ksakash

from z3 import *
# s = Solver()
s = Optimize()
T=6
R=4
total_c= Real('total_c')


X = [ [ Int("x_%s_%s" % (i, j)) for j in range(T) ] for i in range(R) ]
Y = [ [ Int("y_%s_%s" % (i, j)) for j in range(T) ] for i in range(R) ]

ksakash

Final Report

Student: Akash Kumar Singh

1. Python3 binding for InnerModel Library

Mentors: Luis J. Manso, Esteban Martinena, Ramon Cintas
Link to Commits: https://github.com/ksakash/innermodel-python3/commits/master
Link to Codes: https://github.com/ksakash/innermodel-python3

ksakash

RoboComp Gazebo Integration

Student: Akash Kumar Singh
Mentors: Marco A. Gutiérrez, Ramon Cintas
Link to Commits: https://github.com/ksakash/gazebo-robocomp/commits/master
Link to Codes: https://github.com/ksakash/gazebo-robocomp

Introduction

Currently RoboComp uses RoboComp Innermodel Simulator (RCIS), an inbuilt simulator, to check its applications and algorithms. It provides a lot of basic tools and features to easily test an application developed by a developer. But besides its usefulness, more tools and features need to be developed to make it better. So, Gazebo was chosen to serve as an secondary options to the developers to test their algorithms and fulfill their needs to the fullest.

ksakash

[  3%] Linking CXX shared library libLaser.so
[  6%] Built target Laser
[ 10%] Linking CXX shared library libLaserI.so
[ 13%] Built target LaserI
[ 17%] Linking CXX executable server
libLaser.so: undefined reference to `typeinfo for IceInternal::Cpp11FnCallbackNC'
libLaser.so: undefined reference to `IceInternal::Cpp11FnCallbackNC::Cpp11FnCallbackNC(std::function<void (IceUtil::Exception const&)> const&, std::function<void (bool)> const&)'
libLaser.so: undefined reference to `vtable for IceInternal::Cpp11FnCallbackNC'
libLaser.so: undefined reference to `IceInternal::Cpp11FnCallbackNC::verify(IceInternal::Handle<Ice::LocalObject> const&)'
libLaser.so: undefined reference to `IceInternal::Cpp11FnCallbackNC::exception(IceInternal::Handle<Ice::AsyncResult> const&, IceUtil::Exception const&) const'

ksakash

#include <Ice/Ice.h>
#include <IceStorm/IceStorm.h>
#include <Component.h>

using namespace std;

class ComponentI : public Component
{
public:

ksakash

#include <Ice/Ice.h>
#include <IceStorm/IceStorm.h>
#include <Component.h>

int main(int argc, char* argv[])
{
    auto obj = communicator->stringToProxy("IceStorm/TopicManager:tcp -p 9999");
    auto topicManager = Ice::checkedCast<IceStorm::TopicManagerPrx>(obj);
    std::shared_ptr<IceStorm::TopicPrx> topic;
    while(!topic)

ksakash

// First we declare the namespace this message 
// lives in, with the package declaration
package CustomMessageType.msgs;

// gazebo message types
import "vector2d.proto";
import "time.proto";
import "header.proto"

// our custom gazebo message

ksakash

#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/transport/transport.hh>
#include <gazebo/msgs/msgs.hh>
#include <gazebo/gazebo_client.hh>

namespace gazebo
{
  // can be any type, like : WorldPlugin, ModelPlugin, SensorPlugin, GUIPlugin, etc
  class InterfacePlugin : plugin ModelPlugin

ksakash

#include <iostream>
#include <math.h>
#include <boost/gil/gil_all.hpp>
#include <boost/gil/extension/io/png_dynamic_io.hpp>
#include <boost/shared_ptr.hpp>
#include <sdf/sdf.hh>

#include "gazebo/gazebo.hh"
#include "gazebo/common/common.hh"
#include "gazebo/msgs/msgs.hh"

ksakash

#include "gazebo.hh"
#include "physics/physics.hh"
#include "physics/MultiRayShape.hh"
#include "common/common.hh"
#include "transport/transport.hh"
#include "plugins/RayPlugin.hh"

#include <boost/bind.hpp>
#include <boost/algorithm/string.hpp>