| B011 | | Embedded Ada | |
| B013 | | Embedded COBOL | |
| B014 | | Embedded Fortran | |
| B015 | | Embedded MUMPS | |
| B016 | | Embedded Pascal | |
| B017 | | Embedded PL/I | |
| B031 | | Basic dynamic SQL | |
| B032 | | Extended dynamic SQL | |
| B032-01 | | <describe input statement> | |
| B033 | | Untyped SQL-invoked function arguments | |
| B034 | | Dynamic specification of cursor attributes | |
| B035 | | Non-extended descriptor names | |
| B041 | | Extensions to embedded SQL exception declarations | |
| B051 | | Enhanced execution rights | |
| B111 | | Module language Ada | |
| B112 | | Module language C | |
| B113 | | Module language COBOL | |
| B114 | | Module language Fortran | |
| B115 | | Module language MUMPS | |
| B116 | | Module language Pascal | |
| B117 | | Module language PL/I | |
| B121 | | Routine language Ada | |
| B122 | | Routine language C | |
| B123 | | Routine language COBOL | |
| B124 | | Routine language Fortran | |
| B125 | | Routine language MUMPS | |
| B126 | | Routine language Pascal | |
| B127 | | Routine language PL/I | |
| B128 | | Routine language SQL | |
| E081 | Core | Basic Privileges | |
| E081-09 | Core | USAGE privilege | |
| E153 | Core | Updatable queries with subqueries | |
| E182 | Core | Module language | |
| F121 | | Basic diagnostics management | |
| F121-01 | | GET DIAGNOSTICS statement | |
| F121-02 | | SET TRANSACTION statement: DIAGNOSTICS SIZE clause | |
| F122 | | Enhanced diagnostics management | |
| F123 | | All diagnostics | |
| F181 | Core | Multiple module support | |
| F202 | | TRUNCATE TABLE: identity column restart option | |
| F262 | | Extended CASE expression | |
| F263 | | Comma-separated predicates in simple CASE expression | |
| F291 | | UNIQUE predicate | |
| F301 | | CORRESPONDING in query expressions | |
| F311 | Core | Schema definition statement | |
| F311-04 | Core | CREATE VIEW: WITH CHECK OPTION | |
| F312 | | MERGE statement | |
| F313 | | Enhanced MERGE statement | |
| F341 | | Usage tables | |
| F394 | | Optional normal form specification | |
| F403 | | Partitioned joined tables | |
| F451 | | Character set definition | |
| F461 | | Named character sets | |
| F521 | Enhanced integrity management | Assertions | |
| F641 | | Row and table constructors | |
| F671 | Enhanced integrity management | Subqueries in CHECK | intentionally omitted |
| F690 | | Collation support | |
| F692 | | Enhanced collation support | |
| F693 | | SQL-session and client module collations | |
| F695 | | Translation support | |
| F696 | | Additional translation documentation | |
| F721 | | Deferrable constraints | foreign and unique keys only |
| F741 | | Referential MATCH types | no partial match yet |
| F751 | | View CHECK enhancements | |
| F812 | Core | Basic flagging | |
| F813 | | Extended flagging | |
| F821 | | Local table references | |
| F831 | | Full cursor update | |
| F831-01 | | Updatable scrollable cursors | |
| F831-02 | | Updatable ordered cursors | |
| F841 | | LIKE_REGEX predicate | |
| F842 | | OCCURENCES_REGEX function | |
| F843 | | POSITION_REGEX function | |
| F844 | | SUBSTRING_REGEX function | |
| F845 | | TRANSLATE_REGEX function | |
| F846 | | Octet support in regular expression operators | |
| F847 | | Nonconstant regular expressions | |
| S011 | Core | Distinct data types | |
| S011-01 | Core | USER_DEFINED_TYPES view | |
| S023 | Basic object support | Basic structured types | |
| S024 | Enhanced object support | Enhanced structured types | |
| S025 | | Final structured types | |
| S026 | | Self-referencing structured types | |
| S027 | | Create method by specific method name | |
| S028 | | Permutable UDT options list | |
| S041 | Basic object support | Basic reference types | |
| S043 | Enhanced object support | Enhanced reference types | |
| S051 | Basic object support | Create table of type | |
| S081 | Enhanced object support | Subtables | |
| S091 | | Basic array support | partially supported |
| S091-01 | | Arrays of built-in data types | |
| S091-02 | | Arrays of distinct types | |
| S091-03 | | Array expressions | |
| S094 | | Arrays of reference types | |
| S097 | | Array element assignment | |
| S151 | Basic object support | Type predicate | |
| S161 | Enhanced object support | Subtype treatment | |
| S162 | | Subtype treatment for references | |
| S202 | | SQL-invoked routines on multisets | |
| S231 | Enhanced object support | Structured type locators | |
| S232 | | Array locators | |
| S233 | | Multiset locators | |
| S241 | | Transform functions | |
| S242 | | Alter transform statement | |
| S251 | | User-defined orderings | |
| S261 | | Specific type method | |
| S271 | | Basic multiset support | |
| S272 | | Multisets of user-defined types | |
| S274 | | Multisets of reference types | |
| S275 | | Advanced multiset support | |
| S281 | | Nested collection types | |
| S291 | | Unique constraint on entire row | |
| S301 | | Enhanced UNNEST | |
| S401 | | Distinct types based on array types | |
| S402 | | Distinct types based on distinct types | |
| S403 | | MAX_CARDINALITY | |
| S404 | | TRIM_ARRAY | |
| T011 | | Timestamp in Information Schema | |
| T021 | | BINARY and VARBINARY data types | |
| T022 | | Advanced support for BINARY and VARBINARY data types | |
| T023 | | Compound binary literal | |
| T024 | | Spaces in binary literals | |
| T041 | Basic object support | Basic LOB data type support | |
| T041-01 | Basic object support | BLOB data type | |
| T041-02 | Basic object support | CLOB data type | |
| T041-03 | Basic object support | POSITION, LENGTH, LOWER, TRIM, UPPER, and SUBSTRING functions for LOB data types | |
| T041-04 | Basic object support | Concatenation of LOB data types | |
| T041-05 | Basic object support | LOB locator: non-holdable | |
| T042 | | Extended LOB data type support | |
| T043 | | Multiplier T | |
| T044 | | Multiplier P | |
| T051 | | Row types | |
| T052 | | MAX and MIN for row types | |
| T053 | | Explicit aliases for all-fields reference | |
| T061 | | UCS support | |
| T101 | | Enhanced nullability determiniation | |
| T111 | | Updatable joins, unions, and columns | |
| T174 | | Identity columns | |
| T175 | | Generated columns | |
| T176 | | Sequence generator support | |
| T177 | | Sequence generator support: simple restart option | |
| T178 | | Identity columns: simple restart option | |
| T211 | Active database, Enhanced integrity management | Basic trigger capability | |
| T211-06 | Active database, Enhanced integrity management | Support for run-time rules for the interaction of triggers and constraints | |
| T211-08 | Active database, Enhanced integrity management | Multiple triggers for the same event are executed in the order in which they were created in the catalog | intentionally omitted |
| T213 | | INSTEAD OF triggers | |
| T251 | | SET TRANSACTION statement: LOCAL option | |
| T261 | | Chained transactions | |
| T272 | | Enhanced savepoint management | |
| T285 | | Enhanced derived column names | |
| T301 | | Functional dependencies | |
| T321 | Core | Basic SQL-invoked routines | |
| T321-02 | Core | User-defined stored procedures with no overloading | |
| T321-04 | Core | CALL statement | |
| T321-05 | Core | RETURN statement | |
| T324 | | Explicit security for SQL routines | |
| T325 | | Qualified SQL parameter references | |
| T326 | | Table functions | |
| T331 | | Basic roles | |
| T332 | | Extended roles | |
| T431 | OLAP | Extended grouping capabilities | |
| T432 | | Nested and concatenated GROUPING SETS | |
| T433 | | Multiargument GROUPING function | |
| T434 | | GROUP BY DISTINCT | |
| T471 | | Result sets return value | |
| T491 | | LATERAL derived table | |
| T511 | | Transaction counts | |
| T541 | | Updatable table references | |
| T561 | | Holdable locators | |
| T571 | | Array-returning external SQL-invoked functions | |
| T572 | | Multiset-returning external SQL-invoked functions | |
| T601 | | Local cursor references | |
| T611 | OLAP | Elementary OLAP operations | most forms supported |
| T612 | | Advanced OLAP operations | some forms supported |
| T613 | | Sampling | |
| T616 | | Null treatment option for LEAD and LAG functions | |
| T618 | | NTH_VALUE function | function exists, but some options missing |
| T641 | | Multiple column assignment | only some syntax variants supported |
| T652 | | SQL-dynamic statements in SQL routines | |
| T653 | | SQL-schema statements in external routines | |
| T654 | | SQL-dynamic statements in external routines | |
| M001 | | Datalinks | |
| M002 | | Datalinks via SQL/CLI | |
| M003 | | Datalinks via Embedded SQL | |
| M004 | | Foreign data support | |
| M005 | | Foreign schema support | |
| M006 | | GetSQLString routine | |
| M007 | | TransmitRequest | |
| M009 | | GetOpts and GetStatistics routines | |
| M010 | | Foreign data wrapper support | |
| M011 | | Datalinks via Ada | |
| M012 | | Datalinks via C | |
| M013 | | Datalinks via COBOL | |
| M014 | | Datalinks via Fortran | |
| M015 | | Datalinks via M | |
| M016 | | Datalinks via Pascal | |
| M017 | | Datalinks via PL/I | |
| M018 | | Foreign data wrapper interface routines in Ada | |
| M019 | | Foreign data wrapper interface routines in C | |
| M020 | | Foreign data wrapper interface routines in COBOL | |
| M021 | | Foreign data wrapper interface routines in Fortran | |
| M022 | | Foreign data wrapper interface routines in MUMPS | |
| M023 | | Foreign data wrapper interface routines in Pascal | |
| M024 | | Foreign data wrapper interface routines in PL/I | |
| M030 | | SQL-server foreign data support | |
| M031 | | Foreign data wrapper general routines | |
| X012 | | Multisets of XML type | |
| X013 | | Distinct types of XML type | |
| X014 | | Attributes of XML type | |
| X015 | | Fields of XML type | |
| X025 | | XMLCast | |
| X030 | | XMLDocument | |
| X038 | | XMLText | |
| X065 | | XMLParse: BLOB input and CONTENT option | |
| X066 | | XMLParse: BLOB input and DOCUMENT option | |
| X068 | | XMLSerialize: BOM | |
| X069 | | XMLSerialize: INDENT | |
| X073 | | XMLSerialize: BLOB serialization and CONTENT option | |
| X074 | | XMLSerialize: BLOB serialization and DOCUMENT option | |
| X075 | | XMLSerialize: BLOB serialization | |
| X076 | | XMLSerialize: VERSION | |
| X077 | | XMLSerialize: explicit ENCODING option | |
| X078 | | XMLSerialize: explicit XML declaration | |
| X080 | | Namespaces in XML publishing | |
| X081 | | Query-level XML namespace declarations | |
| X082 | | XML namespace declarations in DML | |
| X083 | | XML namespace declarations in DDL | |
| X084 | | XML namespace declarations in compound statements | |
| X085 | | Predefined namespace prefixes | |
| X086 | | XML namespace declarations in XMLTable | |
| X091 | | XML content predicate | |
| X096 | | XMLExists | |
| X100 | | Host language support for XML: CONTENT option | |
| X101 | | Host language support for XML: DOCUMENT option | |
| X110 | | Host language support for XML: VARCHAR mapping | |
| X111 | | Host language support for XML: CLOB mapping | |
| X112 | | Host language support for XML: BLOB mapping | |
| X113 | | Host language support for XML: STRIP WHITESPACE option | |
| X114 | | Host language support for XML: PRESERVE WHITESPACE option | |
| X131 | | Query-level XMLBINARY clause | |
| X132 | | XMLBINARY clause in DML | |
| X133 | | XMLBINARY clause in DDL | |
| X134 | | XMLBINARY clause in compound statements | |
| X135 | | XMLBINARY clause in subqueries | |
| X141 | | IS VALID predicate: data-driven case | |
| X142 | | IS VALID predicate: ACCORDING TO clause | |
| X143 | | IS VALID predicate: ELEMENT clause | |
| X144 | | IS VALID predicate: schema location | |
| X145 | | IS VALID predicate outside check constraints | |
| X151 | | IS VALID predicate with DOCUMENT option | |
| X152 | | IS VALID predicate with CONTENT option | |
| X153 | | IS VALID predicate with SEQUENCE option | |
| X155 | | IS VALID predicate: NAMESPACE without ELEMENT clause | |
| X157 | | IS VALID predicate: NO NAMESPACE with ELEMENT clause | |
| X160 | | Basic Information Schema for registered XML Schemas | |
| X161 | | Advanced Information Schema for registered XML Schemas | |
| X170 | | XML null handling options | |
| X171 | | NIL ON NO CONTENT option | |
| X181 | | XML(DOCUMENT(UNTYPED)) type | |
| X182 | | XML(DOCUMENT(ANY)) type | |
| X190 | | XML(SEQUENCE) type | |
| X191 | | XML(DOCUMENT(XMLSCHEMA)) type | |
| X192 | | XML(CONTENT(XMLSCHEMA)) type | |
| X200 | | XMLQuery | |
| X201 | | XMLQuery: RETURNING CONTENT | |
| X202 | | XMLQuery: RETURNING SEQUENCE | |
| X203 | | XMLQuery: passing a context item | |
| X204 | | XMLQuery: initializing an XQuery variable | |
| X205 | | XMLQuery: EMPTY ON EMPTY option | |
| X206 | | XMLQuery: NULL ON EMPTY option | |
| X211 | | XML 1.1 support | |
| X221 | | XML passing mechanism BY VALUE | |
| X222 | | XML passing mechanism BY REF | |
| X231 | | XML(CONTENT(UNTYPED)) type | |
| X232 | | XML(CONTENT(ANY)) type | |
| X241 | | RETURNING CONTENT in XML publishing | |
| X242 | | RETURNING SEQUENCE in XML publishing | |
| X251 | | Persistent XML values of XML(DOCUMENT(UNTYPED)) type | |
| X252 | | Persistent XML values of XML(DOCUMENT(ANY)) type | |
| X253 | | Persistent XML values of XML(CONTENT(UNTYPED)) type | |
| X254 | | Persistent XML values of XML(CONTENT(ANY)) type | |
| X255 | | Persistent XML values of XML(SEQUENCE) type | |
| X256 | | Persistent XML values of XML(DOCUMENT(XMLSCHEMA)) type | |
| X257 | | Persistent XML values of XML(CONTENT(XMLSCHEMA)) type | |
| X260 | | XML type: ELEMENT clause | |
| X261 | | XML type: NAMESPACE without ELEMENT clause | |
| X263 | | XML type: NO NAMESPACE with ELEMENT clause | |
| X264 | | XML type: schema location | |
| X271 | | XMLValidate: data-driven case | |
| X272 | | XMLValidate: ACCORDING TO clause | |
| X273 | | XMLValidate: ELEMENT clause | |
| X274 | | XMLValidate: schema location | |
| X281 | | XMLValidate: with DOCUMENT option | |
| X282 | | XMLValidate with CONTENT option | |
| X283 | | XMLValidate with SEQUENCE option | |
| X284 | | XMLValidate NAMESPACE without ELEMENT clause | |
| X286 | | XMLValidate: NO NAMESPACE with ELEMENT clause | |
| X300 | | XMLTable | |
| X301 | | XMLTable: derived column list option | |
| X302 | | XMLTable: ordinality column option | |
| X303 | | XMLTable: column default option | |
| X304 | | XMLTable: passing a context item | |
| X305 | | XMLTable: initializing an XQuery variable | |
| X400 | | Name and identifier mapping | |


@* * Copyright 2021 HM Revenue & Customs * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *@ @import controllers.reg.routes._ @import uk.gov.hmrc.play.views.html.helpers.form @import views.html.helpers.inputRadioGroup @import config.FrontendAppConfig @(featureSwitchForm: Form[models.test.FeatureSwitch])(implicit request: Request[_], messages: Messages, appConfig: config.FrontendAppConfig) @main_template(title = "Feature switch", mainClass = Some("full-width")) {


Codecracker
A hackerrank like portal to hold coding competitions during the Techfest of IIIT Sri-City
This portal was developed during Aug-Dec 2018 in order to host internal contests of Techfest in IIIT Sri City.
This portal can be used for live contests as well as a practice ground for trying past questions.
Everytime the user submits code for a problem, following steps take place
- The system spawns a docker container and mounts a volume containing the user submitted code and test cases
- Multiple subprocesses are spawned and the code is run against each test case parallelly
- As the test cases complete running, results are stored in shared local db in the host system
- The results are reflected back to the UI in real time as the subprocesses complete
- As soom as all the test cases complete running, the spawned docker containers are destroyed
- The compiled results are stored in the db
Some pictures of the project :
Project Repository: https://github.com/adwait-thattey/ase1_prj
Collaborators: @BHARATHS0101 , @arminp17 , @NikhilMunna , @Thoyiba


{% load staticfiles %}
Agriculture is an information business.
Whether you are a farmer deciding what to plant…
A supermarket pricing goods…
Or a public sector official needing information to plan policies…
We all need information. HarvestAPI was built to remove the friction preventing you from
getting the agriculture data you need.
HarvestAPI gives you on-demand access to the information that powers the agriculture industry.
Who should use it?
Want to learn how you can too can build interesting products using HarvestAPI? Check out our documentation here!
HarvestAPI was made possible by a collaboration between
Built and designed with love by:


Home
Bay Oval
- The Bay Oval is Tauranga's international cricket ground. It is used for several New Zealand matches and was a premier ground in the Under 19 World Cup.
- The Bay Oval Trust is a Charitable Trust constituted in 2009 by the Bay of Plenty Cricket Association. The purpose of the Bay Oval Trust is to enable and encourage the community to play cricket or other games and sports thereby assisting in the physical health and well being of the Bay of Plenty community. View all purposes here.
Trustees of the Bay Oval Trust have always determined that the Bay Oval will be a ground that is accessable to all cricketers in our community from junior through to international, as well as a ground that compliments Blake Park in the provision of facilities for multiple sporting codes and community groups.
The Bay Oval, situated on Blake Park, Mount Maunganui, is the premier cricket ground of the Bay of Plenty Region. Set against the backdrop of Mount Mauao, the Bay Oval is an internationally sized, purpose built ground. It boasts 70 m boundaries, enclosed by a white picket fence, surrounded by grass embankments with seating for up to 10,000 people. The Bay Oval boasts an 18-strip grass practice facility, unique in quality and availability; able to be used throughout the year, due to the exceptional climate of the BOP, and the free draining surrounds.
The Oval is now complimented by the Carrus Pavilion, which features international standard changing and player viewing facilities. In 2014 further development saw the construction of a media tower/sight screen providing state of the art facilities for television and radio broadcasts.
The Bay Oval is becoming New Zealand’s preferred pre-season training facility, hosting a number of First Class teams as well as internationals including Afghanistan and South Africa, the Black Caps and White Ferns.
- These days, the Bay Oval hosts international teams regulary and now boasts 6 lights, instead of the usual 4, enabling night matches.
Bay Oval Website


Dungeon / Music Collaboration
Posted: Fri Jun 22, 2007 8:12 pm
Hey Everyone,
For any semi-new people here, SilverT and I have done most of the music / sounds so far, but haven't been around for the past couple of months. I don't know what SilverT's plans are, but I'm back and am ready to start cranking stuff out. (plus I switched my major from engineering to music, so I've learned some new tricks).
Anyway, I was reading Links post in the audio forum about how a good game has music which matches its dungeons. While a separate theme for every hunting area in an MMO isn't practical, I think it is definitely a good idea to capture the general feel of the game in the music.
So here is my proposition to mapmakers:
You tell me what defining aspects or themes your map/dungeon has, what a journey through it would be like, etc., and what you imagine the music being like for that area.... then I'll try and compose it! In addition to making the game a whole lot cooler, this will make my job a lot easier since I'll have a more clearly defined idea of what I'm going for.
Let me know what you think,
Zach
For any semi-new people here, SilverT and I have done most of the music / sounds so far, but haven't been around for the past couple of months. I don't know what SilverT's plans are, but I'm back and am ready to start cranking stuff out. (plus I switched my major from engineering to music, so I've learned some new tricks).
Anyway, I was reading Links post in the audio forum about how a good game has music which matches its dungeons. While a separate theme for every hunting area in an MMO isn't practical, I think it is definitely a good idea to capture the general feel of the game in the music.
So here is my proposition to mapmakers:
You tell me what defining aspects or themes your map/dungeon has, what a journey through it would be like, etc., and what you imagine the music being like for that area.... then I'll try and compose it! In addition to making the game a whole lot cooler, this will make my job a lot easier since I'll have a more clearly defined idea of what I'm going for.
Let me know what you think,
Zach


RMG Ltd. does not collect any personally identifiable information about you such as name, address, phone number, or e-mail address. However, RMG Ltd. does obtain some types of non-personally identifiable information such as the Internet Service Provider you use to connect to the Internet, your browser type, or the type of computer operating system you use (Macintosh or Windows, for example). The information we collect is used to improve the content of our website.


Laser Room
2017
Cloudy Day
2017
Rounded View
2017
Heights
2017
Tall Trees
2017
Sky Selfies
2020
Fallen Leaf
2018
Yellow Flowers
2018
Party Night
2020
Union Square
2019
New York Evening
2019
Blinding Lights
2020


0"> {{ myOrganizationInvites?.length }} organization invites
0"> {{ myOrganizationRequests?.length }} organization requests
0"> {{ myPendingOrganizationRequests?.length }} organization requests requiring action


Diabo_care
DiaboCare
Logout
Available doctors
Name
Speciality
Action
{% for i, j, k in data %}
{{ j }}
{{ k }}
Delete
{% endfor %}


Class: SimpleCov::Result
| Relationships & Source Files | |
| Super Chains via Extension / Inclusion / Inheritance | |
|
Class Chain:
self,
Forwardable
|
|
| Inherits: | Object |
| Defined in: | lib/simplecov/result.rb |
Overview
A simplecov code coverage result, initialized from the Hash Ruby’s built-in coverage library generates (Coverage.result).
Class Method Summary
-
.from_hash(hash)
Loads a #to_hash dump.
-
.new(original_result, command_name: nil, created_at: nil) ⇒ Result
constructor
Initialize a new
Result
from givenCoverage.result
(a Hash of filenames each containing an array of coverage data).
Instance Attribute Summary
-
#command_name
rw
The command name that launched this result.
-
#command_name=(value)
rw
Explicitly set the command name that was used for this coverage result.
-
#created_at
rw
Defines when this result has been created.
-
#created_at=(value)
rw
Explicitly set the Time this result has been created.
-
#files
(also: #source_files)
readonly
Returns all files that are applicable to this result (sans filters!) as instances of
SourceFile
. -
#original_result
readonly
Returns the original
Coverage.result
used for this instance ofResult
-
#source_files
readonly
Alias for #files.
Instance Method Summary
-
#filenames
Returns all filenames for source files contained in this result.
-
#format!
Applies the configured
SimpleCov.formatter
on this result. -
#groups
Returns a Hash of groups for this result.
-
#to_hash
Returns a hash representation of this
Result
that can be used for marshalling it into JSON. - #coverage private
-
#filter!
private
Applies all configured
::SimpleCov
filters on this result’s source files.
Constructor Details
.new(original_result, command_name: nil, created_at: nil) ⇒ Result
Initialize a new Result
from given Coverage.result
(a Hash of filenames each containing an array of coverage data)
# File 'lib/simplecov/result.rb', line 28
def initialize(original_result, command_name: nil, created_at: nil) result = original_result @original_result = result.freeze @command_name = command_name @created_at = created_at @files = SimpleCov::FileList.new(result.map do |filename, coverage| SimpleCov::SourceFile.new(filename, JSON.parse(JSON.dump(coverage))) if File.file?(filename) end.compact.sort_by(&:filename)) filter! end
Class Method Details
.from_hash(hash)
Loads a #to_hash dump
# File 'lib/simplecov/result.rb', line 76
def self.from_hash(hash) hash.map do |command_name, data| new(data.fetch("coverage"), command_name: command_name, created_at: Time.at(data["timestamp"])) end end
Instance Attribute Details
#command_name (rw)
The command name that launched this result. Delegated to SimpleCov.command_name
if not set manually
# File 'lib/simplecov/result.rb', line 61
def command_name @command_name ||= SimpleCov.command_name end
#command_name=(value) (rw)
Explicitly set the command name that was used for this coverage result. Defaults to SimpleCov.command_name
# File 'lib/simplecov/result.rb', line 21
attr_writer :command_name
#created_at (rw)
Defines when this result has been created. Defaults to Time.now
# File 'lib/simplecov/result.rb', line 55
def created_at @created_at ||= Time.now end
#created_at=(value) (rw)
Explicitly set the Time this result has been created
# File 'lib/simplecov/result.rb', line 19
attr_writer :created_at
#files (readonly) Also known as: #source_files
Returns all files that are applicable to this result (sans filters!) as instances of SourceFile
. Aliased as :source_files
# File 'lib/simplecov/result.rb', line 16
attr_reader :files
#original_result (readonly)
Returns the original Coverage.result
used for this instance of Result
# File 'lib/simplecov/result.rb', line 14
attr_reader :original_result
#source_files (readonly)
Alias for #files.
# File 'lib/simplecov/result.rb', line 17
alias source_files files
Instance Method Details
#coverage (private)
[ GitHub ]# File 'lib/simplecov/result.rb', line 84
def coverage keys = original_result.keys & filenames Hash[keys.zip(original_result.values_at(*keys))] end
#filenames
Returns all filenames for source files contained in this result
# File 'lib/simplecov/result.rb', line 40
def filenames files.map(&:filename) end
#filter! (private)
Applies all configured ::SimpleCov
filters on this result’s source files
#format!
Applies the configured SimpleCov.formatter
on this result
#groups
Returns a Hash of groups for this result. Define groups using SimpleCov.add_group
‘Models’, ‘app/models’
#to_hash
Returns a hash representation of this Result
that can be used for marshalling it into JSON
# File 'lib/simplecov/result.rb', line 66
def to_hash { command_name => { "coverage" => coverage, "timestamp" => created_at.to_i } } end


|
Animal Hoarding"Cat Lady" is a specific term, only appropriate to describe elderly women who maintain a feline surplus. But what if it's a collection of dogs? Or rabbits? Or some kind of mixture? What if it's even a man? Obviously, none of those people are cat ladies. Thus, the term "Animal Hoarder" was coined.Lots of people are driven by a desire to rescue stray and unwanted critters. But this impulse is perverted in the mind of the animal hoarder, whose obsessive-compulsive disorder causes limitless collecting. They simply can't stop taking in animals, even after the population has far outgrown the hoarder's ability to feed, house, or medically treat them. Invariably, the eventual result is a cross between Dr. Doolittle's house and Andersonville Prison.
Links |


Active/Current Navigation Link
Add an
active
class to the current link to let the user know which page he/she is on:


Ham So Won and Jin Hua celebrate their daughter's first birthday
by sl278Ham So Won and Jin Hua are celebrating their daughter Hyejung's first birthday!
First birthdays are significant in Korean culture and celebrated with a huge party. Unfortunately, culture clashes between the two Korean and Chinese families marred the happy day with conflict over the food and many other issues. The two mother-in-laws both wanted to dress Hyejung in their respective culture's costume (Qipao and Hanbok), but Hyejung eventually went with a lovely hanbok.
Netizens have been commenting at the ongoing drama in the family, stating:
"They fight every single week..."
"Everyone follows the scripts that the writers write and it's really not entertaining anymore."
"How do you fight at an important celebration like this?"
What do you think?


Windows 10 x64 (18363.535)
_CONFIGURATION_TYPE
ArcSystem = 0n0
CentralProcessor = 0n1
FloatingPointProcessor = 0n2
PrimaryIcache = 0n3
PrimaryDcache = 0n4
SecondaryIcache = 0n5
SecondaryDcache = 0n6
SecondaryCache = 0n7
EisaAdapter = 0n8
TcAdapter = 0n9
ScsiAdapter = 0n10
DtiAdapter = 0n11
MultiFunctionAdapter = 0n12
DiskController = 0n13
TapeController = 0n14
CdromController = 0n15
WormController = 0n16
SerialController = 0n17
NetworkController = 0n18
DisplayController = 0n19
ParallelController = 0n20
PointerController = 0n21
KeyboardController = 0n22
AudioController = 0n23
OtherController = 0n24
DiskPeripheral = 0n25
FloppyDiskPeripheral = 0n26
TapePeripheral = 0n27
ModemPeripheral = 0n28
MonitorPeripheral = 0n29
PrinterPeripheral = 0n30
PointerPeripheral = 0n31
KeyboardPeripheral = 0n32
TerminalPeripheral = 0n33
OtherPeripheral = 0n34
LinePeripheral = 0n35
NetworkPeripheral = 0n36
SystemMemory = 0n37
DockingInformation = 0n38
RealModeIrqRoutingTable = 0n39
RealModePCIEnumeration = 0n40
MaximumType = 0n41


{% extends 'base-no-sidebar.html' %} {% block title %}Manage comment - Will Skywalker's Ranch{% endblock %} {% block header %}
Bernie says: "Think before you write."
{{comment.content | safe}}


{% extends "main.html" %} {% block content %} {% include "header.html" %} Delete Item ({{item.name}}) Are you sure you want to delete? Delete {% endblock %}
Are you sure you want to delete?


While we specialize in rock and roll records, we also carry a fantastic selection of new and used blues records, jazz records, soundtracks, reggae records, country records, hip hop and much more. We have a unique variety of LPs and 45s, 12" singles, 7" singles, and we also sell CDs. In addition to music we have record accessories, audio equipment, and apparel. Bottom line, there is something for everyone at Revival Records!
Welcome to Eau Claire's number one record store! We are conveniently located in Downtown Eau Claire on the corner of S. Barstow and Gray St. We have a vast selection of countless records spanning across all genres. Our collection is made up of new and used records and we also buy records right here in the store. We want each person who comes to dig through our records to discover something new or something treasured. No matter what the customer craves, the vast and varied collection at Revival Records can please the pickiest listeners.
Now Located at 128 S. Barstow St Grand Opening Wed, March 5, 2014 at 11:00 AM!


--- layout: post title: 'PICNIC07: Designing Killer Experiences, Peter Frankfurt' date: 2007-09-27 00:00:00 categories: business digital-media interfaces-&-interaction ---
PICNIC07: Designing Killer Experiences, Peter Frankfurt
Every company in entertainment wants to be Pixar when they grow up. Started off with title sequence for Seven, attracted clients and young designers. Putting something onto a cinema screen is quite attractive for these folks :)
Started working on Transformers 1+ year before the film came out. Teaser created with no footage of the film. Michael Bay saw it: "Fucking cool". Shows different versions of the trailer for different markets, with logotype transforming into various scripts. Doing 20+ versions was financially pretty good for a graphics company ;)
Amusing trailer for Spike TV - like 24hrs of Bravo TV squeezed into 15 seconds with volume and contrast up to maximum.
Very visual presentation, difficult to get notes done...
Building virtual worlds is about taking something familiar and doing something to it that upsets, delights, whatever - just gets your attention.
Talks about World Trade Centre redesign: the original proposals were deeply unpopular so it was put out to the design community. Small agencies worldwide got together. "We literally had to create a world in lower Manhattan in 6 weeks". Decided to treat the presentation and process of the design as a film-making process: storyboarding informed a lot of the design, and a film was created as part of the presentation.


A source-control branching model, where developers collaborate on code in a single branch called ‘trunk’ *, resist any pressure to create other long-lived development branches by employing documented techniques. They therefore avoid merge hell, do not break the build, and live happily ever after.* master, or main, in Git nomenclature
Trunk based development is about getting rid of the mindset that only "finished" and "fully working" code should be committed into master. This is never the case.
The mindset that this model offers instead is that each commit must NOT be a breaking change. The key is to be making small atomic changes, which don't break CI and your functionality at runtime.
Trunk based development doesn't have to mean everybody pushing to master without any code reviews. What it means is that instead of making multiple small commits into your feature branch, you make pull requests for those same commits to master instead.
This requires you to break down your work into smaller increments, each of which is slowly working towards a completed feature.
"Feature Branching is a poor man’s modular architecture, instead of building systems with the ability to easily swap in and out features at runtime/deploytime they couple themselves to the source control providing this mechanism through manual merging."(Dan Bodart)
Continuous integration and feature branching are not compatible.(Me)
Feature branching, instead, is continuous isolation


/**
* Creates an embed for moderation actions.
*/
class Modlog {
/**
* @param {Boebot} client The client the bot was created with.
*/
constructor(client) {
/**
* BoeBot Client
* @type {BoeBot}
*/
Object.defineProperty(this, "client", { value: client });
}
/**
* Sets the type of the embed.
* @param {string} type The type of the embed.
* @return {class} This class.
*/
setType(type) {
if (!type) throw `Expected input 'type' but found ${type}.`;
this.type = type;
if (!this.title) throw `${type} is not a valid embed type.`;
return this;
}
/**
* Sets the offending member for the embed.
* @param {external:Discord.User | external:Discord.GuildMember} member The offending member.
* @return {class} This class.
*/
setMember(member) {
if (!member) throw `Expected input 'member' but found ${member}.`;
this.member = {
name: this.type === "unban" ? member.tag : member.user.tag,
id: member.id,
};
return this;
}
/**
* Sets the moderator for the embed.
* @param {external:Discord.GuildMember} mod The moderator that created the action.
* @return {class} This class.
*/
setMod(mod) {
if (!mod) throw `Expected input 'mod' but found ${mod}.`;
this.mod = {
name: mod.user.tag,
id: mod.id,
};
return this;
}
/**
* Sets the reason in the embed.
* @param {string} reason The reason for the action.
* @return {class} This class.
*/
setReason(reason) {
if (!reason) throw `Expected input 'reason' but found ${reason}.`;
this.reason = reason;
return this;
}
/**
* Sends the embed to the modlog channel.
* @param {external:Discord.Message} msg A Discord message.
* @return {void} Sends the message.
*/
send(msg) {
if (!this.type) throw "The embed type has not been set.";
else if (!this.member) throw "The embed member has not been set.";
else if (!this.mod) throw "The embed mod has not been set.";
else if (!this.reason) throw "The embed reason has not been set.";
let modLog;
if (!msg.guild) {
modLog = msg.channels.get(msg.guild.settings.modLog);
} else {
modLog = msg.guild.channels.get(msg.guild.settings.modLog);
}
if (!modLog) throw "Did not find a mod-log channel.";
return modLog.send({ embed: this.embed });
}
/**
* The embed title.
* @type {string}
*/
get title() {
const past = {
ban: "Banned",
unban: "Unbanned",
mute: "Muted",
unmute: "Unmuted",
kick: "Kicked",
warn: "Warned",
};
return past[this.type];
}
/**
* The hex color for the embed.
* @type {number}
*/
get color() {
const embedTypes = {
ban: 0xcc0000,
unban: 0x2d862d,
kick: 0xe65c00,
mute: 0x993366,
unmute: 0x993366,
warn: 0xf2f20d,
};
return embedTypes[this.type];
}
/**
* The MessageEmbed.
* @type {external:Discord.MessageEmbed}
*/
get embed() {
const embed = new this.client.methods.Embed()
.setTitle(`User ${this.title}`)
.setColor(this.color)
.setDescription([
`**Member**: ${this.member.name} | ${this.member.id}`,
`**Moderator**: ${this.mod.name}`,
`**Reason**: ${this.reason}`,
].join("\n"))
.setTimestamp()
.setFooter(this.type.capitalize(), this.client.user.displayAvatarURL({ format: "jpg" }));
return embed;
}
}
module.exports = Modlog;


The isEqualNode( ) method checks if two nodes are equal. Two nodes are equal if all the following conditions are true: They have the same Node Type They have the same nodeName, NodeValue, localName, nameSpaceURI and prefix They have the same childNodes with all the descendants They have the same attributes and attribute values (the attributes does not have be in the same order) Tip: Use the isSameNode( ) method to determine if two nodes are the same node.
The isSameNode( ) method checks if two nodes are the same node. The isSameNode( ) method returns true if the two nodes are the same node, otherwise false. Tip: Use the isEqualNode( ) method to check if two nodes are equal, but not necessarily the same node.
This is para text.(text node)
This is heading text.(text node)


# Mechanics Use left and right arrows to cycle through stems, and up and down arrows to test yourself.
# Stress
## Stress: force per unit area - The *intensity of internal force* within a material as a result of loading. - Defined by force over cross-sectional area. - It cannot be measured directly. - Stress within a material can be in *tension*, *compression*, or *shear*.
# Strain
## Strain: proportional deformation - Linear deformation under loading. - Defined by change in length over original length.
## Critical strain of repair tissues |Tissue|Critical strain| |------|--------------:| |Granulation tissue|100%| |Dense fibrous tissue|20%| |Cartilage|10%| |Cancellous bone|2%| |Lamellar bone|2%| *Yamada and Evans, 1970*
# Young's Modulus
## Young's Modulus - A material property of stiffness of a material in the *elastic zone* during *uniaxial deformation*. - The ratio of tensile stress (force per unit area) to tensile strain (proportional deformation).


0">
{{ data.name }}
{{ data.position }}
{{ data.email }}
0">
{{ node.children.length }}
0">
Elbow Connector
Curved Connector
The organization chart can be used to visually present an explorable hierarchical dataset.
The content of the nodes should be defined using an ng-template
identified as #nodeTemplate
that is a child of the component element.
Additionally the content of the reveal button can be customized by adding an ng-template
identified as #revealTemplate
.
The following options are available to customize component:
Define the dataset to display in the chart.
Define the presentation of the lines connecting nodes.
Define the width of nodes in pixels.
Define the height of nodes in pixels.
Define the duration of animations in milliseconds.
Define if the reveal more button should be visible. This is used to display ancestor nodes, which may be initially hidden.
Define whether nodes will expand/collapse on click or pressing Enter when focused.
Define the aria label of the reveal more button.
Define the selected node. By default the root node will be selected.
Define the amount of space there is between parent and child nodes in pixels. By default this will be equal to the node height.
Will emit when a node is selected.
Will emit when the reveal button is clicked. Use this handler to modify the dataset with additional nodes.
Will emit when the transition ends after adding or removing nodes.
Expand a node.
Collapse a node.
Toggle the expanded state of a node.
Focus a node.
A unique identifier for this item.
Provide custom data for this item. This can be used to display information within the node template.
Define the children of this node if there are any.
Define the expanded state of this node.
The node object that this item represents.
The custom data that was provided for this node.
The focused state of the node.
The following code can be used to create the example above:


All Classes
Packages
com.comcast.oscar.ber
com.comcast.oscar.buildbulk
com.comcast.oscar.cablelabsdefinitions
com.comcast.oscar.cli
com.comcast.oscar.cli.commands
com.comcast.oscar.compiler
com.comcast.oscar.configurationfile
com.comcast.oscar.constants
com.comcast.oscar.datatype
com.comcast.oscar.dictionary
com.comcast.oscar.interpreter
com.comcast.oscar.netsnmp
com.comcast.oscar.parser
com.comcast.oscar.parserbuilder
com.comcast.oscar.sql
com.comcast.oscar.sql.queries
com.comcast.oscar.tlv
com.comcast.oscar.utilities


Chacarter
When it was used, it proved to be very resourceful - using ink to draw pictures or leave trails. It, like the rest of its species, prefers large bodies of water to swim in, hence, it grew sad and ill when it was forced to swim in small puddles of water, and Misty later left it at the Cerulean Gym, so that it could swim to its heart's content in the Gym's pool.


Pathvisiojs Demos
Full version - load
WP1 with highlights
Embedded version - iframe
WP1 with highlights
WP525 with highlights
From webservice by tag
From webservice by label with highlights
From webservice by xref with highlights


|
|
Value: |
Mining account: | |
| You can repeat the secret words: | |
Public name: |
|
|
Adviser: | |
| Mining on this account | |
|
Wallet number: | |
| ID | Amount | Cur | Account name | Operation | Adviser |
|---|
| HTTP port: | |
| Password on HTTP: |
| Direct | Confirm | Date | Amount | Currency | Description | From | To | Operation | Block |
|---|
| From account | |
| Pay to | |
| Amount | TERA |
| Description (optional) | |
| ID | Amount | Cur | Name | PubKey | Operation | Adviser | Block Num |
|---|
| Num | Date | Data Hash | Block Hash | Bytes | Pow | Miner |
|---|
| Num | Account | Mode | Block | TrNum | Date | Prev. Operation | Prev. Block | Prev. amount |
|---|
| Block | Date | Hash |
|---|
Password: | |
Repeat: | |


Karen Gillan Ramps Up Instagram Activity & Her Followers Are Loving It
November 24, 2019
Karen Gillan Ramps Up Instagram Activity & Her Followers Are Loving It
Avengers and Jumanji actress Karen Gillan has really ramped up her activity on social media as of late, and her Instagram followers are extremely supportive.
As The Inquisitr previously reported, Gillan took to her Instagram account just yesterday to share a hilarious video clip of herself and her Jumanji co-stars during a panel. In the video clip, Gillan opened up about acquiring the random skill of using nunchucks during the production of Jumanji: The Next Level.
This hilarious video clip was just one of seven posts Karen has made on her Instagram profile in the past 24 hours.
Her oldest post, from 24 hours ago, featured herself smoldering while dripping wet as she went for a swim in the pool. Since it hit her profile, the video has been viewed over 1 million times with over 1,000 of her followers taking the time to leave a comment.
Her other Instagram activity over the past 24 hours, which has been mostly one snapshot or a collection of snapshots, have all accumulated between 200,000 and 600,000 likes, as well as anywhere from a couple hundred to nearly 2,000 comments.
Her most recent snap, which has only been on her profile for two hours, has already broken 100,000 likes and accumulated several hundred comments.
 Each of the actors have a hilarious and unique expression on their face.

Dwayne is all smiles as he appears to be enjoying game time. Kevin is a bit lacking in the expression department as he looks a little confused while focusing on the game with his chin slightly tilted upwards.
Loading...
A few of her posts over the past 24 hours appear to be photo shoots in conjunction with the promotion of the Jumanji sequel.
The ginger actress opted to leave the suit jacket unbuttoned as she rocked a white crop top underneath that allowed her to tease a hint of her toned midriff for the camera.
While the topics of conversation varied pretty greatly across Karen’s various updates to her Instagram profile, the overwhelming majority expressed how excited they were to watch the latest Jumanji movie. Those who favored her character, in particular, noted how much they looked forward to seeing Ruby Roundhouse in action again.


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Medieval Castles
This is simple project with Jekyll!
Special Thanks
Konstantin Dankov - trainer / lector
Antonia Atanasova - lector


WITNESS LIST Finance Committee May 8, 1997-9:00A HB 107 Registering, but not testifying: For: Kibby, Sandy (TX Congress of PTA), Austin HB 621 For: Clayton, Bill (TX Chiropractic College), Pasadena Elliott, S.M. (TX Chiropractic College), Pasadena Registering, but not testifying: For: Aymen, Walter (TX Chiropractic College), Pasadena Davison, Robert D. (TX Chiropractic College), Pasadena Ingersoll, Deborah (TX Chiropractic College), Austin Mooney, Sandra N. (TX Chiropractic College), Pasadena Priewe, Charles (TX Chiropractic College), Pasadena White, Kenneth (TX Chiropractic College), Pasadena HB 1112 On: Borchers, Carl P. (Self), Houston Bozarth, Melinda Hoyle (TDCJ), Austin Fabelo, Tony (CJPC), Austin McElroy, Laura (Board of P/P), Austin Rodriguez, Victor (Board of P/P), Austin Scott, Wayne (TDCJ), Huntsville Registering, but not testifying: For: Allison, Jim (CJCAT), Austin Lee, Donald (Conference of Urban Cts), Austin On: Bonney, Charles E. (Board of P/P), Austin HB 1577 For: Hutchins, Elbert C. (TX Veterinary Med Assc), Austin Registering, but not testifying: On: Allen, Ron (TSBVME), Austin HB 1614 For: Howard, Jack (Fetzen/Howard Inc), Pasadena Against: Miller, G.M. (Star Enterprise), Brady HB 1673 On: Martin, Robert (TSLAC), Austin HB 1773 Registering, but not testifying: For: Stiefer, Sands L. (Harris Co Appraisal Dis), Houston HB 2214 On: Flack, Tery (THECB), Austin


Learning Javascript
With Wahsandaruwan
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An array in Swift is an ordered collection of values. It is written as Array<Element>
or in a shorthand form using square brackets [Element]
where element is the type of values stored in the array.
Below is a basic example of creating an immutable array, getting values from that array, and getting the number of items in the array. Notice that the first item in the array is at index 0.
let a = Array([4, 5, 8, 6, 10, 12, 17])
print("a is \(a)")
print("a[0] is \(a[0])")
print("a[2] is \(a[2])")
print("a.count is \(a.count)")
// a is [4, 5, 8, 6, 10, 12, 17]
// a[0] is 4
// a[2] is 8
// a.count is 7
Here is a basic example of a creating a mutable array and changing the first item in the array.
var b = [4, 5, 6, 7, 8]
b[0] = 99
print("b is \(b)")
// b is [99, 5, 6, 7, 8]
This example creates an empty array and appends integer values to the array.
var c: [Int] = []
c.append(2)
c.append(10)
c.append(19)
print("c is \(c)")
// c is [2, 10, 19]
There are several approaches to creating an array of random numbers in Swift. This example creates an array filled with zeros, then assigns a random number to each element in the array. Notice the random number is within a range of values which is from 0 to 1 in this example.
var x = [Float](repeating: 0, count: 5)
for i in 0..<x.count {
x[i] = .random(in: 0...1)
}
// x is [0.8209822, 0.85707325, 0.10973239, 0.119954765, 0.19724935]
Another approach is to map a random number to each array element as shown in the following example. The size of the array is determined by the range that is mapped.
let x = (0..<5).map { _ in Float.random(in: 0...1) }
// x is [0.4514997, 0.41597754, 0.04589182, 0.07227373, 0.9754954]
let z = (1...6).map { _ in Float.random(in: 1...10) }
// z is [2.7215362, 3.2972493, 2.9972453, 7.1019344, 8.892759, 3.715058]
However, the fastest approach for very large arrays is to use functions from the Accelerate framework. In this example, arc4random is used to assign random integers to the array. The integers are converted to Double then multiplied by a scaling factor such that the range of values are from 0 to 1.
import Accelerate
let n = 5
var x = [UInt32](repeating: 0, count: n)
arc4random_buf(&x, n * MemoryLayout<UInt32>.size)
var y = vDSP.integerToFloatingPoint(x, floatingPointType: Double.self)
cblas_dscal(Int32(n), 1 / Double(UInt32.max), &y, 1)
// y is [0.8341360464305934, 0.24041946028369002, 0.04481290514692965, 0.6746670607651274, 0.7728101240407699]
And yet another approach is to use the vDSP multiply function as shown below.
import Accelerate
let n = 5
var x = [UInt32](repeating: 0, count: n)
arc4random_buf(&x, n * MemoryLayout<UInt32>.size)
let y = vDSP.integerToFloatingPoint(x, floatingPointType: Double.self)
let c = 1 / Double(UInt32.max)
let z = vDSP.multiply(c, y)
// z is [0.7841595014986023, 0.12211232844789334, 0.6589130530271011, 0.4871890585606892, 0.2029429211288092]
The table below compares the approaches discussed above for creating a large array that contains 1,000,000 random numbers where each random number has a value from 0 to 1. The elapsed time in seconds to create the array is given in the second column. Notice how the Accelerate examples are about 30x faster than the Swift for-loop and map examples.
| Random array example | Elapsed time (s) |
|---|---|
| Swift for-loop | 1.1609 |
| Swift map | 1.0556 |
| Accelerate BLAS Double | 0.0364 |
| Accelerate BLAS Float | 0.0374 |
| Accelerate vDSP Double | 0.0396 |
| Accelerate vDSP Float | 0.0345 |
A range of numbers can be used to create an array as shown below.
let zz = Array(1...10)
print("zz is \(zz)")
// zz is [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
Get the first and last items of an array as shown here.
let x = [4, 5, 1, 9, 7]
if let firstItem = x.first {
print("x.first item is \(firstItem)")
}
// x.first item is 4
if let lastItem = x.last {
print("x.last item is \(lastItem)")
}
// x.last item is 7
The for-in loop will iterate over all the items in an array. To get the index associated with each value use the enumerated()
method.
let names = ["Homer", "Bart", "Marge", "Crusty", "Lisa"]
for n in names {
print("name is \(n)")
}
// name is Homer
// name is Bart
// name is Marge
// name is Crusty
// name is Lisa
for (i, n) in names.enumerated() {
print("index \(i), name \(n)")
}
// index 0, name Homer
// index 1, name Bart
// index 2, name Marge
// index 3, name Crusty
// index 4, name Lisa
Create an array of structs where properties of the structs are mapped to array values.
let xpts: [Float] = [1, 2, 3, 4, 5, 6]
let ypts: [Float] = [3, 4.5, 8, 7, 10, 2.2]
struct Point {
let x: Float
let y: Float
}
let points = zip(xpts, ypts).map { Point(x: $0, y: $1) }
for pt in points {
print("x is \(pt.x), y is \(pt.y)")
}
// x is 1.0, y is 3.0
// x is 2.0, y is 4.5
// x is 3.0, y is 8.0
// x is 4.0, y is 7.0
// x is 5.0, y is 10.0
// x is 6.0, y is 2.2
Swift Programming for macOS © 2023
Built by Gavin Wiggins


Hi , you might have had a connection to an infected person at the location shown in red.
Click on the marker to see details about the infection.
Hi , you might have had a connection to an infected person at the location shown in red.
Click on the marker to see details about the infection.


Goodbye diet Coke, I will miss you
I drink too much diet Coke.
I know all those chemicals can’t possibly be good for me, but it’s an acquired taste. I have a buddy who once told me I drank so much of it that I would someday grow a tail.
This is how I’ve gotten my caffeine ever since my teen years. Sure, I’ve tried coffee, but the only way I can put it down is if it’s iced and combined with a quarter-cup of sugar and topped with whipped cream, and then I’m too embarrassed to drink it. I’ve tried to quit caffeine before, but I always seem to fall off the wagon when work gets rough or I’m at a conference or the day ends in ‘y’.
And I’m one of those guys who is finicky at restaurants and is actually disappointed when they say “is Diet Pepsi OK?” Ugh, well alright, but can you stick a lemon in it?
So it is with deep sadness that yesterday was my last diet Coke.
I wouldn’t go cold turkey (I’ve done that in the past, no fun), so this has been my process for the past few months: each Monday I’d reduce my daily limit of diet Cokes and keep to it for a week. In the past I’ve been much worse on the daily intake scale, but when I started tapering this time I was drinking six cans of diet Coke a day. So week one I dropped to “only” five cans per day.
Week two went to four cans, and so on. I started supplementing with water, but it’s canned water you see, because I can pretend the carbonation in LaCroix is a replacement for the bubbles in diet Coke. Oh those delicious bubbles…
This went on fine until I got down to the two-can-per-day limit. I thought: I’ll taper slowly so that I don’t get the caffeine headache, and thus I poured off three ounces of each can for a week, effectively tapering down to 1.5 cans per day. Then the week after I went down to one can per day.
Now I was at a dilemma: I couldn’t go to zero all of a sudden, so I employed the same tactic the next week. I poured off three ounces every morning and only drank 9 ounces per day. Oh so sad to watch the diet Coke go down the drain, but I knew I had no self control and couldn’t be trusted with the fluid if it were to remain in the can.
The next week, I poured off a bit more, and got down to one-half can per day (yes, I know about the smaller cans, but I had a huge stock of diet Coke in the garage that I needed to exhaust).
To drag it out just a little longer, last week I was only drinking three ounces of diet Coke per day. But oh how delicious those small sips were each morning…
As evidence of how strongly I feel for diet Coke, I’ve just written an entire blog post as an ode to my weaning.
We’ll see how long this lasts this time…


Let's face it, global warming is happening at a really fast pace and it is only us who can make a difference. It is upon us to reduce our carbon footprints and i decided to do so by going green.


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Ok, I’m frustrated. I’m frustrated that even with all the hard work this community of people is doing we’re still sitting on a coin that’s resting at around one USD per Steem. I have a hard time believing that bitcoin is literally 10,000x better than Steem. It’s slower. The fees are enormous. It can’t fork. It does fewer transactions. It has a evil twin that might be trying to collapse it. It’s amazing to see a crypto doing that well but I find it shocking it’s bitcoin.
Ok, next up we have ethereum. they figured out how to start tokenizing the internet. We on this platform had our first interaction with it too. @neoxian and his crew linked an ethereum token to @vote2ico and his posts caught a lot of attention. I saw at least one post from @noisy saying it was bad and scary, but I look at it I think it was awesome. Tying Steem to a token is the future of this place. I went through the work of getting my ethereum wallet up and running and able to accept alt tokens.  I’m glad I could make tokens, I’m glad I can tie those tokens to Steem, but that experience was still overall a pretty shitty one.
Steem 1.0
Seems like investors don’t really trust Steem. If I had to guess the reasons are they don’t like us I’d start with the “ninja mine” at the beginning. They don’t like the distribution, and they don’t like that this platform has occasionally had network issues. They also don’t like that it isn’t ever really worth more, has a hard time getting worth more, and when it is worth more there are a lot of whales putting downward pressure on price. It’s too hard to time an investment with a 13 week window to get out. Hard to pull out in this case also means hard to put in.
So, look I’m not complaining here. I’m just trying to make sense of what I’m seeing in the market, what I’m hearing, and what I think through as a newer crypto investor. Some of these real concerns and perceived concerns are holding down the price of steem.
Steem 2.0- Communities and SMTs
Here’s the skinny on the two next biggest things.
Communities: You can form your own personalized community and simultaneously allow people in your group to post to the block, and also not post in the feed of your community. This let’s you highly tune your feed and allow multiple posters to a single thread. The Minnow Support Project has had some success doing this, but it’s been a challenge and we’ve had to build tools to make it sorta work. When communities are launched it’s just baked into the platform. Should be really exciting!
SMTs: These are Smart Media Token. Key letter there is TOKEN!  Instead of 523450klj234g230flk2345ou as your address it’s gonna be @applecoin. Instead of waiting minutes to know a transaction has occurred you’re going to wait 3 seconds. Instead of wondering what your wallet value is for different coins and having to work through multiple programs or keep a full wallet up you just click “wallet.” A year from now a person will know more about you from looking at your Steem wallet than you’re dating profile.
Wow, this dude likes his homeschooling community, organic gardening, free trade commerce, and lesbian porn… interesting. You’ll tell by the tokens that they keep because they’ll basically represent the attention that they donate to any given online community. And, they’ll be worth money.  It’ll be epic!
Steem is going to be at the forefront of that. Steem is going to make it easy. Steem is gonna have the largest active community in the crypto space. And we’re not talking years we’re talking about months.
Personally I think you have about 3 more months of cheap steem. So get’em while you can. Cause this shit’s hot.
This is where we’re headed. So, buckle your seats, work hard, and it’s coming!
This page is synchronized from the post: ‘Steem 2.0 is coming like a big wave and if you can read this you’’re gonna catch it.’


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Every now and again I browse the Guides and New players section on the League of Legends forums. If I find a question that I am suited to answer fairly well, I try to help out the poster by giving my 2 cents. This is a transcript of the original post and my reply.
Question: I main Vi, and sometimes going top is the only or best option. But there's champs I struggle against such as.
Renekton, everyone's favorite gator, I usually beat him Pre 6, after 6 I'm screwed unless I have a jungler with lots of cc. I usually start Cloth, 4 hp pots and 1 mana pot Darius, can't beat this guy 1v1 pre 6, after 6 can't out dunk him lol I always start red elixir against him. Singed, I know not to chase, but dat fling. It hurts :s I always start 5 hp pots, 3 wards, 1 mana pot. Wukong. Went against him once. I never want it to happen again, not sure if it was cause he was smart, (engaging while my passive was down etc.) I started cloth 5
Tips for these matchups are very appreciated
Answer: Renek is just a monster and you won't be able to beat a good one consistently. If you're sure you can outplay and kill him pre-6, you're going to need that kill early on just to survive later. I'd just try to mitigate the damage in this lane by hunkering down and farming, and try to keep Renekton in the lane as long as possible. If you can sneak off for a gank when you have an ulti do it. But always keep an eye on Renekton, because he can ruin the **** out of other lanes if you let him run unchecked.
Darius is super scary for any laner because instead of punishing your mistakes by making you lose CS or being outtraded, you are rewarded with a free trip back to base. My favored tactic to beat Darius is really simple. Start with cloth armor and 5 pots, and farm defensively until i can afford a Giants belt and chainmail. Once you have these two it's virtually impossible for him to beat you in a trade, and if you can buy some more health pots you can outsustain him and eventually land a kill.
There can be no thought of finishing for ‘aiming for the stars.’ Both figuratively and literally, it is a task to occupy the generations. And no matter how much progress one makes, there is always the thrill of just beginning.
This isn't a perfect strategy for Darius, because if you play Vi masterfully I'm pretty sure you can kill him a couple of times early and build a vamp scepter instead.  Just know that you don't have to lose to Darius in the lane, you can just make it a stalemate.


Adds a node to the given cluster config, and starts it.
minikube node add [flags] [options]
Use "minikube options" for a list of global command-line options (applies to all commands).


This tests to make sure that a selection in one from isn't cleared when focusing a node in a different frame.


Perception, Planning, and Control
© Russ Tedrake, 2020-2023
Last modified .
How to cite these notes, use annotations, and give feedback.
Note: These are working notes used for a course being taught at MIT. They will be updated throughout the Fall 2023 semester.
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Over the last few chapters, we've developed a great initial toolkit for perceiving objects (or piles of objects) in a scene, planning grasps, and moving the arm to grasp. In the last chapter, we started designing motion planning strategies that could produce beautiful smooth joint trajectories for the robot that could move it quickly from one grasp to the next. As our desired trajectories get closer to the dynamic limits of the robot, then the control strategies that we use to execute them on the robot arm also need to get a bit more sophisticated.
Remember, too, that there is a lot more to manipulation than grasping! Even in the bin picking application, we already have some examples where our grasping-only strategy can be insufficient. Imagine that you look through the robot cameras into the box and see the following scene:
How in the world are we going to pick up that "Cheez-it" cracker box with our two-fingered gripper? (I know there are a few of you out there thinking about how easy that scene is for your suction gripper, but suction alone isn't going to solve all of our problems either.)
The term nonprehensile manipulation means "manipulation without grasping", and humans do it often. It is easy to appreciate this fact when we think about pushing an object that is too big to grasp (e.g. an office chair). But if you pay close attention, you will see that humans make use of strategies like sliding and environmental contact often, even when they are grasping. These strategies just come to the forefront in non-grasping manipulation.
As we build up our toolkit for prehensile (grasping) and nonprehensile manipulation, one of the things that is missing from our discussion so far, which has been predominantly kinematic, has been thinking about forces. In addition to tracking motion planning trajectories, this chapter will also introduce control techniques that reason about contact forces. I hope that by the end you'll agree that we have pretty satisfying approaches to flipping up that box!
When I talk about "manipulator control", I am discussing robot controllers that take (slightly) higher-level commands, like desired joint positions and velocities or spatial forces, and convert them into motor commands. Throughout this chapter we will assume that we can command generalized forces, which for revolute-joint robots are just joint torques. These controllers, by themselves, are not enough to complete any meaningful task -- they are reasoning about the robot itself but not about any of the objects in the environment. But they facilitate writing the rest of the control systems by providing the higher-level abstraction.
Typically the low-level controllers we will be discussing here are implemented in the firmware that runs directly on the robot arm (or its control cabinet). For the purposes of using that hardware, it's important to understand how they work and how you should set their parameters. In simulation we need to implement these controllers ourselves in order to model the robot.
Drake offers a number of manipulator control implementations. In this chapter, we will work through the most relevant ones for controlling a robotic arm:
By the end of the chapter, I hope you'll understand the differences and the essentials of how they all work.
As always in our battle against complexity, I want to find a setup that
is as simple as possible (but no simpler)! Here is my proposal for the
box-flipping example. First, I will restrict all motion to a 2D plane; this
allows me to chop off two sides of the bin (for you to easily see inside),
but also drops the number of degrees of freedom we have to consider. In
particular, we can avoid the quaternion floating base coordinates, by adding
a PlanarJoint
to the box. Instead of using a complete gripper,
let's start even simpler and just use a "point finger". I've visualized it
as a small sphere, and modeled two control inputs as providing force
directly on the $x$ and $z$ coordinates of the point mass.
Even in this simple model, and throughout the discussions in this chapter, we will have two dynamic models that we care about. The first is the full dynamic model used for simulation: it contains the finger, the box, and the bin, and has a total of 5 degrees of freedom ($x, z, \theta$ for the box and $x, z$ for the finger). The second is the robot model used for designing the controllers: this model has just the two degrees of freedom of the finger, and experiences unmodelled contact forces. By design, the equations of this second model are particularly simple: $$\begin{bmatrix}m & 0 \\ 0 & m \end{bmatrix} \dot{v} = m \begin{bmatrix}\ddot{x} \\ \ddot{z} \end{bmatrix} = \tau_g + \begin{bmatrix} u_x \\ u_z \end{bmatrix} + f^{F_c},$$ where $m$ is the mass, $\tau_g$ is the gravitational "torque" which here is just $\tau_g = [0, -mg]^T$, $u$ is the control input vector, and $f^{F_c}$ is the Cartesian contact force applied to the finger, $F$, at $c$.
Just to make the notation clear, I've used $f^{F_c}$ above to denote force applied to the finger, $F$, at point $c$. If we want to denote the same force applied to the box, $B$, at point $c$, then we'll denote it as $f^{B_c}$. Naturally, we have $f^{F_c} = - f^{B_c}$, because the forces must be equal and opposite. If we're not careful about this notation, the signs can get confusing below.
Before we even make contact with the box, let's make sure we know how to move our robot finger around through the air. Assume that you've done some motion planning, perhaps using optimization, and have developed a beautiful desired trajectory, $q_d(t)$, that you want your finger to follow. Let's assume that $q_d(t)$ is twice differentiable. What generalized-force commands should you send to the robot to execute that trajectory?
One of the first and most common ways to execute the trajectory is with proportional-integral-derivative (PID) control, which we've discussed when we talked about position-controlled robots. The PidController uses the command $$u(t) = K_p (q_d(t) - q(t)) + K_d (\dot{q}_d(t) - \dot{q}(t)) + K_i \int_0^t (q_d(t) - q(t)) dt,$$ with $K_p$, $K_d$, and $K_i$ being the position, velocity, and integral gains. Often these gains are diagonal matrices, making the command for each joint independent of the rest. Note that in manipulation, we tend to avoid the integral term, setting $K_i = 0$. You can imagine that if the robot is pushing up against the wall and is unable to achieve $q(t) == q_d(t)$, then the integral term will "wind-up", sending larger and larger commands to the robot until some fault is reached.
PD/PID control can be incredibly effective; it assumes almost nothing about the dynamics of the robot. But this assumption is also a limitation; if we do know something about the dynamics of the robot than we can achieve better tracking performance. To make that clear, let's write the closed-loop dynamics under PD control...
Gravity compensation... For reasons that will become clear soon, this controller is available in Drake as the JointStiffnessController.
Inverse dynamics control...
I've put together an extremely simple example to show the differences in tracking performance for the point mass using each of these control strategies.
In the case of direct force control, we implement a low-level controller that accepts the desired contact forces and produces generalized force inputs to the robot that try to make the actual contact forces match the desired.
What information do we need to regulate the contact forces? Certainly we need the desired contact force, $f^{F_c}_{desired}$. In general, we will need the robot's state (though in the immediate example, the dynamics of our point mass are not state dependent). But we also need to either (1) measure the robot accelerations (which we've repeatedly tried to avoid), (2) assume the robot accelerations are zero, or (3) provide a measurement of the contact force so that we can regulate it with feedback.
Let's consider the case where the robot is already in contact with the box. Let's also assume for a moment that the accelerations are (nearly) zero. This is actually not a horrible assumption for most manipulation tasks, where the movements are relatively slow. In this case, our equations of motion reduce to $$f^{F_c} = - mg - u.$$ Our force controller implementation can be as simple as $u = -mg - f^{F_c}_{desired}.$ Note that we only need to know the mass of the robot (not the box) to implement this controller.
What happens when the robot is not in contact? In this case, we cannot reasonably ignore the accelerations, and applying the same control results in $m\dot{v} = - f^{F_c}_{desired}.$ That's not all bad. In fact, it's one of the defining features of force control that makes it very appealing. When you specify a desired force and don't get it, the result is accelerating the contact point in the (opposite) direction of the desired force. In practice, this (locally) tends to bring you into contact when you are not in contact.
Let's see what happens when we run a full simulation which includes not only the non-contact case and the contact case, but also the transition between the two (which involves collision dynamics). I'll start the point finger next to the box, and apply a constant force command requesting to get a horizontal contact force from the box. I've drawn the $x$ trajectory of the finger for different (constant) contact force commands.
For all strictly positive desired force commands, the finger will accelerate at a constant rate until it collides with the box (at $x=0.089$). For small $f^{F_c}_{desired}$, the box barely moves. For an intermediate range of $f^{F_c}_{desired}$, the collision with the box is enough to start it moving, but friction eventually brings the box and therefore also the finger to rest. For large values, the finger will keep pushing the box until it runs into the far wall.
Consider the consequences of this behavior. By commanding force, we can write a controller that will come into a nice contact with the box with essentially no information about the geometry of the box (we just need enough perception to start our finger in a location for which a straight-line approach will reach the box).
This is one of the reasons that researchers working on legged robots also like force control. On a force-capable walking robot, we might mimic position control during the "swing phase", to get our foot approximately where we are hoping to step. But then we switch to a force control mode to actually set the foot down on the ground. This can significantly reduce the requirements for accurate sensing of the terrain.
Here is my proposal for a simple strategy for flipping up the box. Once in contact, we will use the contact force from the finger to apply a moment around the bottom left corner of the box to generate the rotation. But we'll add constraints to the forces that we apply so that the bottom corner does not slip.
These conditions are very natural to express in terms of forces. And once again, we can implement this strategy with very little information about the box. The position of the finger will evolve naturally as we apply the contact forces. It's harder for me to imagine how to write an equally robust strategy using a (high-gain) position-controller finger; it would likely require many more assumptions about the geometry (and possibly the mass) of the box.
Let's encode the textual description above, describing the forces that are applied to the box. I'll use $C$ for the contact frame between the finger and the box, with its normal pointing into the box normal to the surface, and $A$ for the contact frame for the lower left corner of the box contacting the bin, with the normal pointing straight up in positive world $z$. $${}^BR^C = R_y(-\frac{\pi}{2}), \qquad {}^WR^A = I,$$ where $R_y(\theta)$ is a rotation by $\theta$ around the y axis. Of course we also have the force of gravity, which is applied at the body center of mass (com): $$f^{B_{com}}_{gravity,W} = mg.$$ As you can see, we'll make heavy use of the spatial force notation / spatial algebra described here.
The friction cone provides (linear inequality) constraints on the forces we want to apply. \begin{gather*} f^{B_C}_{\text{finger}, C_z} \ge 0, \qquad |f^{B_C}_{\text{finger}, C_x}| \le \hat\mu_C f^{B_C}_{\text{finger}, C_z}, \\ f^{B_A}_{\text{ground}, A_z} \ge 0, \qquad |f^{B_A}_{\text{ground}, A_x}| \le \hat\mu_A f^{B_A}_{\text{ground}, A_z}.\end{gather*} Please make sure you understand the notation. Within those constraints, we would like to rotate up the box.
To rotate the box about $A$, let's reason about the total torque being applied about $A$: $$\tau^{B_A}_{total,W} = \tau^{B_A}_{gravity, W} + \tau^{B_A}_{ground, W} + \tau^{B_A}_{finger, W},$$ but we know that $\tau^{B_A}_{ground, W} = 0$ since the moment arm is zero. I have a goal here of not making too many assumptions about the mass and geometry of the box in our controller, so rather than try to regulate this torque perfectly, let's write $$\tau^{B_A}_{total,W_y} = \tau^{B_A}_{finger,W_y} + \text{unknown terms}.$$ A reasonable control strategy in the face of these unmodeled terms is to use feedback control on the angle of the box (call it $\theta$) which is the $y$ component of ${}^WR^B$: $$ \tau^{B_A}_{finger_d,W_y} = \text{PID}(\theta_d, \theta), \qquad {}^WR^B(\theta) = R_y(\theta),$$ where I've used $\theta_{d}$ as shorthand for the desired box angle and $\text{PID}$ as shorthand for a simple proportional-integral-derivative term. Note that $\tau^{B_A}_{finger,W_y} \propto f^{B_C}_{finger, C_x},$ where the (constant) coefficient only depends on ${}^B\hat{p}^C;$ it does not actually depend on $\hat\theta.$
To execute the desired PID control subject to the friction-cone constraints, we can use constrained least-squares: \begin{align*}\min_{f^{B_C}_{finger,C}, \, f^{B_A}_{ground,A}} \quad& \left| \tau^{B_A}_{finger,W_y} - \text{PID}(\theta_d, \hat\theta) \right|^2,\\ \subjto \quad & f^{B_C}_{\text{finger}, C_z} \ge 0, \qquad |f^{B_C}_{\text{finger}, C_x}| \le \hat\mu_C f^{B_C}_{\text{finger}, C_z}, \\ & f^{B_A}_{\text{ground}, A_z} \ge 0, \qquad |f^{B_A}_{\text{ground}, A_x}| \le \hat\mu_A f^{B_A}_{\text{ground}, A_z}, \\ & f^{B_A}_{\text{ground}, A} + \hat{f}^{B_A}_{gravity, A} + f^{B_A}_{finger, A} = 0.\end{align*} Note that the last line is still a linear constraint once $\hat\theta$ is given, despite requiring some spatial algebra operations. Implementing this strategy assumes:
We have multiple controllers in this example. The first is the low-level force controller that takes a desired contact force and sends commands to the robot to attempt to regulate this force. The second is the higher-level controller that is looking at the orientation of the box and deciding which forces to request from the low-level controller.
Please also understand that this is not some unique or optimal strategy for box flipping. I'm simply trying to demonstrate that sometimes controllers which might be difficult to express otherwise can easily be expressed in terms of forces!
There is a nice philosophical alternative to controlling the contact
interactions by specifying the forces directly. Instead, we can program
our robot to act like a (simple) mechanical system that reacts to contact
forces in a desired way. This philosophy was described nicely in an
important series of papers by Ken Salisbury introducing stiffness
control
This approach is conceptually very nice. Imagine we were to walk up and push on the end-effector of the iiwa. With only knowledge of the parameters of the robot itself (not the environment), we can write a controller so that when we push on the end-effector, the end-effector pushes back (using the entire robot) as if you were pushing on, for instance, a simple spring-mass-damper system. Rather than attempting to achieve manipulation by moving the end-effector rigidly through a series of position commands, we can move the set points (and perhaps stiffness) of a soft virtual spring, and allow this virtual spring to generate our desired contact forces.
This approach can also have nice advantages for guaranteeing that your
robot won't go unstable even in the face of unmodeled contact
interactions. If the robot acts like a dissipative system and the
environment is a dissipative system, then the entire system will be
stable. Arguments of this form can ensure stability for even very complex
system, building on the rich literature on passivity theory or more
generally Port-Hamiltonian
systems
Our simple model with a point finger is ideal for understanding the essence of indirect force control. The original equations of motion of our system are $$m\begin{bmatrix}\ddot{x} \\ \ddot{z} \end{bmatrix} = mg + u + f^{F_c}.$$ We can write a simple controller to make this system act, instead, like (passive) mass-spring-damper system: $$m \begin{bmatrix}\ddot{x} \\ \ddot{z} \end{bmatrix} + b \begin{bmatrix} \dot{x} \\ \dot{z} \end{bmatrix} + k \begin{bmatrix} x - x_d \\ z - z_d \end{bmatrix} = f^{F_c},$$ with the rest position of the spring at $(x_d, z_d).$ The controller that implements this follows easily; in the point finger case this has the familiar form of a proportional-derivative (PD) controller, but with an additional "feed-forward" term to cancel out gravity.
Technically, if we are just programming the stiffness and damping, as I've written here, then a controller of this form would commonly be referred to as "stiffness control", which is a subset of impedance control. We could also change the effective mass of the system; this would be impedance control in its full glory. My impression, though, is that the consensus in robot control experts is that changing the effective mass is most often considered not worth the complexity that comes from the extra sensing and bandwidth requirements.
The literature on indirect force control has a lot of terminology and
implementation details that are important to get right in practice. Your
exact implementation will depend on, for instance, whether you have access
to a force sensor and whether you can command forces/torque directly. The
performance can vary significantly based on the bandwidth of your
controller and the quality of your sensors. See e.g.
I didn't give you a teleop interface with direct force control; it would have been very difficult to use! Moving the robot by positioning the set points on virtual springs, however, is quite natural. Take a minute to try moving the box around, or even flipping it up.
To help your intuition, I've made the bin and the box slightly transparent, and added a visualization (in orange) of the virtual finger or gripper that you are moving with the sliders.
Let's embrace indirect force control to come up with another approach to flipping up the box. Flipping the box up in the middle of the bin required very explicit reasoning about forces in order to stay inside the friction cone in the bottom left corner of the box. But there is another strategy that doesn't require as precise control of the forces. Let's push the box into the corner, and then flip it up.
To make this one happen, I'd like to imagine creating a virtual spring -- you can think of it like a taut rubber band -- that we attach from the finger to a point near the wall just a little above the top left corner of the box. The box will act like a pendulum, rotating around the top corner, with the rubber band creating the moment. At some point the top corner will slip, but the very same rubber band will have the finger pushing the box down from the top corner to complete the maneuver.
Consider the alternative of writing an estimator and controller that needed to detect the moment of slip and make a new plan. That is not a road to happiness. By only using our model of the robot to make the robot act like a different dynamical system at the point we can accomplish all of that!
This controller almost couldn't be simpler.  This will push the box into contact and establish our bracing contact force. Then I'll move the virtual finger (the other end of our rubber band) up the wall a bit, and we can let mechanics take care of the rest!
So far we've made our finger act like two independent mass-spring-damper systems, one in $x$ and the other in $z$. We even used the same stiffness, $k$, and damping, $b$, parameters for each. More generally, we can write stiffness and damping matrices, which we typically would call $K_p$ and $K_d$, respectively: $$m \begin{bmatrix}\ddot{x} \\ \ddot{z} \end{bmatrix} + K_d \begin{bmatrix} \dot{x} \\ \dot{z} \end{bmatrix} + K_p \begin{bmatrix} x - x_d \\ z - z_d \end{bmatrix} = f^{F_c}.$$ In order to emphasize the coordinate frame of these stiffness matrices, let's write exactly the same equation, realizing that with our point finger we have ${}^Wp^F = \begin{bmatrix} x, z\end{bmatrix}^T,$ so: $$m\,{}^W\dot{v}^F + K_d \, {}^Wv^F + K_p\left({}^Wp^F - {}^Wp^{F_d}\right) = f^F.$$ Sometimes it can be convenient to express the stiffness (and/or damping) matrices in a different frame, $A$: \begin{align*} m\,{}^W\dot{v}^F + {}^W R^A K_d \, {}^Wv^F_A + {}^WR^W K_p\left({}^Wp^F_A - {}^Wp^{F_d}_A\right) =& \\ m\,{}^W\dot{v}^F + {}^W R^A K_d {}^A R^W\, {}^Wv^F + {}^WR^A K_p {}^A R^W\left(\,{}^Wp^F - {}^Wp^{F_d}\right) =& \, f^F.\end{align*}
There are a number of applications where we would like to explicitly command force in one direction, but command positions in another. One classic examples if you are trying to wipe or polish a surface -- you might care about the amount of force you are applying normal to the surface, but use position feedback to follow a trajectory in the directions tangent to the surface. In the simplest case, imagine controlling force in $z$ and position in $x$ for our point finger: $$u = -mg + \begin{bmatrix} k_p (x_d - x) + k_d (\dot{x}_d - \dot{x}) \\ -f^F_{desired, W_z} \end{bmatrix}.$$ If want the forces/positions in a different frame, for instance the contact frame, $C$, then we can use \begin{equation} u = -mg + {}^WR^C \begin{bmatrix} k_p (p^{F_d}_{C_x} - p^{F}_{C_x}) + k_d (v^{F_d}_{C_x} - v^F_{C_x}) \\ -f^{F}_{desired, C_z}\end{bmatrix}. \label{eq:position-or-force}\end{equation} By commanding the normal force, you not only have the benefit of controlling how hard the robot is pushing on the surface, but also gain some robustness to errors in estimating the surface normal. If a position-controlled robot estimated the normal of a wall badly, then it might leave the wall entirely in one direction, and push extremely hard in the other. Having a commanded force in the normal direction would allow the position of the robot in that direction to become whatever is necessary to apply the force, and it will follow the wall.
The choice of position control or force control need not be a binary decision. We can simply apply both the position command (as in stiffness/impedance control) and a "feed-forward" force command: $$u = -mg + K_p (p^{F_d} - p^{F}) + K_d (v^{F_d} - v^{F}) - f^{F}_{\text{feedforward}}.$$ Certainly this is only more general that the explicit position-or-force mode in Eq. (\ref{eq:position-or-force}); we could achieve the explicit position-or-force in this interface by the appropriate choices of $K_p$, $K_d$, and $f^F_{feedforward}.$ As we'll see, this is quite similar to the interface provided by the iiwa (and many other torque-controlled robots).
Using the floating finger/gripper is a good way to understand the main concepts of force control without the details. But now it's time to actually implement those strategies using joint commands that we can send to the arm.
Our starting point is understanding that the equations of motion for a fully-actuated robotic manipulator have a very structured form: \begin{equation}M(q)\ddot{q} + C(q,\dot{q})\dot{q} = \tau_g(q) + u + \sum_i J^T_i(q)f^{c_i}.\label{eq:manipulator} \end{equation} The left side of the equation is just a generalization of "mass times acceleration", with the mass matrix, $M$, and the Coriolis terms $C$. The right hand side is the sum of the (generalized) forces, with $\tau_g(q)$ capturing the forces due to gravity, $u$ the joint torques supplied by the motors, and $f^{c_i}$ is the Cartesian force due to the $i$th contact, where $J_i(q)$ is the $i$th "contact Jacobian". I introduced a version of these briefly when we described multibody dynamics for dropping random objects into the bin, and have more notes available here. For the purposes of the remainder of this chapter, we can assume that the robot is bolted to the table, so does not have any floating joints; I've therefore used $\dot{q}$ and $\ddot{q}$ instead of $v$ and $\dot{v}$.
Let us ignore the contact terms for a moment: $$M(q)\ddot{q} + C(q,\dot{q})\dot{q} = \tau_g(q) + u.$$ The forward dynamics problem, which we use during simulation, is to compute the accelerations, $\ddot{q}$, given the joint torques, $u$, (and $q, \dot{q}$). The inverse dynamics problem, which we can use in control, is to compute $u$ given $\ddot{q}$ (and $q, \dot{q}$). As a system, it looks like
This system implements the controller: $$u = M(q)\ddot{q}_d + C(q,\dot{q})\dot{q} - \tau_g(q),$$ so that the resulting dynamics are $M(q)\ddot{q} = M(q)\ddot{q}_d.$ Since we know that $M(q)$ is invertible, this implies that $\ddot{q} = \ddot{q}_d$.
When we put the contact forces back in, In practice, we only have estimates of the dynamics (mass matrix, etc) and even the states $q$ and $\dot{q}$. We will need to account for these errors when we determine the acceleration commands to send. For example, if we wanted to follow a desired joint trajectory, $q_0(t)$, we do not just differentiate the trajectory twice and command $\ddot{q}_0(t)$, but we could instead command e.g. $$\ddot{q}_d = \ddot{q}_0(t) + K_p(q_0(t) - q) + K_d(\dot{q}_0(t) - \dot{q}).$$ One could also include an integral gain term.
The resulting System
has one additional input port for the desired state:
This "inverse dynamics control" also appears in the literature with a
few other names, such as "computed-torque control" and even the
"feedforward-plus-feedback-linearizing control"
The closed-loop dynamics with the joint stiffness control (taking $\tau_{ff} = 0$) are given by $$M(q)\ddot{q} + C(q,\dot{q})\dot{q} + K_p(q - q_d) + K_d(\dot{q} - \dot{q}_d) = \tau_{ext},$$ where $\tau_{ext}$ summarized the results of (unmodeled) forces like contacts. The closed-loop dynamics with the inverse dynamics controllers are given by $$\ddot{q} + K_p(q - q_d) + K_d(\dot{q} - \dot{q}_d) = M^{-1}(q) \tau_{ext}.$$ So the inverse dynamics controller writes the feedback law in the units of accelerations rather than forces; this would be similar to shaping the internal matrix into the diagonal matrix.
The ability to realize this cancellation in hardware, however, will be limited by the accuracy with which we estimate the model parameters, $\hat{M}(q)$ and $\hat{C}(q,\dot{q})$. The stiffness controller, on the other hand, achieves much of the desired performance but only attempts to cancel the gravity (and perhaps friction) terms; it does not shape the inertia.
In practice, the way that we most often interface with the iiwa is
through the its "joint-impedance control" mode, which is written up
nicely in
The difference in the algebra is quite small. A PD control would typically have the form $$u=K_p(q_d-q) + K_d(\dot{q}_d - \dot{q}),$$ whereas stiffness control is $$u = -\tau_g(q) + K_p(q_d-q) + K_d(\dot{q}_d - \dot{q}).$$ In other words, stiffness control tries to cancel out the gravity and any other estimated terms, like friction, in the model. As written, this obviously requires an estimated model (which we have for iiwa, but don't believe we have for most arms with large gear-ratio transmissions) and torque control. But this small difference in the algebra can make a profound difference in practice. The controller is no longer depending on error to achieve the joint position in steady state. As such we can turn the gains way down, and in practice have a much more compliant response while still achieving good tracking when there are no external torques.
A better analogy for the control we were doing with the point finger
example is to write a controller so that the robot acts like a simple
dynamical system in the world frame. To do that, we have to identify a
frame, $E$ for "end-effector", on the robot where we want to impose these
simple dynamics -- ideally the origin of this frame will be the expected
point of contact with the environment. Following our treatment of kinematics
and differential kinematics, we'll
define the forward kinematics of this frame as: \begin{equation}p^E =
f_{kin}(q), \qquad v^E = \dot{p}^E = J(q) \dot{q}, \qquad a^E =
\ddot{p}^E = J(q)\ddot{q} + \dot{J}(q)
\dot{q}.\label{eq:kinematics}\end{equation} We haven't actually written
the second derivative before, but it follows naturally from the chain
rule. Also, I've restricted this to the Cartesian positions for
simplicity; one can think about the orientation of the end-effector, but
this requires some care in defining the 3D stiffness in orientation (e.g.
One of the big ideas from manipulator control is that we can actually write the dynamics of the robot in the frame $E$, by parameterizing the joint torques as a translational force applied to body $B$ at $E$, $f^{B_E}_u$: $u = J^T(q) f^{B_E}_u$. This comes from the principle of virtual work. By substituting this and the manipulator equations (\ref{eq:manipulator}) into (\ref{eq:kinematics}) and assuming that the only external contacts happen at $E$, we can write the dynamics: \begin{equation} M_E(q) \ddot{p}^E + C_E(q,\dot{q})\dot{q} = f^{B_E}_g(q) + f^{B_E}_u + f^{B_E}_{ext} \label{eq:cartesian_dynamics},\end{equation} where $$M_E(q) = (J M^{-1} J^T)^{-1}, \qquad C_E(q,\dot{q}) = M_E \left(J M^{-1} C+ \dot{J} \right), \qquad f^{B_E}_g(q) = M_E J M^{-1} \tau_g.$$ Now if we simply apply a controller analogous to what we used in joint space, e.g.: $$f^{B_E}_u = -f^{B_E}_g(q) + K_p(p^{E_d} - p^E) + K_d(\dot{p}^{E_d} - \dot{p}^E),$$ then we can achieve the desired closed-loop dynamics at the end-effector: $$M_E(q) \ddot{p}^E + C_E(q,\dot{q})\dot{q} + K_p(p^{E} - p^{E_d}) + K_d(\dot{p}^{E} - \dot{p}^{E_d}) = f^{B_E}_{ext}.$$ So if I push on the robot at the end-effector, the entire robot will move in a way that will make it feel like I'm pushing on a spring-damper system. Beautiful!
When $J(q)$ can be rank-deficient (for instance, if you have more degrees of freedom than you are trying to control at the end-effector), you'll also want to add some terms to similar to stabilize the null space of your Jacobian. Since we are operating here with torques instead of velocity commands, the natural analogue is to write the a joint-centering PD controller that operates in the nullspace of the end-effector control: $$u = J^Tf^{B_E}_u + [I - J^+J][K_{p,joint} (q_0 - q) - K_{d,joint}\dot{q}].$$
This approach of programming the task-space dynamics with
secondary joint-space objectives operating in the nullspace was developed
in
The implementation of the low-level impedance controllers has many
details that are explained nicely in
The iiwa interface offers a Cartesian impedance control mode. If we want high performance stiffness control in end-effector coordinates, then we should definitely use it! The iiwa controller runs at a much higher bandwidth (faster update rate) than the interface we have over the provided network API, and many implementation details that they have gone to great lengths to get right. But in practice we do not use it, because we cannot convert between joint impedance control and Cartesian impedance control without shutting down the robot. Sigh. In fact we cannot even change the stiffness gains nor the frame $C$ (aka the "end-effector location") without stopping the robot. So we stay in joint impedance mode and command some Cartesian forces through $\tau_{ff}$ if we desire them. (If you are interested in the driver details, then I would recommend the documentation for the Franka Control Interface which is much easier to find and read, and is very similar to functionality provided by the iiwa driver.)
You might also notice that the interface we provide to the
ManipulationStation
takes a desired joint position for the
robot, but not a desired joint velocity. That is because we cannot
actually send a desired joint velocity to the iiwa controller. In
practice, we believe that they are numerically differentiating our
position commands to obtain the desired velocity, which adds a delay of a
few control timesteps (and sometimes non-monotonic
behavior). I believe that the reason why we aren't allowed to send
our own joint velocity commands is to to make the passivity argument in
their paper go through, and perhaps to make a simpler/safer API -- they
don't want users to be able to send a series of inconsistent position and
velocity commands (where the velocities are not actually the time
derivatives of the positions).
Since the controller attempts to cancel gravitational terms, one can also tell the iiwa firmware about the lumped inertia of the gripper. This is set just once (in the pendant), and cannot be changed while the robot is moving; if you pick something up (or even move the fingers), those changes in the gravitational terms will not be compensated in the controller.
Although the JointStiffnessController in Drake is the best model for the iiwa control stack, we commonly use the InverseDynamicsController in our simulations instead. This is for a fairly subtle reason -- the numerics are better. The effective stiffness of the differential equations to achieve comparable stiffness in the physics is smaller, and one can take bigger integration timesteps. On the iiwa hardware, we commonly use [800., 600, 600, 600, 400, 200, 200] Nm/rad as the stiffness values for the JointStiffnessController; but simulating with those requires small integration steps.
One of the classic problems for manipulator force control, inspired by robotic assembly, is the problem of mating two parts together under tight kinematic tolerances. Perhaps the cleanest and most famous version of this is the problem of inserting a (round) peg into a (round) hole. If your peg is square and your hole is round, I can't help. Interestingly, much of the literature on this topic in the late 1970's and early 1980's came out of MIT and the Draper Laboratory.
For many peg insertion tasks, it's acceptable to add a small chamfer to the part and/or the top of the hole. This allows small errors in horizontal alignment to be accounted for with a simple compliance in the horizontal direction. Misalignment in orientation is even more interesting. Small misalignments can cause the object to become "jammed", at which point the frictional forces become large and ambiguous (under the Coulomb model); we really want to avoid this. Again, we can avoid jamming by allowing a rotational compliance at the contact. I think you can see why this is a great example for force control!
The key insight here is that the rotational stiffness that we want
should result in rotations around the part/contact, not around the gripper.
We can program this with stiffness control; but for very tight tolerances
the sensing and bandwidth requirements become a real limitation. One of
the coolest results in force control is the realization that a clever
physical mechanism can be used to produce a "remote-centered compliance"
(RCC) completely mechanically, with infinite bandwidth and no sensing
required
Interestingly, the peg-in-hole problem inspired incredibly important
and influential ideas in mechanics and control, but also in motion planning
Suppose you are given a point-mass system with the following dynamics:
$$m\ddot{x} = u + f^{F_c}$$where $x$ is the position, $u$ the input force applied on the point-mass, and $f^{F_c}$ the contact force from the environment on point ${F}$ applied at $c$. In order to control the position and force from the robot at the same time, the following controller is proposed:
$$u = \underbrace{k_p(x_d-x) - k_d\dot{x}}_{\text{feedback force for position control}} - \underbrace{f^{F_c}_{desired}}_{\text{feedforward force}}$$Define the error for this system to be:
$$e = (x - x_d)^2 + (f^{F_c} - f^{F_c}_{desired})^2$$Consider the initial phase of the box flip-up task from the example above, when $\theta\approx 0$. Let $B$ be the box, $A$ be the pivot point of the box, and $C$ be the contact point between the finger and box $B$. We will assume that the forces can still be approximated as axis-aligned, but the ground contact is only being applied at the pivoting point $A$.
For this exercise, you will analyze and implement a hybrid force-position controller to drag a book, as we saw from this video during lecture. You will work exclusively in . You will be asked to complete the following steps:
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