pydrake.systems.controllers¶
-
pydrake.systems.controllers.
DiscreteTimeLinearQuadraticRegulator
(A: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous], B: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous], Q: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous], R: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous]) → Tuple[numpy.ndarray[numpy.float64[m, n]], numpy.ndarray[numpy.float64[m, n]]]¶ Computes the optimal feedback controller, u=-Kx, and the optimal cost-to-go J = x’Sx for the problem:
\[x[n+1] = Ax[n] + Bu[n]\]\[\min_u \sum_0^\infty x'Qx + u'Ru\]- Parameter
A
: - The state-space dynamics matrix of size num_states x num_states.
- Parameter
B
: - The state-space input matrix of size num_states x num_inputs.
- Parameter
Q
: - A symmetric positive semi-definite cost matrix of size num_states x num_states.
- Parameter
R
: - A symmetric positive definite cost matrix of size num_inputs x num_inputs.
Returns: A structure that contains the optimal feedback gain K and the quadratic cost term S. The optimal feedback control is u = -Kx; Raises: RuntimeError if R is not positive definite. - Parameter
-
class
pydrake.systems.controllers.
DynamicProgrammingOptions
¶ Consolidates the many possible options to be passed to the dynamic programming algorithms.
-
__init__
(self: pydrake.systems.controllers.DynamicProgrammingOptions) → None¶
-
assume_non_continuous_states_are_fixed
¶ (Advanced) Boolean which, if true, allows this algorithm to optimize without considering the dynamics of any non-continuous states. This is helpful for optimizing systems that might have some additional book-keeping variables in their state. Only use this if you are sure that the dynamics of the additional state variables cannot impact the dynamics of the continuous states. $*Default:* false.
-
convergence_tol
¶ Value iteration methods converge when the value function stops changing (typically evaluated with the l∞ norm). This value sets that threshold.
-
discount_factor
¶ A value between (0,1] that discounts future rewards.
See also
FittedValueIteration.
-
input_port_index
¶ For systems with multiple input ports, we must specify which input port is being used in the control design.
See also
systems::InputPortSelection.
-
periodic_boundary_conditions
¶
-
visualization_callback
¶ If callable, this method is invoked during each major iteration of the dynamic programming algorithm, in order to facilitate e.g. graphical inspection/debugging of the results.
Note
The first call happens at iteration 1 (after the value iteration has run once), not zero.
-
-
pydrake.systems.controllers.
FiniteHorizonLinearQuadraticRegulator
(system: pydrake.systems.framework.System_[float], context: pydrake.systems.framework.Context_[float], t0: float, tf: float, Q: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous], R: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous], options: pydrake.systems.controllers.FiniteHorizonLinearQuadraticRegulatorOptions = <pydrake.systems.controllers.FiniteHorizonLinearQuadraticRegulatorOptions object at 0x7fa8fd9b1070>) → pydrake.systems.controllers.FiniteHorizonLinearQuadraticRegulatorResult¶ Solves the differential Riccati equation to compute the optimal controller and optimal cost-to-go for the finite-horizon linear quadratic regulator:
\[\min_u (x(t_f)-x_d(t_f))'Q_f(x(t_f)-x_d(t_f)) + \int_{t_0}^{t_f}\](x(t)-x_d(t))’Q(x(t)-x_d(t)) dt + int_{t_0}^{t_f} (u(t)-u_d(t))’R(u(t)-u_d(t)) dt + int_{t_0}^{t_f} 2(x(t)-x_d(t))’N(u(t)-u_d(t)) dt text{s.t. } dot{x} - dot{x}_0(t) = A(t)(x(t) - x_0(t)) + B(t)(u(t) - u_0(t)) + c(t)
where A(t), B(t), and c(t) are taken from the gradients of the continuous-time dynamics ẋ = f(t,x,u), as A(t) = dfdx(t, x0(t), u0(t)), B(t) = dfdu(t, x0(t), u0(t)), and c(t) = f(t, x0(t), u0(t)) - ẋ0(t). x0(t) and u0(t) can be specified in
options
, otherwise are taken to be constant trajectories with values given bycontext
.- Parameter
system
: - a System<double> representing the plant.
- Parameter
context
: - a Context<double> used to pass the default input, state, and
parameters. Note: Use
options
to specify time-varying nominal state and/or input trajectories. - Parameter
t0
: - is the initial time.
- Parameter
tf
: - is the final time (with tf > t0).
- Parameter
Q
: - is nxn positive semi-definite.
- Parameter
R
: - is mxm positive definite.
- Parameter
options
: - is the optional FiniteHorizonLinearQuadraticRegulatorOptions.
- Precondition:
system
must be a System<double> with (only) n continuous state variables and m inputs. It must be convertable to System<AutoDiffXd>.
Note
Support for difference-equation systems (
See also
System<T>::IsDifferenceEquationSystem()) by solving the differential Riccati equation and richer specification of the objective are anticipated (they are listed in the code as TODOs).
- Parameter
-
class
pydrake.systems.controllers.
FiniteHorizonLinearQuadraticRegulatorOptions
¶ A structure to facilitate passing the myriad of optional arguments to the FiniteHorizonLinearQuadraticRegulator algorithms.
-
__init__
(self: pydrake.systems.controllers.FiniteHorizonLinearQuadraticRegulatorOptions) → None¶
-
input_port_index
¶ For systems with multiple input ports, we must specify which input port is being used in the control design.
See also
systems::InputPortSelection.
-
N
¶ A num_states x num_inputs matrix that describes the running cost 2(x-xd(t))’N(u-ud(t)). If unset, then N will be set to the zero matrix.
-
Qf
¶ A num_states x num_states positive semi-definite matrix which specified the cost at the final time. If unset, then Qf will be set to the zero matrix.
-
u0
¶ A nominal input trajectory. The system is linearized about this trajectory. u0 must be defined over the entire interval, [t0, tf]. If null, then u0 is taken to be a constant trajectory (whose value is specified by the context passed into the LQR method).
-
ud
¶ A desired input trajectory. The objective is to regulate to this trajectory – the input component of the quadratic running cost is (u-ud(t))’*R*(u-ud(t)). If null, then ud(t) = u0(t).
-
x0
¶ A nominal state trajectory. The system is linearized about this trajectory. x0 must be defined over the entire interval [t0, tf]. If null, then x0 is taken to be a constant trajectory (whose value is specified by the context passed into the LQR method).
-
-
class
pydrake.systems.controllers.
FiniteHorizonLinearQuadraticRegulatorResult
¶ A structure that contains the basic FiniteHorizonLinearQuadraticRegulator results. The finite-horizon cost-to-go is given by (x-x0(t))’*S(t)*(x-x0(t)) + 2*(x-x₀(t))’sₓ(t) + s₀(t) and the optimal controller is given by u-u0(t) = -K(t)*(x-x₀(t)) - k₀(t). Please don’t overlook the factor of 2 in front of the sₓ(t) term.
-
__init__
¶ Initialize self. See help(type(self)) for accurate signature.
-
K
¶ Note – This K is the K_x term in the derivation notes.
-
k0
¶
-
S
¶
-
s0
¶
-
sx
¶
-
u0
¶
-
x0
¶
-
-
pydrake.systems.controllers.
FittedValueIteration
(arg0: pydrake.systems.analysis.Simulator_[float], arg1: Callable[[pydrake.systems.framework.Context_[float]], float], arg2: List[Set[float]], arg3: List[Set[float]], arg4: float, arg5: pydrake.systems.controllers.DynamicProgrammingOptions) → Tuple[pydrake.systems.primitives.BarycentricMeshSystem, numpy.ndarray[numpy.float64[1, n]]]¶ Implements Fitted Value Iteration on a (triangulated) Barycentric Mesh, which designs a state-feedback policy to minimize the infinite-horizon cost ∑ γⁿ g(x[n],u[n]), where γ is the discount factor in
options
.For background, and a description of this algorithm, see http://underactuated.csail.mit.edu/underactuated.html?chapter=dp . It currently requires that the system to be optimized has only continuous state and it is assumed to be time invariant. This code makes a discrete-time approximation (using
timestep)
for the value iteration update.- Parameter
simulator
: - contains the reference to the System being optimized and to a
Context for that system, which may contain non-default Parameters,
etc. The
simulator
is run fortimestep
seconds from every point on the mesh in order to approximate the dynamics; all of the simulation parameters (integrator, etc) are relevant during that evaluation. - Parameter
cost_function
: - is the continuous-time instantaneous cost. This implementation of the discrete-time formulation above uses the approximation g(x,u) = timestep*cost_function(x,u).
- Parameter
state_grid
: - defines the mesh on the state space used to represent the cost-to-go function and the resulting policy.
- Parameter
input_grid
: - defines the discrete action space used in the value iteration update.
- Parameter
timestep
: - a time in seconds used for the discrete-time approximation.
- Parameter
options
: - optional DynamicProgrammingOptions structure.
Returns: a std::pair containing the resulting policy, implemented as a BarycentricMeshSystem, and the RowVectorXd J that defines the expected cost-to-go on a BarycentricMesh using state_grid
. The policy has a single vector input (which is the continuous state of the system passed in throughsimulator)
and a single vector output (which is the input of the system passed in throughsimulator)
.- Parameter
-
class
pydrake.systems.controllers.
InverseDynamics
¶ Bases:
pydrake.systems.framework.LeafSystem_[float]
Solves inverse dynamics with no consideration for joint actuator force limits. The system also provides a pure gravity compensation mode. This system provides a BasicVector input port for the state
(q, v)
, whereq
is the generalized position andv
is the generalized velocity, and a BasicVector output port for the computed generalized forces. There is an additional BasicVector input port for desired acceleration when configured to be not in pure gravity compensation mode.InverseDynamicsController uses a PID controller to generate desired acceleration and uses this class to compute generalized forces. This class should be used directly if desired acceleration is computed differently.
See also
Constructors for descriptions of how (and which) forces are incorporated into the inverse dynamics computation.
-
__init__
(self: pydrake.systems.controllers.InverseDynamics, plant: pydrake.multibody.plant.MultibodyPlant_[float], mode: drake::systems::controllers::InverseDynamics<double>::InverseDynamicsMode) → None¶ Computes the generalized force
tau_id
that needs to be applied so that the multibody system undergoes a desired accelerationvd_d
. That is,tau_id
is the result of an inverse dynamics computation according to:tau_id = M(q)vd_d + C(q, v)v - tau_g(q) - tau_app
where
M(q)
is the mass matrix,C(q, v)v
is the bias term containing Coriolis and gyroscopic effects,tau_g(q)
is the vector of generalized forces due to gravity andtau_app
contains applied forces from force elements added to the multibody model (this can include damping, springs, etc. See MultibodyPlant::CalcForceElementsContribution()).- Parameter
plant
: - Pointer to the multibody plant model. The life span of
plant
must be longer than that of this instance. - Parameter
mode
: - If set to kGravityCompensation, this instance will only consider the gravity term. It also will NOT have the desired acceleration input port.
- Precondition:
- The plant must be finalized (i.e., plant.is_finalized() must
return
True
).
- Parameter
-
class
InverseDynamicsMode
¶ Members:
kInverseDynamics :
kGravityCompensation : Purely gravity compensation mode.
-
__init__
(self: pydrake.systems.controllers.InverseDynamics.InverseDynamicsMode, arg0: int) → None¶
-
kGravityCompensation
= InverseDynamicsMode.kGravityCompensation¶
-
kInverseDynamics
= InverseDynamicsMode.kInverseDynamics¶
-
name
¶
-
-
is_pure_gravity_compensation
(self: pydrake.systems.controllers.InverseDynamics) → bool¶
-
kGravityCompensation
= InverseDynamicsMode.kGravityCompensation¶
-
kInverseDynamics
= InverseDynamicsMode.kInverseDynamics¶
-
-
class
pydrake.systems.controllers.
InverseDynamicsController
¶ Bases:
pydrake.systems.framework.Diagram_[float]
A state feedback controller that uses a PidController to generate desired accelerations, which are then converted into torques using InverseDynamics. More specifically, the output of this controller is:
torque = inverse_dynamics(q, v, vd_d)
, wherevd_d = kp(q* - q) + kd(v* - v) + ki int(q* - q) + vd*
. q andv
stand for the generalized position and velocity, andvd
is the generalized acceleration.*
indicates reference values.This controller always has a BasicVector input port for estimated robot state
(q, v)
, a BasicVector input port for reference robot state(q*, v*)
and a BasicVector output port for computed torquetorque
. A constructor flag can be set to track reference accelerationvd*
as well. When set, a BasicVector input port is also declared, and it’s content is used asvd*
. When unset,vd*
is be treated as zero.Note that this class assumes the robot is fully actuated, its position and velocity have the same dimension, and it does not have a floating base. If violated, the program will abort. This controller was not designed for closed loop systems: the controller accounts for neither constraint forces nor actuator forces applied at loop constraints. Use on such systems is not recommended.
See also
InverseDynamics for an accounting of all forces incorporated into the inverse dynamics computation.
-
__init__
(self: pydrake.systems.controllers.InverseDynamicsController, robot: pydrake.multibody.plant.MultibodyPlant_[float], kp: numpy.ndarray[numpy.float64[m, 1]], ki: numpy.ndarray[numpy.float64[m, 1]], kd: numpy.ndarray[numpy.float64[m, 1]], has_reference_acceleration: bool) → None¶ Constructs an inverse dynamics controller for the given
plant
model. The InverseDynamicsController holds an internal, non-owned reference to the MultibodyPlant object so you must ensure thatplant
has a longer lifetime thanthis
InverseDynamicsController.- Parameter
plant
: - The model of the plant for control.
- Parameter
kp
: - Position gain.
- Parameter
ki
: - Integral gain.
- Parameter
kd
: - Velocity gain.
- Parameter
has_reference_acceleration
: - If true, there is an extra BasicVector input port for
vd*
. If false,vd*
is treated as zero, and no extra input port is declared. - Precondition:
plant
has been finalized (plant.is_finalized() returnsTrue
).
Raises: - RuntimeError if - The plant is not finalized (see
- MultibodyPlant::Finalize()). - The number of generalized
- velocities is not equal to the number of generalized positions. -
- The model is not fully actuated. - Vector kp, ki and kd do not all
- have the same size equal to the number of generalized positions.
- Parameter
-
get_input_port_desired_acceleration
(self: pydrake.systems.controllers.InverseDynamicsController) → pydrake.systems.framework.InputPort_[float]¶ Returns the input port for the reference acceleration.
-
get_input_port_desired_state
(self: pydrake.systems.controllers.InverseDynamicsController) → pydrake.systems.framework.InputPort_[float]¶ Returns the input port for the desired state.
-
get_input_port_estimated_state
(self: pydrake.systems.controllers.InverseDynamicsController) → pydrake.systems.framework.InputPort_[float]¶ Returns the input port for the estimated state.
-
get_output_port_control
(self: pydrake.systems.controllers.InverseDynamicsController) → pydrake.systems.framework.OutputPort_[float]¶ Returns the output port for computed control.
-
set_integral_value
(self: pydrake.systems.controllers.InverseDynamicsController, arg0: pydrake.systems.framework.Context_[float], arg1: numpy.ndarray[numpy.float64[m, 1]]) → None¶ Sets the integral part of the PidController to
value
.value
must be a column vector of the appropriate size.
-
-
pydrake.systems.controllers.
LinearProgrammingApproximateDynamicProgramming
(arg0: pydrake.systems.analysis.Simulator_[float], arg1: Callable[[pydrake.systems.framework.Context_[float]], float], arg2: Callable[[numpy.ndarray[numpy.float64[m, 1]], numpy.ndarray[object[m, 1]]], pydrake.symbolic.Expression], arg3: int, arg4: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous], arg5: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous], arg6: float, arg7: pydrake.systems.controllers.DynamicProgrammingOptions) → numpy.ndarray[numpy.float64[m, 1]]¶ Implements the Linear Programming approach to approximate dynamic programming. It optimizes the linear program
maximize ∑ Jₚ(x). subject to ∀x, ∀u, Jₚ(x) ≤ g(x,u) + γJₚ(f(x,u)),
where g(x,u) is the one-step cost, Jₚ(x) is a (linearly) parameterized cost-to-go function with parameter vector p, and γ is the discount factor in
options
.For background, and a description of this algorithm, see http://underactuated.csail.mit.edu/underactuated.html?chapter=dp . It currently requires that the system to be optimized has only continuous state and it is assumed to be time invariant. This code makes a discrete-time approximation (using
timestep)
for the value iteration update.- Parameter
simulator
: - contains the reference to the System being optimized and to a
Context for that system, which may contain non-default Parameters,
etc. The
simulator
is run fortimestep
seconds from every pair of input/state sample points in order to approximate the dynamics; all of the simulation parameters (integrator, etc) are relevant during that evaluation. - Parameter
cost_function
: - is the continuous-time instantaneous cost. This implementation of the discrete-time formulation above uses the approximation g(x,u) = timestep*cost_function(x,u).
- Parameter
linearly_parameterized_cost_to_go_function
: - must define a function to approximate the cost-to-go, which takes the state vector as the first input and the parameter vector as the second input. This can be any function of the form Jₚ(x) = ∑ pᵢ φᵢ(x). This algorithm will pass in a VectorX of symbolic::Variable in order to set up the linear program.
- Parameter
state_samples
: - is a list of sample states (one per column) at which to apply the optimization constraints and the objective.
- Parameter
input_samples
: - is a list of inputs (one per column) which are evaluated at every sample point.
- Parameter
timestep
: - a time in seconds used for the discrete-time approximation.
- Parameter
options
: - optional DynamicProgrammingOptions structure.
Returns: params the VectorXd of parameters that optimizes the supplied cost-to-go function. - Parameter
-
pydrake.systems.controllers.
LinearQuadraticRegulator
(*args, **kwargs)¶ Overloaded function.
- LinearQuadraticRegulator(A: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous], B: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous], Q: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous], R: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous], N: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous] = array([], shape=(0, 0), dtype=float64)) -> Tuple[numpy.ndarray[numpy.float64[m, n]], numpy.ndarray[numpy.float64[m, n]]]
Computes the optimal feedback controller, u=-Kx, and the optimal cost-to-go J = x’Sx for the problem:
\[\dot{x} = Ax + Bu\]\[\min_u \int_0^\infty x'Qx + u'Ru + 2x'Nu dt\]- Parameter
A
: - The state-space dynamics matrix of size num_states x num_states.
- Parameter
B
: - The state-space input matrix of size num_states x num_inputs.
- Parameter
Q
: - A symmetric positive semi-definite cost matrix of size num_states x num_states.
- Parameter
R
: - A symmetric positive definite cost matrix of size num_inputs x num_inputs.
- Parameter
N
: - A cost matrix of size num_states x num_inputs. If the matrix is zero-sized, N will be treated as a num_states x num_inputs zero matrix.
Returns: A structure that contains the optimal feedback gain K and the quadratic cost term S. The optimal feedback control is u = -Kx; Raises: RuntimeError if R is not positive definite. - LinearQuadraticRegulator(system: pydrake.systems.primitives.LinearSystem_[float], Q: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous], R: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous], N: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous] = array([], shape=(0, 0), dtype=float64)) -> pydrake.systems.primitives.LinearSystem_[float]
Creates a system that implements the optimal time-invariant linear quadratic regulator (LQR). If
system
is a continuous-time system, then solves the continuous-time LQR problem:\[\min_u \int_0^\infty x^T(t)Qx(t) + u^T(t)Ru(t) dt.\]If
system
is a discrete-time system, then solves the discrete-time LQR problem:\[\min_u \sum_0^\infty x^T[n]Qx[n] + u^T[n]Ru[n].\]- Parameter
system
: - The System to be controlled.
- Parameter
Q
: - A symmetric positive semi-definite cost matrix of size num_states x num_states.
- Parameter
R
: - A symmetric positive definite cost matrix of size num_inputs x num_inputs.
- Parameter
N
: - A cost matrix of size num_states x num_inputs.
Returns: A system implementing the optimal controller in the original system coordinates. Raises: RuntimeError if R is not positive definite. - LinearQuadraticRegulator(system: pydrake.systems.framework.System_[float], context: pydrake.systems.framework.Context_[float], Q: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous], R: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous], N: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous] = array([], shape=(0, 0), dtype=float64), input_port_index: int = 0) -> pydrake.systems.primitives.AffineSystem_[float]
Linearizes the System around the specified Context, computes the optimal time-invariant linear quadratic regulator (LQR), and returns a System which implements that regulator in the original System’s coordinates. If
system
is a continuous-time system, then solves the continuous-time LQR problem:\[\min_u \int_0^\infty (x-x_0)^TQ(x-x_0) + (u-u_0)^TR(u-u_0) dt.\]If
system
is a discrete-time system, then solves the discrete-time LQR problem:\[\min_u \sum_0^\infty (x-x_0)^TQ(x-x_0) + (u-u_0)^TR(u-u_0),\]where \(x_0\) is the nominal state and \(u_0\) is the nominal input. The system is considered discrete if it has a single discrete state vector and a single unique periodic update event declared.
- Parameter
system
: - The System to be controlled.
- Parameter
context
: - Defines the desired state and control input to regulate the system to. Note that this state/input must be an equilibrium point of the system. See drake::systems::Linearize for more details.
- Parameter
Q
: - A symmetric positive semi-definite cost matrix of size num_states x num_states.
- Parameter
R
: - A symmetric positive definite cost matrix of size num_inputs x num_inputs.
- Parameter
N
: - A cost matrix of size num_states x num_inputs. If the matrix is zero-sized, N will be treated as a num_states x num_inputs zero matrix.
- Parameter
int_port_index
: - The index of the input port to linearize around.
Returns: A system implementing the optimal controller in the original system coordinates. Raises: RuntimeError if R is not positive definite. $See also drake::systems::Linearize()
-
pydrake.systems.controllers.
MakeFiniteHorizonLinearQuadraticRegulator
(system: pydrake.systems.framework.System_[float], context: pydrake.systems.framework.Context_[float], t0: float, tf: float, Q: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous], R: numpy.ndarray[numpy.float64[m, n], flags.f_contiguous], options: pydrake.systems.controllers.FiniteHorizonLinearQuadraticRegulatorOptions = <pydrake.systems.controllers.FiniteHorizonLinearQuadraticRegulatorOptions object at 0x7fa8fd9b10b0>) → pydrake.systems.framework.System_[float]¶ Variant of FiniteHorizonLinearQuadraticRegulator that returns a System implementing the regulator (controller) as a System, with a single “plant_state” input for the estimated plant state, and a single “control” output for the regulator control output.
See also
FiniteHorizonLinearQuadraticRegulator for details on the arguments.
-
class
pydrake.systems.controllers.
PeriodicBoundaryCondition
¶ For algorithms that rely on approximations of the state-dynamics (as in FittedValueIteration), this is a list of state dimensions for which the state space maximum value should be “wrapped around” to ensure that all values are in the range [low, high). The classic example is for angles that are wrapped around at 2π.
-
__init__
(self: pydrake.systems.controllers.PeriodicBoundaryCondition, arg0: int, arg1: float, arg2: float) → None¶
-
-
class
pydrake.systems.controllers.
PidControlledSystem
¶ Bases:
pydrake.systems.framework.Diagram_[float]
A system that encapsulates a PidController and a controlled System (a.k.a the “plant”).
The passed in plant must meet the following properties:
- Input port zero must be all of the control inputs (size U). When the plant is a dynamics model, this is typically the generalized effort (e.g., force or torque) command.
- The output port passed to the PidControlledSystem constructor must be of size 2 * Q, where the first Q elements are the position states of the plant, and the second Q elements are the velocity states of the plant. Q >= U.
The resulting PidControlledSystem has two input ports with the following properties:
- Input port zero is the feed forward control (size U), which will be added onto the output of the PID controller. The sum is sent to the plant’s input.
- Input port one is the desired controlled states (2 * U) of the plant, where the first half are the controlled positions, and the second half are the controlled velocities.
All output ports of the plant are exposed as output ports of the PidControlledSystem in the same order (and therefore with the same index) as they appear in the plant.
Some of the constructors include a parameter called
feedback_selector
. It is used to select the controlled states from the plant’s state output port. LetS
be the gain matrix in parameterfeedback_selector
. S must have dimensions of(2 * U, 2 * Q)
. Typically,S
contains one1
in each row, and zeros everywhere else.S
does not affect the desired state input. Let ‘x’ be the full state of the plant (size 2 * Q), and ‘x_d’ be the desired state (size 2 * U),S
is used to compute the state error asx_err = S * x - x_d
.-
__init__
(*args, **kwargs)¶ Overloaded function.
- __init__(self: pydrake.systems.controllers.PidControlledSystem, plant: pydrake.systems.framework.System_[float], kp: float, ki: float, kd: float, state_output_port_index: int = 0) -> None
plant
full state is used for feedback control, and all the dimensions have homogeneous gains specified byKp
,Kd
andKi
.- Parameter
plant
: - The system to be controlled. This must not be
nullptr
. - Parameter
Kp
: - the proportional constant.
- Parameter
Ki
: - the integral constant.
- Parameter
Kd
: - the derivative constant.
- Parameter
state_output_port_index
: - identifies the output port on the plant that contains the (full) state information.
- __init__(self: pydrake.systems.controllers.PidControlledSystem, plant: pydrake.systems.framework.System_[float], kp: numpy.ndarray[numpy.float64[m, 1]], ki: numpy.ndarray[numpy.float64[m, 1]], kd: numpy.ndarray[numpy.float64[m, 1]], state_output_port_index: int = 0) -> None
plant
full state is used for feedback control, and the vectorized gains are specified byKp
,Kd
andKi
.- Parameter
plant
: - The system to be controlled. This must not be
nullptr
. - Parameter
Kp
: - the proportional vector constant.
- Parameter
Ki
: - the integral vector constant.
- Parameter
Kd
: - the derivative vector constant.
- Parameter
state_output_port_index
: - identifies the output port on the plant that contains the (full) state information.
- __init__(self: pydrake.systems.controllers.PidControlledSystem, plant: pydrake.systems.framework.System_[float], feedback_selector: numpy.ndarray[numpy.float64[m, n]], kp: float, ki: float, kd: float, state_output_port_index: int = 0) -> None
A constructor where the gains are scalar values and some of the plant’s output is part of the feedback signal as specified by
feedback_selector
.- Parameter
plant
: - The system to be controlled. This must not be
nullptr
. - Parameter
feedback_selector
: - The matrix that selects which part of the plant’s full state is fed back to the PID controller. For semantic details of this parameter, see this class’s description.
- Parameter
Kp
: - the proportional constant.
- Parameter
Ki
: - the integral constant.
- Parameter
Kd
: - the derivative constant.
- Parameter
state_output_port_index
: - identifies the output port on the plant that contains the (full) state information.
- __init__(self: pydrake.systems.controllers.PidControlledSystem, plant: pydrake.systems.framework.System_[float], feedback_selector: numpy.ndarray[numpy.float64[m, n]], kp: numpy.ndarray[numpy.float64[m, 1]], ki: numpy.ndarray[numpy.float64[m, 1]], kd: numpy.ndarray[numpy.float64[m, 1]], state_output_port_index: int = 0) -> None
A constructor where the gains are vector values and some of the plant’s output is part of the feedback signal as specified by
feedback_selector
.- Parameter
plant
: - The system to be controlled. This must not be
nullptr
. - Parameter
feedback_selector
: - The matrix that selects which part of the plant’s full state is fed back to the PID controller. For semantic details of this parameter, see this class’s description.
- Parameter
Kp
: - the proportional vector constant.
- Parameter
Ki
: - the integral vector constant.
- Parameter
Kd
: - the derivative vector constant.
- Parameter
state_output_port_index
: - identifies the output port on the plant that contains the (full) state information.
-
get_control_input_port
(self: pydrake.systems.controllers.PidControlledSystem) → pydrake.systems.framework.InputPort_[float]¶ Returns: the input port for the feed forward control input.
-
get_state_input_port
(self: pydrake.systems.controllers.PidControlledSystem) → pydrake.systems.framework.InputPort_[float]¶ Returns: the input port for the desired position/velocity state.
-
get_state_output_port
(self: pydrake.systems.controllers.PidControlledSystem) → pydrake.systems.framework.OutputPort_[float]¶
-
class
pydrake.systems.controllers.
PidController
¶ Bases:
pydrake.systems.framework.LeafSystem_[float]
Implements the PID controller. Given estimated state
x_in = (q_in, v_in)
, the controlled statex_c = (q_c, v_c)
is computed byx_c = P_x * x_in
, whereP_x
is a state projection matrix. The desired statex_d = (q_d, v_d)
, is in the same space asx_c
. The output of this controller is:y = P_y * (kp * (q_d - q_c) + kd * (v_d - v_c) + ki * integral(q_d - q_c)),
where
P_y
is the output projection matrix.estimated_state→ desired_state→ PidController → control This system has one continuous state, which is the integral of position error, two input ports: estimated state
x_in
and desired statex_d
, and one output porty
. Note that this class assumes|q_c| = |v_c|
and|q_d| = |v_d|
. However,|q_c|
does not have to equal to|q_d|
. One typical use case for non-identityP_x
andP_y
is to select a subset of state for feedback.-
__init__
(*args, **kwargs)¶ Overloaded function.
- __init__(self: pydrake.systems.controllers.PidController, kp: numpy.ndarray[numpy.float64[m, 1]], ki: numpy.ndarray[numpy.float64[m, 1]], kd: numpy.ndarray[numpy.float64[m, 1]]) -> None
Constructs a PID controller.
P_x
andP_y
are identity matrices of proper sizes. The estimated and desired state inputs are 2 *kp
’s size, and the control output haskp
’s size.- Parameter
kp
: - P gain.
- Parameter
ki
: - I gain.
- Parameter
kd
: - D gain.
Raises: - RuntimeError if
kp
,ki
andkd
have different dimensions.
- __init__(self: pydrake.systems.controllers.PidController, state_projection: numpy.ndarray[numpy.float64[m, n]], kp: numpy.ndarray[numpy.float64[m, 1]], ki: numpy.ndarray[numpy.float64[m, 1]], kd: numpy.ndarray[numpy.float64[m, 1]]) -> None
Constructs a PID controller. Calls the full constructor, with the output projection matrix
P_y
being the identity matrix.- Parameter
state_projection
: - The state projection matrix
P_x
. - Parameter
kp
: - P gain.
- Parameter
ki
: - I gain.
- Parameter
kd
: - D gain.
Raises: - __init__(self: pydrake.systems.controllers.PidController, state_projection: numpy.ndarray[numpy.float64[m, n]], output_projection: numpy.ndarray[numpy.float64[m, n]], kp: numpy.ndarray[numpy.float64[m, 1]], ki: numpy.ndarray[numpy.float64[m, 1]], kd: numpy.ndarray[numpy.float64[m, 1]]) -> None
Constructs a PID controller. This assumes that
1. |kp| = |kd| = |ki| = |q_d| = |v_d| 2. 2 * |q_d| = P_x.rows 3. |x_in| = P_x.cols 4. |y| = P_y.rows 4. |q_d| = P_y.cols
- Parameter
state_projection
: - The state projection matrix
P_x
. - Parameter
output_projection
: - The output projection matrix
P_y
. - Parameter
kp
: - P gain.
- Parameter
ki
: - I gain.
- Parameter
kd
: - V gain.
Raises: RuntimeError if any assumption is violated.
-
get_input_port_desired_state
(self: pydrake.systems.controllers.PidController) → pydrake.systems.framework.InputPort_[float]¶ Returns the input port for the desired state.
-
get_input_port_estimated_state
(self: pydrake.systems.controllers.PidController) → pydrake.systems.framework.InputPort_[float]¶ Returns the input port for the estimated state.
-
get_Kd_vector
(self: pydrake.systems.controllers.PidController) → numpy.ndarray[numpy.float64[m, 1]]¶ Returns the derivative gain vector.
-
get_Ki_vector
(self: pydrake.systems.controllers.PidController) → numpy.ndarray[numpy.float64[m, 1]]¶ Returns the integral gain vector.
-
get_Kp_vector
(self: pydrake.systems.controllers.PidController) → numpy.ndarray[numpy.float64[m, 1]]¶ Returns the proportional gain vector.
-
get_output_port_control
(self: pydrake.systems.controllers.PidController) → pydrake.systems.framework.OutputPort_[float]¶ Returns the output port for computed control.
-


Electronics Engineer. Web Development and Machine Learning self-learner.
Personal website designed with HTML5, CSS and Javascript. At this moment, it is hosted as a Github repository and deployed with Netlify
Design of a GUI for a Raspberry Pi based audiometer using Python and the library Tkinter.
Whether for a potential project or just to say hi, I'll try my best to answer your message!You can also contact me directly at hector6420@hotmail.com.


people = new ArrayList(),
new ArrayList<student>();
its important because it’s specific no need for debugger.
cd: change directory, used to move from one directory (a.k.a., folder) to another pwd: print working directory, used to print the name of the folder you’re currently in ls: list, used to list the contents of a directory mkdir: make directory, used to create a new directory touch: used to create a new (empty) file with a given name rm: remove, used to remove a file (or folder) rmdir: remove directory, used to remove a directory mv: move, used to move a file or directory cp: copy, used to copy a file or directory
Media queries
@media only screen and (min-width: 640px) {
.foo {
/* do something to
override default settings*/
}
}
@media only screen and (min-width: 800px) {
.foo {
/* do something to
override settings at previous threshold settings*/
}
}
The classic grid: 960px, twelve columns
<img src = “https://tf-curricula-prod.s3.amazonaws.com/curricula/6e8033080cefd638fd9ad37c3b230d99/WEB-DEV-001/v1/assets2/1.6.2_responsive_grids/grid_annotated_design.png”)
That can be expressed as a percentage: 60/960 = 0.0625, which means that the width of a single column is 6.25% of its parent row. Fluid columns scale up or down with row width.
The gutter can be expressed as a percentage of the parent row, then, as: 20/960 = 0.02083333333.. ~= 0.0208 which is 2.08%.
note that the 2.08% gutter is split in half on the left and right
.col-3, .col-4, .col-6, .col-12 {
float: left;
padding-left: 1.04166666%;
padding-right: 1.04166666%;
}
starting point of this challenge.
Check out this Challenge
Which One: Responsive Design, Device Experiences, or RESS? by Luke Wroblewski
Multi-Device Web Design: An Evolution
The @media
rule is used in media queries to apply different styles for different media types/devices.
A collection of patterns and modules for responsive designs by Brad Frost
Explaining the principles of responsive design (mobile-first, content-driven, responsive)
Using media queries to override default styles
Analyzing and explaining the float: left; approach to implementing a responsive grid
Coding up designs that call for more than one layout, depending on the width of the viewport
CanIUse can help you understand which browsers support the feature.
To get JavaScript into a web page, there are two main options.
let and var declare a variable; const declares a constant. A constant cannot be reassigned to a new value.
CSS (Cascading Style Sheets) HTML is about structure and content (aka, the “content layer”), CSS is about style and appearance.
The key vocabulary words for CSS are: ruleset, selector, declaration block, declarations, property, and value.
commenting in css
/* valid */
Elements vs. tags vs. attributes opening and closing tag self-closing
attribute can’t be used on: <base>
, <head>
, <meta>
, <param>
, or <title>


Some background on me. The only real drugs I had tried before were pot and Ambien. I had had some bad experiences on that, but I had gotten in a position where I could control them more or less. At any rate, pot had no longer become fun, and I had decided to leave it alone more or less.
For the last 7 years, I had been intrigued by psychedelics, and had always wanted to try LSD. However, I never had an opportunity to do so.
Anyways, I bought some Salvia Divinorum through an online shop, a very respectable one, and great on-time delivery. After about a month, I thought I was ready to try it. After all I had read, it would only last 15 minutes or maybe an hour max. Even a bad trip can't be *that* bad if it's only 15 minutes. I am a Christian, and I was hoping this could help rejuvenate my spiritual life (which had been falling somewhat). I was looking forward to some psychedelic experience, hopefully something interesting. I was not that scared (how bad can a few minutes be?).
The time (Friday night) came. I had a well lit room, and I lied down on my sofa. I loaded about 1/4 of a leaf (1/4, 1/8 gram?). My brother was my sitter. I took one hit, held it for about 15 second, then got rid of it. As soon as I put the waterbong down, I could feel it start. My feet felt cold immediately. Then my whole body felt flushed.
At once I felt panic, so I told my brother to turn off the music (Pink Floyd) and sit there with me.
I felt something was different. When I closed my eyes, I'd have semi-dream visions appear in my mind. They were out of my control. When I opened my eyes, they'd go away, and I'd feel ok. After about 5 minutes, I decided to sit outside (it was night time). It was cold, so in about 4 minutes, we went back in. We turned on the music, and it was a neutral experience. I felt something was different, something odd, but I didn't have any real visuals or things (only when I closed my eyes, uncontrollable dreams would start).
After about 20 minutes from smoking it, I went to bed. It was a little scary getting to sleep, but I was really tired, so I fell asleep quickly. The next morning I awoke somewhat tired, but with a fear on me (I was still having strange dreams). So I sat down at the computer and tried to work or play or whatever.
Later on that day, we went to see a movie. I was feeling ok. In the movie theatre, I had a small (30 second) panic attack, but after it passed, I was ok for the rest of the day. I went back to my parents house that night, and tried to go to sleep, but when I'd start to sleep, I'd wake up from fear (uncontrollable dreams). When my brother turned the light off, I just started to panic. So, I went to where he was going to sleep, and he stayed up with me most of the night. I'd pass in and out of consciousness, but normally suddenly awake. Around 4 am (went to be at 11PM) I was so tired, I finally went to sleep for good.
The dreams I have on the edge of sleep were very disconcerting. I had no control over them. They'd move without my will, even though I was somewhat conscious.
Another thing to consider, I believe I ate some bad food at the theatre (A hot dog) and that caused the stomach pains mentioned later.
Now we're at Sunday, so I decided to go to church. I thought it would be a good positive place. I went to my girlfriend’s house, but felt sick. I told her what happened (she's against all drugs), and then I started crying. After 20 minutes, we went to church.
This was the absolute most horrifying experience I had. At one point, I felt that this was not even my life, that I was trapped in some surreal reality. Note that this was +36 hours after I had smoked the salvia.
I went home, and lied down. I called my mom, who is a nurse. At first I didn't want to tell her I had done anything, so she treated me with antibiotics (thinking I had eaten some bad food). However, by nightfall on Sunday (at +48 hours), I told her what had happened. She was very comforting. I slept in their room that night with the light on. She prayed, read the Bible with me, reassured me. My blood pressure was up to 142/100 (or so). My pulse was nearing 100 (I'm normally 120/80, 65 pulse).
I did not sleep well. I had weird thoughts entering my mind. At one point, I awoke, thinking I had read a news article about a serial killer (complete with names and details), and that I was next. Things like that happened all night. Finally, dawn came.
My mom had to work, so I stayed with my girlfriend all day. My mom started me on a little Diazepam (Valium). It helped me sleep and get through the day. However, during the day, I had several fear attacks, and constantly thought that I'd never get better and that I'd be stuck this way forever. This was at ~+60 hours. At night, my mom picked me up, and gave me some more valium (I had taken 5mg every 4 hours since 8am). I finally felt more or less ok. I slept with my brother with the light turned on. I didn't feel panic anymore.
This morning, I awoke more or less ok. I can still feel some effect, but I'm taking Valium to combat it. At this point, I have no idea how long the fear might last. As I write this, I'm at +86 hours from when I smoked the salvia. When walking around my house, I feel somewhat dizzy, and slight tinges of fear hit me.
While I didn't have a strong effect (no visuals, no complete loss of consensual reality), it was very long, and extremely horrifying. I've never experienced anything so bad in my life. Had my mom not been a nurse trained in this, I would have tried to check into a psyche hospital. Had I been alone, I don't want to think what could have happened.
It's possible some of the physical effects could have been caused by bad food. However, I've had amoebas (I didn't this time) before, which is extremely painful physically, but I never had the panic and uncontrollable thoughts enter my mind.
Experience Reports are the writings and opinions of the individual authors who submit them.
Some of the activities described are dangerous and/or illegal and none are recommended by Erowid.


Welcome to the WebGP examples, to see the source or make a comment, go to the source page on GitHub
Normally a default point is rendered by the default fragment shader attached to your renderStep, but you can now override the fragment shader with your own and do stunning graphics like those found at the www.Shadertoy.com website. Here's a few of the Shadertoy scripts driven by WebGP. The examples below create a two triangle vertex array with 6 points (to draw a rectangle) and then sends it through a fragment shader to show how you can even use this library to do cool graphics using WebGP with WebGL2.
How about an experimental shader viewport manager? This lets you run multiple real time shaders in independent 'windows' in the WebGL canvas. A single WebGP VertexComputer is used to process all the viewports and sizing and moving in parallel so there is very low overhead. At the top left is a + button to add more toys. The controls are designed to be intuitive so figure it out.


Pediatrics journal releases new guidelines on kids and contact sports
by Frank MilesAs the effects of concussions have become better understood, parents have become increasingly confused about when it's OK to let their kids start on contact sports.
A statement published online Monday in the journal JAMA Pediatrics is offering new guidelines, The Associated Press reported.
- Kids should be taught collision techniques before beginning play in contact sports.
- There is not conclusive evidence that younger children face higher risks for getting sports-related concussions.
- Evidence is inconclusive on whether multiple childhood concussions are linked with long-term neurological changes.
- Technology that measures head impact exposure, and advanced brain imaging techniques, are both experimental and not ready for use.
- Helmets should be worn in high-impact sports though there’s little or no evidence that headgear prevents concussion in rugby and soccer.
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The long-term effect of multiple concussions in youth sports remains an open question.
“Parents worry, ‘Is one concussion to my child going to result in him having dementia at age 50?’” said lead author, Dr. Frederick Rivara to The AP. “And the data are pretty clear that the answer is no.”
Pediatric experts in sports medicine, neurology and related fields evaluated and rated three decades of sports concussion-related research.
There’s no evidence that there has been a true increase even if there is more awareness of the potential dangers of concussions, said Dr. Cynthia LaBella, a panel member from Chicago’s Lurie Children’s Hospital.
“The last thing we want to tell kids is not to be active,” said Rivara, a pediatrician and injury prevention researcher at the University of Washington’s medical school.
The Associated Press contributed to this report.


QUESTION 1: Does David Cole like the muscial CATS?
Your answer will appear here
QUESTION 2: Is Cabaret David Cole's favorite musical?
Your answer will appear here.
QUESTION 3: Is codefellows hella awesome?
Your answer will appear here.
QUESTION 4: What is my favorite number?
Your answer will appear here.
QUESTION 5: Fo reelz, what is my favorite number?
Your answer will appear here.


--- layout: post date: 2010-08-19 time: "09:00:00" authors: ["Greg Wilson"] title: Slides and Scripts for the Next Two Episodes tags: ["Content"] ---
I have posted slides and transcripts for the next two lectures on testing, which cover unit testing with Nose, and testing interfaces instead of implementations. I was hoping to record the screencasts today, but setting up a new 64-bit desktop machine took longer than expected—hopefully they'll be up early next week, along with episodes on floating point and setting up fixtures. Comments, as always, would be greatly appreciated.


B2Note is a crowdsourcing annotation service.
As such there is a minimum set of information that we ask be filled-in to register to the service.
This information may only be used solely for the purpose of identifying categories of users and analyse
the usage these categories have of the service for us to specifically improve functionalities of particular interest to each category, as well as helping prevent any unwarranted usage.
Please be aware: B2NOTE is currently a service pilot.
As such the B2NOTE service may be unstable, subject to change and no guarantee is provided
on the preservation of annotations or any other data.


The Lazio tactical switch that indicates Celtic are in for a tough time in Europa League crunch match
It looks like Simone Inzaghi will be naming his strongest team on Thursday.
by Gabriel McKayLazio coach Simone Inzaghi has given a clear indication that he'll name his strongest team against Celtic in the Europa League, with a double substitution against Milan.
Star striker Ciro Immobile didn't start in the defeat at Celtic Park , though he did come off the bench in the second half.
Tonight the Italian international scored his 100th goal for Lazio with a fine header at San Siro - but Inzaghi's second half substitutions indicate he will face Celtic.
With 60 minutes played and the score at 1-1, the Biancocelesti boss took off both Immobile and Serbian star Sergej Milinkovic-Savic.
Felipe Caicedo and Marco Parolo replaced the pair, but the fact they were withdrawn with half an hour to play is a clear indication that Inzaghi intends to start them on Thursday.
Immobile and Milinkovic-Savic are arguably Lazio's two best players and their withdrawal in such a delicately poised game suggests they'll be unleashed on Neil Lennon's side.
The Italian giants will be eliminated from the Europa League if they lose this week and it seems Inzaghi wants his strongest XI at the Stadio Olimpico.
Immobile seems certain to play in any case, as Felipe Caicedo had to be withdrawn late on with an injury.


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Tennessee officials disclose requirements for flame effects
NASHVILLE, Tenn. (AP) - Tennessee’s State Fire Marshal’s Office has disclosed requirements for the use of flame effect devices at events after a fire at an NFL game.
The Tennessee Department of Commerce and Insurance says the fire marshal’s office will accept two methods to show compliance with state law and adopted safety codes.
Permit applicants are asked to provide information that the flame effect device meets certain requirements from the National Fire Protection Association.
If that requirement can’t be met, the applicant can provide a letter from a registered engineer certifying the device is reasonably safe and does not endanger property or people’s lives.
An application will not be approved if it doesn’t meet the requirements.
A flame system caught fire during a Tennessee Titans game at Nissan Stadium in Nashville on Sept. 15. No one was injured.
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Local Pagination retrieves all rows from server and pagination is handled in the browser. It can reduce performance in initial loading but accelerate navigation between pages.
Pagination in ZVC Bootstrap Paginated Repeater requires definition of a "pagination" bootstrap component and, optionally, a display area to show visible rows resume to the user.
As data-z attributes in pagination component, number of rows per page and number of pages in paginator can be configured.
Data retrieval in local pagination works the same as no pagination, using getRows event after calling refresh method in repeater.


Challenge: The website is not responsive, which means that it is not optimised to be used with mobile devices such as tablets and mobile phones. At the same time, finding a framework that supports browsers back to Internet Explorer 8 is still necessary.
Solution: Use a popular open-source front-end development framework while also being well documented and used for any developer to pick up and use. We chose Bootstrap version 3.4 due to its ability to support older browsers such as Internet Explorer 8.
To get to the solution of choosing Bootstrap, understanding what it meant for a website to be "responsive", why it's important and how to easily implement this feature into a browser.
This research was relevant because having the website responsive and compatible back to Internet Explorer 8 is one of the key deliverables of this project, not to mention it being part of our problem statement.
The above graph is from the famous Internet Trends made by Kleiner Perkins Caufield Byers which shows how time spent on Mobile (green) has overtaken Desktop/Laptop in 2014 and 2015.
Website's were originally developed for desktop screens but with the prevalence of mobile and tablet computing, it is now important to design the website in such a way that is optimal for viewing, navigating and interacting with the website's content.
The way that websites achieve this is by using a technique called Responsive Web Design, which uses web browser technologies such as HTMl, CSS and JavaScript and a set of principles:
Fluid, Proportion-based grids, so that rather than sizing website page elements in pixels they are sized in percentages.
Images are able to be sized relatively, to ensure that they do not display outside their containing element.
Media queries allow the page to use different Cascading Style Sheet (CSS) selectors based on the screen size of site visitor.
We found out this and more about Responsive Web Design (RWD) from the following sources:
Below is a video that succinctly explains Responsive Website Design from Treehouse, a provider of informative technology tutorial videos:
Now that it's understood what are the key components of Responsive Website Design, it was important to understand how to best implement them.
While we could as a team have done further research and written our own styling sheets and JavaScript files this would have been extremely inefficient due to the big open-source community that creates libraries and frameworks to enable web developers to write websites in a responsive way.
We therefore researched and discovered the following templates/frameworks that were popular, maintained and well documented:
HTML5 Boilerplate calls itself a "professional front-end template for building fast, robust, and adaptable web apps or sites". With almost 32,000 Stars on its Github Respository we found it to be a really great starting point that followed some of the Responsive Web Design rules, however it's CSS files did not contain the media queries that we could have to handle different device sizes, neither did it have a grid.
Skeleton describes itself as a "dead simple, responsive boilerplate". It has over 10,000 stars on Github and includes a grid and media queries for different device sizes. Skeleton would have made an excellent choice however it does not support Internet Explorer 8, something that is covered in the Browser Compatibility research section.
Foundation is a "responsive front-end framework in the world. Quickly create prototypes and production code for sites that work on any kind of device." Despite having its user friendly set of components and JavaScript plugins, Foundation shares the same issue of browser compatibility that Skeleton has with the current supported version of Foundation not supporting Internet Explorer 8. Foundation has over 21,000 stars on its Github repository.
Bootstrap is "The most popular HTML, CSS, and JavaScript framework for developing responsive, mobile first projects on the web." The Github repository has almost 90,000 stars. We chose Bootstrap due to its popularity, community, documentation, responsive grid system, and Internet Explorer 8 compatibility which is covered in the next section.
Decision: Use Bootstrap to enable the website to be used on multiple devices by it enabling Responsive Web Design. Implementing Bootstrap is covered in our Platform section.
Sidenote: An additional benefit we found during our research is that not having a mobile friendly website now affects Google’s search engine rankings for mobile searchers effective from April 2015. From this is it clear that having a responsive website has tangible benefits for both the website user and London Cancer. Source: Rolling out the mobile-friendly update | Google Webmaster Cental Blog
We can use Google's Mobile-Friendly Testing Tool to ensure that the website we develop is mobile friendly.
Challenge: The website is not responsive, which means that it is not optimised to be used with mobile devices such as tablets and mobile phones. At the same time, finding a framework that supports browsers back to Internet Explorer 8 is still necessary.
Solution: Use a popular open-source front-end development framework while also being well documented and used for any developer to pick up and use. We chose Bootstrap version 3.4 due to its ability to support older browsers such as Internet Explorer 8.
After selecting to use Bootstrap 3 due to its easy implementation of Responsive Web Design, we needed to ensure that the end website we created was compatible with Internet Explorer 8.
Having the website being compatible with Internet Explorer 8 was part of our requirements set by the client.
While Bootstrap 3 is compatible with Internet Explorer 8, not all the code of the website will be Bootstrap code as we intend to write additional code and stylings on top of Bootstrap's framework.
This made it important to understand the nuances of cross-browser compatibility.
Bootstrap's benefit of the easy implementation of Responsive Web Design is coupled with its cross-browser compatibility of browsers dating back to Internet Explorer 8.
Source: Bootstrap Docs
Internet Explorer 8 does not support the features of:
These are two key features, especially CSS Media Queries, without which, our website would not be responsive! Bootstrap uses 'workaround' JavaScript files which are loaded if a web browser is of a version less then 8.
The two workaround JavaScript files that Bootstrap 3 uses are:
"HTML5Shiv enables use of HTML5 sectioning elements in legacy Internet Explorer and provides basic HTML5 styling for Internet Explorer 6-9, Safari 4.x (and iPhone 3.x), and Firefox 3.x."
"A fast & lightweight polyfill for min/max-width CSS3 Media Queries (for IE 6-8, and more)."
With the use of these two files, the functionality of Bootstrap that is intended for modern browsers, can be supported by older browsers.
A tool that we found really useful during our research was the website Can I Use. Can I Use allowed us to compare web technology features across browsers, and highlights CSS and JavaScript features that we shouldn't while supporting Internet Explorer 8. For instance we can compare the browser features that Internet 7, 8 and 9 support.
Challenge: The current website uses a highly niche CMS (Content Management System) called Umbraco which is made using technologies that few developers possess the skill set of. For this reason, the current website is difficult to redevelop.
Solution: Change from using the Umbraco CMS to WordPress, a highly popular WordPress CMS.
Understanding how the existing website works and all of its features would be helpful when redeveloping the website. In addition, having a high understanding of the Content Management System is imperative to the success of the project.
Umbraco is a fully-featured open source ASP.NET (a Microsoft technology) content management system. The website of London Cancer is currently uses Umbraco. Most of the code of londoncancer.org is written by CSHTML and contents are mostly written in XSLT.
WordPress was selected by our client as the Content Management System to be used during the redevelopment of the website. This is due to the need to update frequently the website when adding, new, events and other content. Furthermore, WordPress is a far more popular Content Management System with more resources for developers and is consistently updated.
Source: W3Techs.com
Challenge: Building a new website requires a lot of new functions and needs to assess MySQL Database with PHP.
Solution: Learn PHP and MySQL!
Using PHP to write functions in a new website is a preferable way and it would be helpful to understand PHP to develop a new webpage. In addition, having a good understanding of PHP will allow us to develop a high quality website while connecting PHP with MySQL Database can create logins for users of London Cancer.
From the book: Learning PHP, MySQL & JavaScript: With jQuery, CSS & HTML5 we discovered every essential element of PHP, such as Basic PHP syntax, PHP functions and object, PHP arrays, Querying a MySQL database with PHP. Also, we discovered the importance of javascript and HTML5 for a high quality website.
Challenge Since LondonCancer is a website designed for cancer patients, professional and GPs. Some patients may have difficulties when browsing our website. Solution: Use best practices of accessibility when building the site
Having an accessible website for London cancer can help more disabled and having difficulties on browsing website to understand what services london cancer is providing and also understand treatment, prevention of cancers and also refer them to a GPs in order to receive appropriate treatments.
It is essential that the website is accessible in order to provide equal access and equal opportunity to people with disabilities. Web accessibility means that people with disabilities can perceive, understand, navigate, and interact with the Web, and that they can contribute to the Web. Web accessibility also benefits others, including older people with changing abilities due to aging.
A guideline to make an accessible website is provided by BBC. For people who can’t see well, text size and colour should be adjustable and text-to-speech feature should be available for some important text. For people can’t hear well, subtitle should be available for every video and audio, for some important content, British Sign Language should be available.


Four companies with multiple roles on Dezeen Jobs including Büro Ole Scheeren and Starck Network Agency
by Amina AmberThis week we've selected four companies with plenty of job opportunities available on Dezeen Jobs, including a number of vacancies at architecture studio Büro Ole Scheeren and Philippe Starck's design studio.
Positions at Büro Ole Scheeren
Büro Ole Scheeren has a number of opportunities in Beijing, London and Berlin, including roles for visual artists and landscape architects. The firm won World Building of the Year 2015 for The Interlace, a "vertical village" of apartment blocks that have been arranged diagonally to frame terraces and communal courtyards.
View the latest roles at Büro Ole Scheeren ›
Opportunities at Starck Network Agency
French designer Philippe Starck designed the interiors of Jean Nouvel's luxury hotel in Sāo Paulo, which features a palette of earthy suede tones and dark wooden dining tables. Starck's studio is looking for a number of designers in Paris, including roles for interior designers, furniture designers and FF&E designers.
View more vacancies at Starck Network Agency ›
Seymourpowell is hiring industrial designers, design engineers and transport designers to join its office in London. The studio has conceptualised an intelligent cosmetics service that uses AI to tailor packages of skincare and beauty products to individual users.
View the latest jobs at Seymourpowell ›
Vacancies at Ippolito Fleitz Group
Ippolito Fleitz Group designed a dining room for German magazine Der Spiegel's headquarters in Hamburg, which features satin-polished aluminium panels and large yellow discs that conceal electrical wiring and fittings on the ceiling. The design studio is seeking employees for various roles in Berlin and Stuttgart, including jobs for intermediate and senior designers.


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scala.util.parsing.combinator.lexical
the type of input elements the provided parsers consume (When consuming invidual characters, a parser is typically
called a scanner, which produces
tokens that are consumed by what is normally called a
parser.
Nonetheless, the same principles apply, regardless of the input type.)
the type of input elements the provided parsers consume (When consuming invidual characters, a parser is typically
called a scanner, which produces
tokens that are consumed by what is normally called a
parser.
Nonetheless, the same principles apply, regardless of the input type.)
The fatal failure case of ParseResult: contains an error-message and the remaining input.
The failure case of ParseResult: contains an error-message and the remaining input.
The parser input is an abstract reader of input elements, i.
The parser input is an abstract reader of input elements, i.e. the type of input the parsers in this component expect.
A common super-class for unsuccessful parse results
A parser whose ~ combinator disallows back-tracking.
A base class for parser results.
The root class of parsers.
Scanner
is essentially(*) a parser that produces Token's
from a stream of characters. The tokens it produces are typically
passed to parsers in TokenParsers.
Note: (*) Scanner is really a
Reader' of Token's
The success case of ParseResult: contains the result and the remaining input.
This token is produced by a scanner {@see Scanner} when scanning failed.
This token is produced by a scanner {@see Scanner} when scanning failed.
a parser that produces a token (from a stream of characters)
a parser that produces a token (from a stream of characters)
a parser for white-space -- its result will be discarded
a parser for white-space -- its result will be discarded
Test two objects for inequality.
Test two objects for inequality.
true
if !(this == that), false otherwise.
Equivalent to x.hashCode
except for boxed numeric types.
Equivalent to x.hashCode
except for boxed numeric types.
For numerics, it returns a hash value which is consistent
with value equality: if two value type instances compare
as true, then ## will produce the same hash value for each
of them.
a hash value consistent with ==
Test two objects for equality.
Test two objects for equality.
true
if the receiver object is equivalent to the argument; false
otherwise.
An extractor so NoSuccess(msg, next) can be used in matches.
The parser that matches an element in the domain of the partial function f'
If
f' is defined on the first element in the input, f' is applied to it to produce
this parser's result.
Example: The parser accept("name", {case Identifier(n) => Name(n)})
accepts an Identifier(n) and returns a Name(n).
The parser that matches an element in the domain of the partial function f'
If
f' is defined on the first element in the input, f' is applied to it to produce
this parser's result.
Example: The parser accept("name", {case Identifier(n) => Name(n)})
accepts an Identifier(n) and returns a Name(n).
a description of the kind of element this parser expects (for error messages)
a partial function that determines when this parser is successful and what its output is
A parser that succeeds if f' is applicable to the first element of the input,
applying
f' to it to produce the result.
A parser that matches only the given list of element es'
accept(es) succeeds if the input subsequently provides the elements in the list
es'.
A parser that matches only the given list of element es'
accept(es) succeeds if the input subsequently provides the elements in the list
es'.
the list of expected elements
a Parser that recognizes a specified list of elements
A parser that matches only the given element e'
The method is implicit so that elements can automatically be lifted to their parsers.
For example, when parsing
Token's, Identifier("new") (which is a Token') can be used directly,
instead of first creating a
Parser' using accept(Identifier("new")).
A parser that matches only the given element e'
The method is implicit so that elements can automatically be lifted to their parsers.
For example, when parsing
Token's, Identifier("new") (which is a Token') can be used directly,
instead of first creating a
Parser' using accept(Identifier("new")).
the Elem' that must be the next piece of input for the returned parser to succeed
a tParser' that succeeds if
e' is the next available input.
Cast the receiver object to be of type T0
.
Cast the receiver object to be of type T0
.
Note that the success of a cast at runtime is modulo Scala's erasure semantics.
Therefore the expression 1.asInstanceOf[String]
will throw a ClassCastException
at
runtime, while the expression List(1).asInstanceOf[List[String]]
will not.
In the latter example, because the type argument is erased as part of compilation it is
not possible to check whether the contents of the list are of the requested type.
the receiver object.
A parser generator that, roughly, generalises the rep1sep generator so that q', which parses the separator,
produces a left-associative function that combines the elements it separates.
A parser generator that, roughly, generalises the rep1sep generator so that q', which parses the separator,
produces a left-associative function that combines the elements it separates.
a parser that parses the first element
a parser that parses the subsequent elements
a parser that parses the token(s) separating the elements, yielding a left-associative function that combines two elements into one
A parser generator that, roughly, generalises the rep1sep generator so that q', which parses the separator,
produces a left-associative function that combines the elements it separates.
From: J. Fokker. Functional parsers. In J. Jeuring and E. Meijer, editors, Advanced Functional Programming, volume 925 of Lecture Notes in Computer Science, pages 1--23. Springer, 1995.
A parser generator that, roughly, generalises the rep1sep generator so that q', which parses the separator,
produces a left-associative function that combines the elements it separates.
From: J. Fokker. Functional parsers. In J. Jeuring and E. Meijer, editors, Advanced Functional Programming, volume 925 of Lecture Notes in Computer Science, pages 1--23. Springer, 1995.
a parser that parses the elements
a parser that parses the token(s) separating the elements, yielding a left-associative function that combines two elements into one
A parser generator that generalises the rep1sep generator so that q', which parses the separator,
produces a right-associative function that combines the elements it separates. Additionally,
The right-most (last) element and the left-most combining function have to be supplied.
rep1sep(p: Parser[T], q) corresponds to chainr1(p, q ^^ cons, cons, Nil) (where val cons = (x: T, y: List[T]) => x :: y)
A parser generator that generalises the rep1sep generator so that q', which parses the separator,
produces a right-associative function that combines the elements it separates. Additionally,
The right-most (last) element and the left-most combining function have to be supplied.
rep1sep(p: Parser[T], q) corresponds to chainr1(p, q ^^ cons, cons, Nil) (where val cons = (x: T, y: List[T]) => x :: y)
a parser that parses the elements
a parser that parses the token(s) separating the elements, yielding a right-associative function that combines two elements into one
the "last" (left-most) combination function to be applied
the "first" (right-most) element to be combined
Create a copy of the receiver object.
Wrap a parser so that its failures become errors (the | combinator will give up as soon as it encounters an error, on failure it simply tries the next alternative)
Wrap a parser so that its failures become errors (the | combinator will give up as soon as it encounters an error, on failure it simply tries the next alternative)
A parser that matches only the given element e'
elem(e) succeeds if the input starts with an element
e'
A parser that matches only the given element e'
elem(e) succeeds if the input starts with an element
e'
the Elem' that must be the next piece of input for the returned parser to succeed
a Parser' that succeeds if
e' is the next available input (and returns it).
A parser matching input elements that satisfy a given predicate
A parser matching input elements that satisfy a given predicate
elem(kind, p) succeeds if the input starts with an element e' for which p(e) is true.
The element kind, used for error messages
A predicate that determines which elements match. @return
Tests whether the argument (arg0
) is a reference to the receiver object (this
).
Tests whether the argument (arg0
) is a reference to the receiver object (this
).
The eq
method implements an equivalence relation on
non-null instances of AnyRef
, and has three additional properties:
x
and y
of type AnyRef
, multiple invocations of
x.eq(y)
consistently returns true
or consistently returns false
.x
of type AnyRef
, x.eq(null)
and null.eq(x)
returns false
.null.eq(null)
returns true
. When overriding the equals
or hashCode
methods, it is important to ensure that their behavior is
consistent with reference equality. Therefore, if two objects are references to each other (o1 eq o2
), they
should be equal to each other (o1 == o2
) and they should hash to the same value (o1.hashCode == o2.hashCode
).
true
if the argument is a reference to the receiver object; false
otherwise.
The equality method for reference types.
A parser that results in an error
A parser that results in an error
The error message describing the failure.
A parser that always fails with the specified error message.
A parser that always fails
A parser that always fails
The error message describing the failure.
A parser that always fails with the specified error message.
Called by the garbage collector on the receiver object when there are no more references to the object.
Called by the garbage collector on the receiver object when there are no more references to the object.
The details of when and if the finalize
method is invoked, as
well as the interaction between finalize
and non-local returns
and exceptions, are all platform dependent.
A representation that corresponds to the dynamic class of the receiver object.
A representation that corresponds to the dynamic class of the receiver object.
The nature of the representation is platform dependent.
a representation that corresponds to the dynamic class of the receiver object.
A parser generator for guard expressions.
A parser generator for guard expressions. The resulting parser will fail or succeed just like the one given as parameter but it will not consume any input.
a Parser' that is to be applied to the input
A parser that returns success if and only if 'p' succeeds but never consumes any input
The hashCode method for reference types.
Test whether the dynamic type of the receiver object is T0
.
Test whether the dynamic type of the receiver object is T0
.
Note that the result of the test is modulo Scala's erasure semantics.
Therefore the expression 1.isInstanceOf[String]
will return false
, while the
expression List(1).isInstanceOf[List[String]]
will return true
.
In the latter example, because the type argument is erased as part of compilation it is
not possible to check whether the contents of the list are of the specified type.
true
if the receiver object is an instance of erasure of type T0
; false
otherwise.
Equivalent to !(this eq that)
.
Equivalent to !(this eq that)
.
true
if the argument is not a reference to the receiver object; false
otherwise.
Wrap a parser so that its failures&errors become success and vice versa -- it never consumes any input
Wrap a parser so that its failures&errors become success and vice versa -- it never consumes any input
Wakes up a single thread that is waiting on the receiver object's monitor.
Wakes up a single thread that is waiting on the receiver object's monitor.
Wakes up all threads that are waiting on the receiver object's monitor.
Wakes up all threads that are waiting on the receiver object's monitor.
A parser generator for optional sub-phrases.
A parser generator for optional sub-phrases.
opt(p) is a parser that returns Some(x)' if
p' returns x' and
None' if p' fails
A Parser' that is tried on the input
a Parser' that always succeeds: either with the result provided by
p' or
with the empty result
A parser generator delimiting whole phrases (i.
A parser generator delimiting whole phrases (i.e. programs).
phrase(p)
succeeds if p
succeeds and
no input is left over after p
.
the parser that must consume all input for the resulting parser to succeed.
a parser that has the same result as p', but that only succeeds
if p consumed all the input.
positioned' decorates a parser's result with the start position of the input it consumed.
positioned' decorates a parser's result with the start position of the input it consumed.
a Parser' whose result conforms to
Positional'.
A parser that has the same behaviour as p', but which marks its result with the
start position of the input it consumed, if it didn't already have a position.
A parser generator for repetitions.
A parser generator for repetitions.
rep(p) repeatedly uses p' to parse the input until
p' fails (the result is a List
of the consecutive results of p')
a Parser' that is to be applied successively to the input
A parser that returns a list of results produced by repeatedly applying p' to the input.
A parser generator for non-empty repetitions.
A parser generator for non-empty repetitions.
rep1(f, p) first uses f' (which must succeed) and then repeatedly uses
p' to
parse the input until p' fails
(the result is a
List' of the consecutive results of f' and
p')
a Parser' that parses the first piece of input
a Parser' that is to be applied successively to the rest of the input (if any) -- evaluated at most once, and only when necessary
A parser that returns a list of results produced by first applying f' and then
repeatedly
p' to the input (it only succeeds if f' matches).
"As of 2.9, the p0 call-by-name arguments is evaluated at most once per constructed Parser object, instead of on every need that arises during parsing."
A parser generator for non-empty repetitions.
A parser generator for non-empty repetitions.
rep1(p) repeatedly uses p' to parse the input until
p' fails -- p' must succeed at least
once (the result is a
List' of the consecutive results of p')
a Parser' that is to be applied successively to the input
A parser that returns a list of results produced by repeatedly applying p' to the input
(and that only succeeds if
p' matches at least once).
A parser generator for non-empty repetitions.
A parser generator for non-empty repetitions.
rep1sep(p, q) repeatedly applies p' interleaved with
q' to parse the input, until p' fails.
The parser
p' must succeed at least once.
a Parser' that is to be applied successively to the input
a Parser' that parses the elements that separate the elements parsed by
p'
(interleaved with q')
A parser that returns a list of results produced by repeatedly applying p' to the input
(and that only succeeds if
p' matches at least once).
The results of p' are collected in a list. The results of
q' are discarded.
A parser generator for a specified number of repetitions.
A parser generator for a specified number of repetitions.
repN(n, p) uses p' exactly
n' time to parse the input
(the result is a List' of the
n' consecutive results of p')
a Parser' that is to be applied successively to the input
A parser that returns a list of results produced by repeatedly applying p' to the input
(and that only succeeds if
p' matches exactly n' times).
A parser generator for interleaved repetitions.
A parser generator for interleaved repetitions.
repsep(p, q) repeatedly uses p' interleaved with
q' to parse the input, until p' fails.
(The result is a
List' of the results of p'.)
Example: repsep(term, ",") parses a comma-separated list of term's,
yielding a list of these terms
a Parser' that is to be applied successively to the input
a Parser' that parses the elements that separate the elements parsed by
p'
A parser that returns a list of results produced by repeatedly applying p' (interleaved
with
q') to the input.
The results of p' are collected in a list. The results of
q' are discarded.
A parser that always succeeds
A parser that always succeeds
The result for the parser
A parser that always succeeds, with the given result v'
Creates a String representation of this object.
Creates a String representation of this object. The default representation is platform dependent. On the java platform it is the concatenation of the class name, "@", and the object's hashcode in hexadecimal.
a String representation of the object.
This component provides core functionality for lexical parsers.
See its subclasses {@see Lexical} and -- most interestingly {@see StdLexical}, for more functionality.


The Batman
The Batman is an upcoming American superhero film based on the DC Comics character of the same name. Produced by DC Films and distributed by Warner Bros. Pictures, it is a reboot of the Batman film franchise. The film is directed by Matt Reeves, who wrote the screenplay with Peter Craig. It stars Robert Pattinson as Bruce Wayne / Batman, with Zoë Kravitz, Paul Dano, Jeffrey Wright, John Turturro, Peter Sarsgaard, Barry Keoghan, Jayme Lawson, Andy Serkis, and Colin Farrell rounding out the ensemble cast. The Batman is set during Batman's second year of fighting crime and follows him as he explores Gotham City's corruption and faces the Riddler, a riddle-obsessed serial killer.....
watch trailer


If you’re thinking about hitting the town clubbing this weekend why don’t you try some of these top clubs in the city. There is a wide range of nightclubs in Belfast. From Techno clubs to pop venues theres something to suit every taste.
Eating out is one of the great pleasures in life. For a city the size of Belfast the choice of places to eat is surprising. Belfast offers everything from fine dining, brasseries and bistros to gastro pubs and some of the best fish & chips around. Have we whet your appetite? Good. Dig in!
Browse top pubs and bars in Belfast including traditional pubs, beer gardens, cocktail bars, sports bars and live music venues.
33 Computer Science Building
Queens University Belfast, BT7 1NN, Northern Ireland, United Kingdom
Phone:<PHONE_NUMBER>8
Email<EMAIL_ADDRESS>Opening Hours: Monday - Friday: 9:00 AM to 5:00 PM


Hitbloq is a competitive Beat Saber service with
endless map pools where anything is rankable.
Map Pools
Map pools are a collection of maps that have an associated ranked ladder so you can compete on them. The pool owners have full control over the difficulty ratings, the reward curve, and more!
Hitbloq has a mod that provides in-game leaderboards and automatic profile refreshes. Since Hitbloq runs off of ScoreSaber data, the Hitbloq mod isn't required.


Yes
No


WRITING
Quill & Ink
Dipped in the ink well of my heart, I spill my soul on the page knowing that even if it resonates with just one person, it is a success. Admittedly, I was skeptical about publishing my poems and stories because of their intimate nature, however, I realized that that was the point. Writing is meant to make us feel naked to the world, not to emphasize our vulnerability, but to illustrate how much we have in common. So, please, read through my depressing break-up poems, my dystopian novel ideas, and everything in between, because you never know what will tug at your heartstrings.
Journal
Origin Festivities - 10.05.2019
Journal entry text here.
Poetry
Poem One
Once upon a time...
Short Stories
Story One
Once upon a time...
Book - Nano: Hello_World
Research
I've been doing extensive research about the progress of nanotechnology and artificial intelligence to make this book as scientifically accurate as possible. So, I hope the nerds out there can appreciate the amount of work and attention to detail I'm putting into this novel. As I write, I will also be including the various sources that I use to collect data from.
Quote Library
Organized by Content Type


We would advice to visit our Facebook page for now, by clicking here: https://www.facebook.com/yplushy/?fref=ts
We apologize for the inconvenience.


Star Wars The Rise of Skywalker teaser will tug at your heartstrings
Star Wars: The Rise of Skywalker will wrap up the tale of the Skywalkers that began with 1977's original Star Wars. The film hits theaters on December 20, 2019.
by Entertainment DeskA new teaser for Star Wars: The Rise of Skywalker, the final film in the Star Wars’ sequel trilogy, has been released. The two-and-a-half-minute clip features snippets from the previous films in the franchise, behind-the-scenes footage and basically sets up The Rise of Skywalkers as this grand conclusion of the series.
The Rise of Skywalker will wrap up the tale of the Skywalkers that began with 1977’s original Star Wars.
The teaser also hammers home the immense popularity and influence of the franchise on pop culture, and we are shown even short clips from several Star Wars parodies.
The Rise of Skywalker brings back JJ Abrams, the director of the first film in the trilogy, The Force Awakens. The second iteration, The Last Jedi, was helmed by Rian Johnson.
The film will put Daisy Ridley’s Rey again in the path of Adam Driver’s Kylo Ren and will also cap off the ancient conflict between the Jedi and the Sith.
Emperor Palpatine appears to have been brought back from the dead too and his voice is heard in the trailers. Ian McDiarmid will reprise the role from Return of the Jedi.
Star Wars: The Rise of Skywalker stars Mark Hamill, John Boyega, Oscar Isaac, Anthony Daniels, Naomi Ackie, Domhnall Gleeson, Richard E Grant, Lupita Nyong’o, Keri Russell, Joonas Suotamo, Kelly Marie Tran and Billy Dee Williams. Carrie Fisher will make an appearance through old footage.
The film hits theaters on December 20, 2019.


A loan account is used to track a loan such as a car loan or a home mortgage. When you create the loan account, the first transaction should be for the loan amount. The loan balance will then be a negative value which will be reduced each time a payment is made. Loan payments are typically made using two transactions from a bank account: the interest payment and the principal payment. The interest payment specifies a category such as Mortgage Interest. The principal payment specifies the loan account as the transfer account. As the loan is repaid, the interest payment amount will decrease and the principal payment amount will increase.
If you use a scheduled transaction to make the payments, MyMoney will automatically calculate the interest and principal amounts for each payment when it processes the scheduled transaction.
New Transaction – Create a new loan transaction.
Edit Transaction – Modify an existing loan transaction.
Delete Transaction – Delete an existing loan transaction.


Keyboard Shortcuts Plugin
Plugin Information |
|---|
View Keyboard Shortcuts on the plugin site for more information. |
Provides keyboard shortcuts to quickly and efficiently navigate and manage Jenkins.
Screenshots
Despite being keyboard oriented, there are several visual user interface elements to this plugin.
Help Panel |
|
Launched via ?, shows all the known shortcuts |
|---|---|---|
View Selector Panel |
|
Launched via g-v, lets the user select from all Views and jumps to the selected View |
Job Selector Panel |
|
Launched via g-j, lets the user select from all Jobs and jumps to the selected Job |
Job Permalink Selector Panel |
|
Launched via g-p when user is on a Job page, selects from all Permalinks |
Node Selector Panel |
|
Launched via g-N, selects from all Computer Nodes |
Job in View Navigation |
|
When user is on a View page, arrow keys, vim j/k and n/p, and others, migrate the selected Job selector, hit o to open that Job |
Shortcuts
Shortcuts from any Job page
These shortcuts are available when you are on a ./job/.**
page:
Shortcut |
Action |
|---|---|
b |
Build now |
g-c |
Go to Changes |
g-C |
Go to Configure Job |
g-m |
Go to Modules |
g-p |
Permalink Selector |
g-P |
Go to SCM Polling |
g-s |
Go to Status |
g-t |
Go to Build Time Trend |
g-w |
Go to Workspace |
Shortcuts from any View page
These shortcuts are available when you are on a ./view/.*
page, but *not a Job page (e.g. ./view/All/job/.**
):
Shortcut |
Action |
|---|---|
b |
build current job item |
j |
next job item |
k |
previous job item |
n |
next job item |
o |
open current job item |
p |
previous job item |
g-C |
Go to Configure View |
Shortcuts from any page
These shortcuts are available when you are on any page, unless overridden by a Job or View page shortcut:
Shortcut |
Action |
|---|---|
? |
show keyboard shortcut help |
/ |
move cursor to search box |
r |
refresh current page |
g-C |
Go to Configure Jenkins |
g-h |
Go to Home |
g-H |
Go to Build History |
g-j |
Job Selector |
g-m |
Go to Manage Jenkins |
g-n |
Go to Computer Nodes |
g-N |
Computer Node Selector |
g-p |
Go to People |
g-P |
Go to Plugin Manager |
g-v |
View Selector |
Shortcuts from any Selector Panel
These shortcuts are available when you are on any selector panel:
Shortcut |
Action |
|---|---|
← |
previous item |
↑ |
previous item |
→ |
next item |
↓ |
next item |
<escape> |
close panel |
<enter> |
select item |
<home> |
first item |
<end> |
last item |
<pg-up> |
first item |
<pg-dn> |
last item |
Shortcuts from the Search Results Panel
These shortcuts are available when you are on the Search Results panel:
Shortcut |
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Changelog
2.0 (planned)
- make keyboard shortcuts an extension point for other plugins
1.3 (not yet released)
- Help/Selectors should use the offset from the top of the viewport, not top of the screen JENKINS-13375
- Add keyboard shortcut for console output JENKINS-13723
- NOTE: the best way to do this was g-c which was previously used by /changes .. /changes now accessed via g-g
- allow j/k navigation for search results JENKINS-13105 - this forced bump to requiredCore of v1.461
1.2 (released 2012-04-03)
- depend on Jenkins v1.455, mistake with v1.1 to depend on v1.454
- typing within a selector should be for anywhere in the selector item name JENKINS-13305
- hitting / key puts / in the search box JENKINS-13106
1.1 (released 2012-03-07)
- depend on Jenkins v1.454 which uses upgraded prototype.js library to not collide with new breadcrumbs
- fixed URL handling for proxy/reverse proxy/weird deploy contexts JENKINS-12730
1.0 (released 2012-02-22)
- depend on the released jenkins 1.451
- fixed a simple bug with permalink jumping
1.0-beta-2 (released 2012-02-08)
- added ability to type prefixes in selectors and have results filtered
- add node selector
- properly handle selectors to prevent multiples being active simultaneously
- fixed prototype.js problem JENKINS-11618
- provide a user property to allow logged in users to enable/disable shortcuts
1.0-beta-1 (released 2012-01-29)
- initial implementation
- fully I18Ned
Attachments:
screenshot-job-view-navigation-1.0.png (image/png)
screenshot-permalink-selector-1.0.png (image/png)
screenshot-help-1.0.png (image/png)
screenshot-job-selector-1.0.png (image/png)
screenshot-view-selector-1.0.png (image/png)
screenshot-job-view-navigation-1.0.png (image/png)
screenshot-node-selector-1.0.png (image/png)
screenshot-node-selector-1.0.png (image/png)
screenshot-help-1.0.png (image/png)
screenshot-permalink-selector-1.0.png (image/png)
screenshot-node-selector-1.0.png (image/png)
screenshot-job-view-navigation-1.0.png (image/png)
screenshot-help-1.0.png (image/png)
screenshot-job-selector-1.0.png (image/png)
screenshot-view-selector-1.0.png (image/png)


in the news
“Which catapulted glassybaby to international notoriety, and earned Rhodes Entrepreneur magazine’s prestigious Entrepreneur of the Year award in 2011, becoming the first female to be honored with the illustrious title.” -Entrepreneur
“Rhodes’ cause is also about hope. She’s hoping each glowing vessel inspires a deep breath and relaxation during a difficult time.” -CBS
“Only artisanal glasswork in hundreds of colors and the fact that glassybaby isn’t really about candle holders, but experiences. Customers often buy glassybaby products as gifts to commemorate major events, from weddings and new babies to life-shattering illnesses and the death of a loved one.” -Microsoft
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--- layout: post status: publish published: true title: ALT.NET Milwaukee author: display_name: Geoff Lane login: admin email<EMAIL_ADDRESS>url: http://www.zorched.net author_login: admin author_email<EMAIL_ADDRESS>author_url: http://www.zorched.net date: '2007-11-08 23:58:36 -0500' date_gmt: '2007-11-09 05:58:36 -0500' categories: - ".NET" tags: - ".NET" - alt.net - agile comments: [] ---
Dan wrote a post about ALT.NET in Milwaukee. Basically the idea of ALT.NET is to take the best practices from software development, to find the best tools available in .NET regardless of the vendor and to use them when they make sense. Some people see the term as divisive. As and us vs. them sort of thing. I don't really agree.
ALT.NET is not a divisive term to me. It's a distinct and simple name. There might be other alternatives like INDY.NET? As in indy music? I don't think that would be terrible, but it doesn't have the same connotation as an indy film or an indy band. What it generally comes down to often is "I know more than one programming language".NET. We've done Java and Ruby (and/or Python, perl, Delphi, Scheme) and seen what those languages and frameworks have to offer.
Microsoft provides a "full stack", OS, Database, IDE, Language and some frameworks in there. This is very helpful. It makes getting started with the .NET platform very easy because you don't have to make a lot of choices up front. Their goal is to get developers to use their tools, solutions and practices. There is nothing wrong with that. Their target market is mostly dominated by mid-sized companies, often with an average talent (don't take that the wrong way, there are obviously exceptions). This is why they focus so much on RAD development and click and run kind of development. It makes sense for a certain market.
But is it right for every market, for every developer, or as a solution to every problem. I think the obvious answer is no. Just because the whole solution is not right for every scenario doesn't mean you can't use parts of it, or can't go to the buffet instead of ordering off of the set menu though. That is ALT.NET.
Because of this full stack mentality at MS, I think almost by definition, anything not provided by Microsoft is "alternative" in the .NET world. Scrum and XP are not MSF, so you've chosen to use an alternative process in the .NET world. The tools we use in those disciples are generally not developed by Microsoft. That's ok. We want to use the right tools for the job and the right tools to support the ways that we want to work. We're comfortable with open source and a bit of trial and error. We're comfortable with support via email and forums. We're comfortable with a bit of ambiguity and living with the consequences of our decisions.
Alternatives and choices are not about "us vs. them" or "elite vs. noobs" it's just about...choice. Use the right tool for the job, fit the tools and frameworks to the problem at hand and not the other way around.
I think ALT.NET is a valuable idea. It takes the best ideas from other development languages and cultures and brings them to the .NET world. It makes available a broader set of tools and techniques that can help better solve some problems.
What ALT.NET do I use?
What am I looking at and hopeful about?
What do you use that's off the garden path?
Check out Dan's blog and help get some ideas going for ALT.NETers in the Milwaukee area.


Stories
Arts Excellence—make it so
Now, Braga, a Star Trek franchise screenwriter and producer, hopes his recent $100,000 pledge to UCSC's Arts Excellence Fund helps current and future Banana Slugs find their own way to inspiration.
Braga credits his time at UCSC with teaching him how to edit and with fostering his imagination.
"I took away critical filmmaking experiences," says Braga. "It was an age when my creativity was really burgeoning."
Braga attended UCSC and in 1990 received the prestigious Academy of Television Arts & Sciences Internship, which led to his involvement with Star Trek. He has kept ties with the school, and with his film and digital media professor, Eli Hollander, for the past 22 years. He even named a character from an episode of Star Trek: The Next Generation after his mentor.
"I never would have gotten the internship at Paramount if I hadn't been walking down the halls to Eli's office and seen the ad on the wall," says Braga.
Braga served as executive producer on the Fox Network real time action/drama series 24 and on the Steven Spielberg project Terra Nova, and was a co-creator and executive producer of the ABC science fiction series FlashForward. He is currently relaunching a new version of Carl Sagan's 1980s show Cosmos.
Braga, who sits on the Arts Dean Leadership Board created by UCSC's Dean of the Arts, David Yager, says the idea for the pledge came to him during a fundraising event last fall in Los Angeles. Contributions to the Arts Excellence Fund support many important programs for the division, helping students in need to stay in school and enhancing student educational opportunities and faculty research.
Braga is also starting a summer internship program for UCSC students, which will cover full room and board.
More than any book experience, the friendships he formed at UCSC have stayed with him.
Says Braga, "It's the living, breathing relationships that make a difference."