage\n ros_kinematics_service_node\n sample_ros_client_node\n sample_ros_cpp_node\n DESTINATION lib/${PROJECT_NAME})\n\ninstall(TARGETS\n DESTINATION lib/${PROJECT_NAME}\n EXPORT ${PROJECT_NAME}_export\n ARCHIVE DESTINATION lib\n LIBRARY DESTINATION lib\n RUNTIME DESTINATION bin\n)\n\n# Install launch files\ninstall(\n DIRECTORY launch\n DESTINATION share/${PROJECT_NAME}/\n)\n# Install config files\ninstall(\n DIRECTORY config\n DESTINATION share/${PROJECT_NAME}/\n)\n\n# Export include directories\nament_export_include_directories(include)\n\nrosidl_get_typesupport_target(cpp_typesupport_target\n ${PROJECT_NAME} rosidl_typesupport_cpp)\n \ntarget_link_libraries(ros_kinematics_service_node \"${cpp_typesupport_target}\")\ntarget_link_libraries(sample_ros_client_node \"${cpp_typesupport_target}\")\ntarget_link_libraries(sample_ros_cpp_node \"${cpp_typesupport_target}\")\n\nament_package()\n" }, { "path": "ReadMe.md", "content": "# QuIK: An ultra-fast and highly robust kinematics library for C++ or ROS2 using DH parameters\n\nQuIK is a hyper-efficient C++ kinematics library for serial manipulators. It is based on the novel QuIK algorithm, [published in IEEE-TRO](http://dx.doi.org/10.1109/TRO.2022.3162954), that uses 3rd-order velocity kinematics to solve generalized inverse kinematics significantly faster, and significantly more reliably that existing inverse kinematics packages. QuIK uses the Denevit-Hartenberg convention for kinematics, which is readily available for most manipulators and results in a more computationally efficient formulation of kinematics.\n\nSome key benchmarks over other available solvers, on a sample 6-DOF manipulator with large initial joint error:\n\n| Solver | Mean Solution Time | Error Rate |\n| -------------- | ------------------ | ---------- |\n| QuIK | 21 μs | 0.13% |\n| KDL (used in ROS, and primary base solver in TracIK) | 148 μs (x7) | 5.3% (x40)|\n| Matlab Robotics Toolbox | 670 μs (x32) | 1.1% (x9) |\n\nWhen the initial guess is good (close to the true answer), the error rate goes to nearly zero and the solution time decreases significantly.\n\nThese benchmarks were published in the IEEE-TRO paper, and further details about them can be found there. A preprint of this paper is included in this repository: [docs/SLloydEtAl2022_QuIK_preprint.pdf](docs/SLloydEtAl2022_QuIK_preprint.pdf).\n\n> S. Lloyd, R. Irani, and M. Ahmadi, \"Fast and Robust Inverse Kinematics for Serial Robots using Halley’s Method,\" IEEE Transactions on Robotics, vol. 38, no. 5, pp. 2768–2780, Oct. 2022. doi: [10.1109/TRO.2022.3162954](http://dx.doi.org/10.1109/TRO.2022.3162954). A preprint of this paper can be found in the current repository, [docs/SLloydEtAl2022_QuIK_preprint.pdf](docs/SLloydEtAl2022_QuIK_preprint.pdf).\n\nThis repository includes the code to use the QuIK algorithm in ROS2, or just in C++ in general. Examples are given in python as well.\n\n## What this repository does and does not do\n\nThis repository allows for highly efficient robot kinematics, and in particular inverse kinematics. It is designed for serial manipulators, i.e. manipulators with a single kinematic chain that does not branch. \n\nIt will perform:\n\n - Highly efficient and robust inverse kinematics against 6-DOF constraints in world frame. E.g. a target tool point and rotation is specified, and joint angles are returned.\n - Forward kinematics\n - Velocity kinematics/Jacobian computation\n\nIt does not do:\n - [_Planned_] Null space optimization for robots with more than 6 joints. The code works perfectly for higher-order chains, but will only return \"a\" solution, not necessarily a solution which is optimal. \n - [_Planned_] Reduced-order or transformed constraints, where you perhaps care about the tool point, but not rotation, or other combinations thereof.\n - [_Planned_] Feasibility checks. This code base does not check the computed solutions against joint limits, or check whether the target pose can be reached within the robot's speed and acceleration limits.\n\n## Why use generalized inverse kinematics\n\nIf you can and have derived the analytic (closed-form) solution to the inverse kinematics for your robot, by all means use it! It will be faster (likely) and more reliable than a generalized solver, which can fail. Generalized inverse kinematics can be used instead, when:\n - You aren't able to derive a closed-form solution, or don't want to.\n - Your robot is kinematically calibrated, so the DH table is perturbed and a closed-form solution doesn't exist.\n - Your robot is too complex to derive a closed form solution, or lacks a spherical wrist allowing for decoupling of the rotational and translational kinematics.\n - You want to perform more complex null-space optimization (planned for future implementation in this repository).\n\nIt is worth noting though, that with this implementation of inverse kinematics, if your initial guess is good (e.g. if you use the previous state of the robot), then the algorithm will converge in 5-6 microseconds and with effectively zero error rate. A typical analytical solution will be closer to 1 microsecond. This difference may not be significant enough to make it worthwhile taking the time to derive the full analytical solution.\n\n## How it works\n\nThe QuIK repository is based on the QuIK algorith, the full details of which can be found in the paper [docs/SLloydEtAl2022_QuIK_preprint.pdf](docs/SLloydEtAl2022_QuIK_preprint.pdf). QuIK stands for the *Quick Inverse Kinematics* algorithm, which is a new algorithm for generalized inverse kinematics of serial kinematic chains that has been shown to be 1-2 orders of magnitude faster, and more robust (fails less) than other off-the-shelf algorithms.\n\nThe key innovation in this work is the use of higher level derivatives in the iterative solver. Most current inverse kinematics solvers use the geometry Jacobian of the kinematic chain in a *damped Newton search*, where at each step the kinematics function of the robot is linearized about a point, and this linear estimate is used to project towards the correct solution. The novelty with the QuIK method is that it uses the first *and* second-order derivatives to approximate the robot's kinematics function as a quadratic curve, which is instead used to project towards the solution. This quadratic curve captures the function much more effectively than the linear estimate, leading to much faster convergence, and fewer cases of the algorithm diverging to an incorrect solution. This is visualized in the image below.\n\n![Graph showing the difference between the Newton-Raphson and QuIK algorithms](docs/nr_v_quik.png)\n\nThis improved convergence can be shown graphically. In the above-linked paper, 1 million random poses were generated for the 6-DOF KUKA KR6 robot and solved with a Newton-Raphson solver and the QuIK solver. Each algorithm was given an initial guess that was, on average, 45 degrees away from the true answer (on each joint).\nThe plot below shows the histogram distribution of the normed kinematic error after each algorithm iteration. Here, we see that the QuIK method converges to machine-level precision nearly twice as fast as the Newton algorithm, and leaves a much lower amount of its sampled unconverged at the top.\n\n![Graph showing the convergence between the Newton-Raphson and QuIK algorithms](docs/convergence.png)\n\nFurther details and benchmarks can be found in the paper: [docs/SLloydEtAl2022_QuIK_preprint.pdf](docs/SLloydEtAl2022_QuIK_preprint.pdf).\n\n## How to build\n\nThis repository can be closed directly into the `src` folder of your ros workspace. For optimal performance, build using the release flag. For this type of iterative code, the compiler optimizations make it run about 10x faster. It will work just fine without it, however.\n```bash\ncolcon build --cmake-args -DCMAKE_BUILD_TYPE=Release\n```\n\n## Code Description and Usage\n\nThe main C++ code is stored in `include/quik` and `src`. The code can be used directly in your C++ projects, or in C++ ros nodes, or by building and running the provided kinematics service node (see below).\n\n**Core QuIK functionality**:\n - `include/quik/Robot.hpp`: Defines the `quik::Robot` class and forward kinematic/jacobian functions.\n - `include/quik/IKSolver.hpp`: Defines the `quik::IKSolver` class and associated inverse kinematics functions.\n - `include/quik/geometry.hpp` and `src/geometry.cpp`: Defines the `quik::geometry` namespace, which includes a number of functions for transforming from twists to homogeneous transforms to quaternion/point representations, etc.\n - `include/quik/utilities.hpp`: Defines the `quik::utilities` namespace, which includes some non-kinematic helper functions.\n\n**ROS2 code**\n - `include/quik/ros_helpers.hpp` and `src/ros_helpers.cpp`: Defines helper functions for using QuIK in ROS, such as service handlers for forward/inverse/velocity kinematics, as well as helper functions for forming and parsing service requests.\n - `src/ros_kinematics_service_node.cpp`: A ROS2 node that defines services for forward, inverse, and velocity kinematics.\n\n**Example code**\n - `src/sample_cpp_usage.cpp`: A simple demo showing how the codebase can be used (ROS-indenpendent).\n - `src/sample_ros_client_node.cpp`: A sample client node for the service server node provided.\n - `src/sample_ros_cpp_node.cpp`: A simple demo of using the QuIK codebase in a ROS node (directly, without using the service node).\n\n**Python code**\n - `python/sample_quik_client_node.py`: A sample python node that calls the kinematics service node provided.\n - `python/quik_service_helpers.py`: A python module that defines helper functions for forming and parsing service requests from the service node.\n\n### Basic Usage\n\nThis library does not use URDF like many ROS packages; instead, it builds the robot structure using Denevit-Hartenburg (DH) convention. The DH table is a method to describe the geometry of a robot or a kinematic chain. It uses four parameters - `a`, `alpha`, `d`, and `theta` - to define the spatial relationship between adjacent links in the chain. More information on the DH convention [here](https://users.cs.duke.edu/~brd/Teaching/Bio/asmb/current/Papers/chap3-forward-kinematics.pdf) or [here](https://spart.readthedocs.io/en/latest/DH.html).\n\n#### The ``quik::Robot`` class\n\nIn this implementation, we use the Spong notation and numbering convention for the DH table. This means that:\n\n- `a` and `alpha` are the link length and twist angle, respectively, which describe the transformation from one link to the next.\n- `d` and `theta` are the link offset and joint angle, respectively, which describe the transformation due to the joint variable.\n\nThe DH parameters are arranged in a matrix where each row corresponds to one joint of the robot, and the columns correspond to the `a`, `alpha`, `d`, and `theta` parameters, in that order.\n\nThe robot properties are defined as follows:\n\n- `DH`: A DOFx4 matrix of the Denavit-Hartenberg (DH) parameters in the following order:\n\n ```plaintext\n a_1 alpha_1 d_1 theta_1\n : : : :\n an alpha_n d_n theta_n\n ```\n- `linkTypes`: A vector of link types. Each element should be `true` if the corresponding joint is a prismatic joint, `false` otherwise.\n- `Qsign`: A vector of link directions. Each element should be `-1` or `1`, allowing you to change the sign of the corresponding joint variable.\n- `Tbase`: The base transform of the robot. This is a 4x4 matrix representing the transformation between the world frame and the first DH frame.\n- `Ttool`: The tool transform of the robot. This is a 4x4 matrix representing the transformation between the DOF'th frame and the tool frame.\n\nFor example, the following code would define the KUKA KR6 manipulator:\n```c++\n#include \"Eigen/Dense\"\n#include \"quik/Robot.hpp\"\nusing namespace Eigen;\n// Given as DOFx4 table, in the following order: a_i, alpha_i, d_i, theta_i.\nMatrix DH;\nDH << 0.025, -M_PI/2, 0.183, 0,\n -0.315, 0, 0, 0,\n -0.035, M_PI/2, 0, 0,\n 0, -M_PI/2, 0.365, 0,\n 0, M_PI/2, 0, 0,\n 0, 0, 0.08, 0;\n\n// Second argument is a list of joint types\nVector linkTypes;\nlinkTypes << quik::JOINT_REVOLUTE, quik::JOINT_REVOLUTE, quik::JOINT_REVOLUTE, quik::JOINT_REVOLUTE, quik::JOINT_REVOLUTE, quik::JOINT_REVOLUTE;\n\n// Third argument is a list of joint directions\n// Allows you to change the sign (direction) of the joints.\nVector Qsign;\nQsign << 1, 1, 1, 1, 1, 1;\n\n// Fourth and fifth arguments are the base and tool transforms, respectively\nMatrix4d Tbase = Matrix4d::Identity(4,4);\nMatrix4d Ttool = Matrix4d::Identity(4,4);\n\nauto R = std::make_shared>(DH, linkTypes, Sign, Tbase, Ttool);\n```\n\n#### The ``quik::IKSolver`` class\n\nTo perform inverse kinematics, you need to build an `IKSolver` object that takes a few extra parameters, although for basic usage the default parameters are generally good:\n```c++\n#include \"Eigen/Dense\"\n#include \"quik/Robot.hpp\"\n#include \"quik/IKSolver.hpp\"\nusing namespace Eigen;\n// Define the IK options\nconst quik::IKSolver<6> IKS(\n R, // The robot object (pointer)\n 200, // max number of iterations\n quik::ALGORITHM_QUIK, // algorithm (ALGORITHM_QUIK, ALGORITHM_NR or ALGORITHM_BFGS)\n 1e-12, // Exit tolerance\n 1e-14, // Minimum step tolerance\n 0.05, // iteration-to-iteration improvement tolerance (0.05 = 5% relative improvement)\n 10, // max consequitive gradient fails\n 80, // Max gradient fails\n 1e-10, // lambda2 (lambda^2, the damping parameter for DQuIK and DNR)\n 0.34, // Max linear error step\n 1 // Max angular error step\n);\n```\nFor the most part, these defaults above are fairly good start, so you can initialize this object just with:\n```c++\nconst quik::IKSolver<6> IKS(R);\n```\n\nThe full list of `IKSolver` parameters are:\n- `max_iterations` [`int`]: Maximum number of iterations of the\n algorithm. Default: 200\n- `algorithm` [`ALGORITHM_t`]: The algorithm to use. \n Default: `ALGORITHM_QUIK`.\n - `ALGORITHM_QUIK` - QuIK\n - `ALGORITHM_NR` - Newton-Raphson or Levenberg-Marquardt\n - `ALGORITHM_BFGS` - BFGS\n- `exit_tolerance` [`double`]: The exit tolerance on the norm of the error. Default: `1e-12`.\n- `minimum_step_size` [`double`]: The minimum joint angle step size (normed) before the solver exits. Default: `1e-14`.\n- `relative_improvement_tolerance` [double]: The minimum relative iteration-to-iteration improvement. If this threshold isn't met, a counter is incremented. If the threshold isn't met\n `max_consecutive_grad_fails` times in a row, then the algorithm exits. For example, 0.05 represents a minimum of 5% relative improvement. Default: `0.05`.\n- `max_consecutive_grad_fails` [int]: The maximum number of relative improvement fails before the algorithm exits. Default: `20`.\n- `lambda_squared` [double]: The square of the damping factor, `lambda`. Only applies to the NR and QuIK methods. If given, these methods become the DNR (also known as Levenberg-Marquardt) or the DQuIK algorithm. Ignored for BFGS algorithm. Recommended to set to a small, positive but nonzero value. Default: `1e-10`.\n- `max_linear_step_size` [double]: An upper limit of the error step\n in a single step. Ignored for BFGS algorithm. Default: Uses the `Robot.characteristicLength()` function to automatically estimate an appropriate value from the values in the `DH` table as `0.33*Robot.characteristicLength()`.\n- `max_angular_step_size` [double]: An upper limit of the error step in a single step. Ignored for BFGS algorithm. Default: `1`.\n- `armijo_sigma` [double]: The sigma value used in Armijo's rule, for line search in the BFGS method. Default: `1e-5`\n- `armijo_beta` [double]: The beta value used in Armijo's rule, for line search in the BFGS method. Default: `0.5`\n\n### Templating for fixed size\nBoth ``quik::Robot`` and ``quik::IKSolver`` are templated with the integer value ``DOF``, the number of degrees of freedom of the robot. The code is designed such that ``DOF`` can be set to any positive integer value, or to ``Eigen::Dynamic`` (or ``-1``) for a variable-length object. If you know the ``DOF`` beforehand, setting it properly rather than using ``-1`` will avoid dynamic memory allocation in all computations, making the code run in a more reliable and constant amount of time for real-time purposes.\n\n## Usage in ROS\n\nQuIK has been integrated into ROS and can be used either via a kinematics service node, or by simply using the C++ code directly. Helper functions have been written to load robot definitions from YAML config files, form service requests, and more.\n\n### Direct C++ Usage\nThis library can be included and used directly, as with any C++ code. However, certain helper functions are included to help with parsing from YAML files:\n```c++\n#include \"rclcpp/rclcpp.hpp\"\n#include \"quik/IKSolver.hpp\"\n#include \"quik/Robot.hpp\"\n#include \"quik/ros_helpers.hpp\"\nconstexpr int DOF=6;\nclass SampleCPPUsageNode : public rclcpp::Node\n{\npublic:\n SampleCPPUsageNode() : Node(\"sample_cpp_usage_node\")\n {\n this->R = std::make_shared>(quik::ros_helpers::robotFromNodeParameters(*this));\n \n this->IKS = std::make_shared>(quik::ros_helpers::IKSolverFromNodeParameters(*this, this->R));\n }\n\n std::shared_ptr> IKS;\n std::shared_ptr> R;\n};\n```\n\nThe basic config parameters are loaded from the node's yaml file. You may use one of the provided yaml files in `config/`, or just make your own. At a minimum, the config file requires the DH table definition and a list of the joints:\n```yaml\n/**:\n ros__parameters:\n # Robot parameters\n # DH table (order a_i, alpha_i, d_i, theta_i)\n dh: [0.025, -1.5707963268, 0.183, 0.0,\n -0.315, 0.0, 0.0, 0.0, \n -0.035, 1.5707963268, 0.0, 0.0,\n 0.0, -1.5707963268, 0.365, 0.0,\n 0.0, 1.5707963268, 0.0, 0.0,\n 0.0, 0.0, 0.08, 0.0]\n\n # Link types (JOINT_REVOLUTE or JOINT_PRISMATIC)\n link_types: [JOINT_REVOLUTE, JOINT_REVOLUTE, JOINT_REVOLUTE, JOINT_REVOLUTE, JOINT_REVOLUTE, JOINT_REVOLUTE]\n```\n\nA simple C++ node implementing this is provided as an example in `src/sample_ros_client_node.cpp`, which can be run as:\n```bash\nros2 run quik sample_ros_cpp_node --ros-args --params-file ./src/quik/config/kuka_kr6.yaml # Replace with your own config file\n```\n\n### Kinematics Service Node\n\nThe file `src/ros_kinematics_service_node.cpp` defines a service node that will load a `Robot` and `IKSolver` from the config file, as in the prior section. The kinematics service can be run as:\n```bash\nros2 run quik ros_kinematics_service_node --ros-args --params-file ./src/quik/config/kuka_kr6.yaml # replace with your own config file.\n```\nThis node defines three services.\n\n#### Inverse kinematics service `/ik_service`: \nThe IK service uses the interface `srv/IKService.srv`. \n```yaml\n# Request\ngeometry_msgs/Pose target_pose\nfloat64[] q_0 # Initial guesses of the joint angles\n---\n# Response\nfloat64[] q_star # The solved joint angles\nfloat64[6] e_star # The pose errors at the final solution\nint32 iter # The number of iterations the algorithm took\nint32 break_reason # The reason the algorithm stopped\nbool success # Whether or not the IK was successful\n```\nIn C++, a request can be formed using the helper function included in `ros_helpers.hpp`:\n```c++\nauto ik_request = quik::ros_helpers::ik_make_request(quat, d, q_perturbed);\nauto ik_result = this->ik_client_->async_send_request(ik_request).get();\n\nVectorXd q_star(this->R->dof); Vector e_star; int iter; quik::BREAKREASON_t breakReason;\nauto success = quik::ros_helpers::ik_parse_response(ik_result, q_star, e_star, iter, breakReason);\n```\nSimilar functions are provided for python and can be seen in use in `python/sample_quik_client_node.py`.\n\n#### Forward kinematics service `/fk_service`: \nThe IK service uses the interface `srv/FKService.srv`. \n```yaml\n# Request\nfloat64[] q # joint_angles\nint32 frame -1 # the requested frame, if ommitted defaults to the tool frame\n---\n# Response\ngeometry_msgs/Pose pose\n```\nIn C++, a request can be formed using the helper function in `ros_helpers.hpp`:\n```c++\nauto fk_request = quik::ros_helpers::fk_make_request(q);\nauto fk_result = this->fk_client_->async_send_request(fk_request).get();\n\nVector4d quat; Vector3d d;\nquik::ros_helpers::fk_parse_response(fk_result, quat, d);\n```\nSimilar functions are provided for python and can be seen in use in `python/sample_quik_client_node.py`.\n\n\n#### Jacobian service `/jacobian_service`: \nThe IK service uses the interface `srv/JacobianService.srv`. \n```yaml\n# Request\nfloat64[] q # joint_angles\n---\n# Response\nfloat64[] jacobian # Jacobian matrix\n```\nIn C++, a request can be formed using the helper function in `ros_helpers.hpp`:\n```c++\nauto jacobian_request = quik::ros_helpers::jacobian_make_request(q);\nauto jacobian_result = this->jacobian_client_->async_send_request(jacobian_request).get();\n\nEigen::MatrixXd jacobian(6, this->R->dof);\nquik::ros_helpers::jacobian_parse_response(jacobian_result, jacobian);\n```\nSimilar functions are provided for python and can be seen in use in `python/sample_quik_client_node.py`.\n\n#### Sample C++ client node\nThese services are called in a sample client node `src/sample_ros_client_node.cpp`, which can be run as:\n```bash\nros2 run quik sample_ros_client_node --ros-args --params-file ./src/quik/config/kuka_kr6.yaml # replace with your own config file\n```\n\n\n#### Sample python client node.\nA sample python service client is also provided. The code cannot be directly run due to ROS2 not handling packages with both python and C++ nodes well (at least in combination with custom interface definitions). However, the sample code can be found in the `python/` directory, along with helper functions for forming and parsing service requests.\n\n### YAML Config Files\n\nSample config files are provided in the `config/` directory for the KUKA KR6 robot, the KUKA iiwa7 robot, and the Kinova Jaco robot. All the inputs to the `Robot` and `IKSolver` objects can be specified in these config files. If omitted, a reasonable default value will be used instead.\n\n## Requirements\nAll functions rely on the [Eigen 3.4](https://eigen.tuxfamily.org) linear algebra library, so you will also need to link to an appropriate library. If you don't have Eigen on your machine, it can be installed with (on ubuntu):\n```bash\nsudo apt install libeigen3-dev\n```\n\n## Citations\n\nIf you use our work, please reference our publication below. Recommended citation:\n\n[1] [S. Lloyd, R. A. Irani, and M. Ahmadi, “Fast and Robust Inverse Kinematics of Serial Robots Using Halley’s Method,” IEEE Transactions on Robotics, vol. 38, no. 5, pp. 2768–2780, Oct. 2022.](docs/SLloydEtAl2022_QuIK_preprint.pdf) doi: [10.1109/TRO.2022.3162954](http://dx.doi.org/10.1109/TRO.2022.3162954).\n\n## Commercial Licensing\n\nThis repository is published under the AGPL license, which enforces that all derivative works must also be made open source.\n\nFor commercial applications where open-source of derivative works is not possible, individual commercial licensing is available for a modest fee. Contact `steffan` dot `lloyd` at `icloud` dot `com` for details.\n" }, { "path": "package.xml", "content": "\n\n\n quik\n 1.0.0\n An ultra-fast and reliable inverse kinematics ROS2 service for serial robots.\n Steffan Lloyd\n AGPL-3.0-only\n\n ament_cmake\n\n rclcpp\n std_msgs\n geometry_msgs\n Eigen3\n\n rosidl_default_generators\n rosidl_default_runtime\n rosidl_interface_packages\n\n ament_lint_auto\n ament_lint_common\n\n \n ament_cmake\n \n\n" } ]