Webots 7 change log
Webots 7.4.3
Released on May 6th, 2014
- Upgrade
- Official support for Ubuntu 13.10 and 14.04 LTS, the support of the other Ubuntu versions is dropped (but may still work).
- Enhancements
- Physics plugin
- Deprecated the arguments of the webots_physics_init() function. From now it's unsafe to use them.
- Added a dWebotsGetContactJointGroup() function able to retrieve the contact joint group where to create custom contact joints.
- Fixed physics plugin examples accordingly, including the custom contact point demo (contact_points.wbt) which was broken.
- Improved significantly the simulation loading time in case of an intensive use of prototypes.
- Updated all the robotstadium worlds according to RoboCup SPL Rule Book 2014, which changes the dimensions of the field.
- Added a new possible path to load plugins (e.g. physics plugins): plugins can be defined relatively to the PROTO files contained in the simulation.
- YouBot
- Prototized the YouBot model. It can be now more easily integrated in new simulations.
- Merged and renamed the fast_wheels plugin to youbot_swedish_wheels.
- Merged the high level youbot control files into a youbot_control shared library.
- Updated the samples containing the youBot according to these modifications.
- Supported multiple youBots in the youbot_swedish_wheels physics plugin.
- Objects library
- Added a Bed procedural prototype
- Added a SolidTorus procedural prototype
- Added a SolidRoundedBox procedural prototype
- Bug fixes
- Fixed the printers devices initialization which can imply a long network initialization loading time (thanks to Alessandro).
- Fixed a bug occuring when adding a procedural prototype as an end solid of a joint.
- Fixed rendering of translate and rotate handles' label when using Mesa drivers.
- Show revert world message dialog also when compiling shared libraries if located in the current project folder.
- Fixed crash occuring when recompiling a physics plugin while it is executing on Linux.
- Fixed a random bug occuring in the multithreaded version of ODE implying rarely a Webots crash.
- Fixed crash occuring when there were multiple IndexedFaceSet boundingObjects and when multithread was enabled.
- Fixed crash when loading Webots world files containing PROTO hidden fields that doesn't match the current PROTO node structure.
- Fixed initialization of joints defined in nested PROTO.
- Documentation
- Updated installation instruction for Windows 8.
- Documented the dGeomSetDynamicFlag() function.
Webots 7.4.2
Released on April 14th, 2014
- Enhancements
- Improved the controllers starting time: they are starting now just before the first physics step, rather than at the end of the world load.
- Objects library
- Improved the robustness of the SolidPipe and SolidBox procedural prototypes
- Bug fixes
- Improved the Khepera3 gripper simulation. The robot puts now its load correctly on the wooden box.
- Fixed recording of movies on Windows when the user directory was containing spaces or non-UTF8 characters (thanks to Xiaojin Wu and Farhan Dawood)
- Fixed procedural prototypes on Windows when the OS username contains utf-8 characters (thanks to Cíntia)
- Pause simulation while displaying all file dialogs to fix graphic update problems and speed up the action on slow machines
- Fixed comment/uncomment behaviour of Text Editor in files where default comment syntax consists of a single character
- Improved light sensor sample (one light is used instead of five)
- Improved zoom using the mouse wheel
- Fixed crash calling copy, paste, etc. just after reverting the world if the Scene Tree was previously selected
- Removed misleading warning about inertia issued after copy-paste
- Fixed autonomous_vehicle demo in order that sick laser-scanner detects the ground
- Added missing DifferentialWheels encoders publisher in the generic ros controller
- Fixed warning issued when changing a DEF name in use
- Nao
- Changed the model of the foot sensors of Nao to make his movements more reliable
- Changed the contact properties of all worlds containing a Nao to further improve his movements
- Fixed the maximum torques of Nao to respect the documentation
Webots 7.4.1
Released on March 14th, 2014
- Enhancements
- Improved error messages about out-of-bounds fields
- Improved warning message about mass and inertia computation failure for boundingObjects containing an IndexedFaceSet
- Update the list of C API functions and constants highlighted in the text editor
- Renamed the "Details" button of the node editor to "Source" (used to open a PROTO file in the text editor)
- Added a "Result" button in the node editor to open the temporary file used by Webots when instanciating a procedural prototype
- Optimized the procedural prototypes to regenerate their root node only when modifying fields used by Lua statements (Fixed some crashes in the simulations containing a Nao)
- Objects library
- Added SolidBox model
- Improved RectangleArena: the top of walls is now rendered correctly, added a subdivision field
- Added a simulation named extended_solids showing the library of solid prototypes
- Bug fixes
- e-puck
- Removed a systematic warning occurring at each remote-control session startup
- Fixed checksum errors occurring sometimes during the firmware upload (principally visible on Mac)
- Improved the warning messages on Linux during the communication with the real robot
- Fixed enabling node actions (copy, paste, etc.) when moving back the focus from the Console to the 3D View
- Fixed crash caused by the destruction of a Physics node
- Fixed crash when pasting a Group or Transform with a geometry child node in a 'children' field
- Added warning after boundingObject destruction when invalid mass settings are detected; default mass and inertia are set if needed
- Fixed uncorrect warning issued when custom mass settings are in use
- Linux: removed dependency on libboost-thread library and included libraw5 in the Webots package
- Fixed translation issue with the Plane geometry when using multiple threads
- Fixed definitions of the wb_motor_get_type() return values
- Fixed documentation of the wb_motor_get_type() function
- Fixed velocity control activation in distributed controllers (e.g, shrimp.c)
- Fixed motor limits activation in velocity control mode (thanks to Aravind)
- Fixed crash caused by calling wb_motor_set_torque() for the motor of an Hinge2Joint node (thanks to David)
- Fixed crash caused by inserting an endPoint into a Hinge2Joint node
- Fixed behaviour when pressing consecutive times the CTRL+S keyboard shortcut in the text editor
- Improved text editor's find dialog box. The text line is selected when entering in the dialog box (thanks to Damien)
- Fixed e-puck line demo. The robot behavior was sometimes tricked by a too thick floor line (introduced in Webots 7.4.0)
- Fixed a freeze on the Webots startup when the multithreaded mode was enabled. This issue was mainly visible on Linux.
- Fixed problem of overriding PROTO nodes when two or more models have the same name by enabling only the first occurrence
- Removed alpha channel from bricks.png texture preventing shadows to be cast
- Fixed control loop of braitenberg.c so as to remove inappropriate warnings (thanks to David)
- Documentation
- Updated the tutorial chapter of the user guide
Webots 7.4.0
Released on February 21th, 2014
- New Features
- Default to High Quality rendering
- Improved the quality of the X3D export (especially visible in X3DOM)
- Merged misc floor prototypes (CheckeredFloor.proto, DecimetricFloor.proto and MetricFloor.proto) into one (Floor.proto). The old ones are deprecated
- Refactored arena prototypes (added RectangleArena.proto and CircleArena.proto, deprecated SquareArena.proto)
- Added the new generic ros controller in the default controllers
- Added support for environment variable definitions and languages settings in a runtime.ini file in controller directory, and used this system for the Nao's naoqisim controller
- Added procedural prototypes support (embedded the lua language in prototypes to create simply and cleanly complex nodes)
- Added a default manipulator for translating and rotating objects that appears when selecting a top solid
- Changed font used in 3D View labels that now includes greek letters
- Mac: Added a retro-compatibility toggle to link easily with the libc++ (default) or the libstdc++ (USE_STD_CXX=true) controller libraries (thanks to Simon)
- Added 'Details' button in field editor when PROTO nodes are selected that automatically opens the definition file
- Added 'Cancel' button in Wizards
- Supported infra-red measurements on Display device's textures
- Added a new field named 'resolution' for the following nodes: Accelerometer, Compass, DistanceSensor, GPS (previous 'resolution' field has been renamed into 'accuracy'), Gyro, InertialUnit, LightSensor, PositionSensor (and therefore also
LinearMotor and RotationalMotor) and TouchSensor
- Added a new field named 'rangeResolution' to the Camera node
- Upgrade
- Performance
- Improved behavior of asynchronous controllers.
- Improved texture loading time and reduced Webots memory footprint (related with textures)
- Bug Fixes
- Improved the VRML97 specifications strictness related with the 3D rendering
- Some of the following modifications can break the 3D rendering setup of your simulations
- Fixed the textured rendering in which the Material.diffuseColor was wrongly taken into account
- Fixed the global ambient light which was wrongly divided by the number of lights
- Clamped the Light.ambientIntensity and Light.intensity fields to the [0, 1] range
- DARwIn-OP (thanks to Chase)
- Fixed the behavior of the "Make default controller" check box
- Fixed link to X11 library of DARwIn-OP with Ubuntu 12.04
- Added missing Motion.hpp include file
- Nao
- Merged the 4 Nao prototypes (Nao_H21_V33, Nao_H21_V40, Nao_H25_V33, Nao_H25_V40) to a single procedural prototype (Nao)
- Added the Nao.version field to choose between the "4.0" and the "3.3" versions
- Added the Nao.degreeOfFreedom field to choose between the 25 (arms with articulated fingers) and 21 (arms without articulated fingers)
- Removed the Nao.cameraFieldOfView from the open fields
- Set the default value of the Nao.color to the Nao v4.0 orange (the default color of the v3.3 is lost)
- Simplified the camera code by removing the sampler algorithm probably causing camera issues
- naoqisim: Increased the nao sleep between the 2 Aldebaran processes starts (thanks to Patrik)
- e-puck
- Fixed cross-compilation using multiple files (thanks to Hao Ran Liew)
- Fixed crash when double clicking on handles in the 3D View
- Fixed crash related to Hinge2Joint axis setting
- Default min max position values for linear motors displayed in the robot window are now -1 and 1 (were previously like rotational motors, e.g., -pi and pi)
- Fixed hidden fields management of the Hinge2Joint node
- Fixed restart of controller when resetting the 'controller' field to the same string from a supervisor (thanks to Adil)
- Added automatic validity checks for ContactProperties node's fields
- Disabled Add Node dialog box when attempting to insert a device into a 'device' field which is not part of Robot (an info message is now displayed)
- Fixed crash at load time caused by an invalid IndexedFaceSet placed into a boundingObject
- Resolved Qt warnings for signals WbNode::massPropertiesChanged() and WbNode::positionChangedArtificially() when deleting nodes
- Disable manually moving objects in the 3D View if corresponding translation field is not visible in the Scene Tree
- Fixed crash when quitting Webots, reverting the world or deleting an objects while manually interacting with the selected solid object in the 3D View
- Fixed insertion of objects lifting action with mouse wheel in undo/redo stack
- Simulation is paused while showing the save or open world file dialogs to fix graphic update problems and speed up the action
- Fixed Slider axis orientation: the orientation was reverted so as to conform with the documentation
- Fixed double-click behavior in Add Node dialog when a container item is selected
- Fixed content of Webots clipboard when copying text in an external program
- Fixed python library compilation on Mac OS X systems using MacPorts (thanks to Conrad)
- Added warning issued when inserting an invalid child node in a Transform node which is contained in a boundingObject
- Fixed loading errors for PROTO nodes when saving a world in a different project folder
- Fixed updates of nested USE nodes (thanks to Jessica)
- Fixed crash caused by device-less Propeller nodes (thanks to David)
- Fixed spring and damping effects when using small spring and damping constants (thanks to Francesco)
- Fixed crash caused by wb_motor_enable_torque_feedback() (thanks to Brian)
- Fixed the computation of motor torque feedback
- Text editor: Fixed detection of files which are modified by an external application (thanks to Conrad)
- Show text editor even if hidden before popping up the modified text file message
- Fixed ray collision of Pen and infra-red DistanceSensor with Joint's 'endPoint'
- Fixed update of global ODE parameters (e.g., gravity, ERP, CFM) in multi-threaded mode
- Awake Solids when global ODE parameters change (thanks to Thierry)
- Fixed contact points rendering synchronization
- Fixed use of system CLASSPATH when compiling Java controllers from Webots Text Editor
- Enable "Save" button after inertiaMatrix insertion, 3D scene zoom, objects' lifting with mouse wheel, and when changing followed solid from View menu
- Mac OS X: the ODE physics engine now uses OpenMP, similarly to Windows and Linux.
- Fixed distance computation for distance sensors of type 'infra-red' when range is greater than 1 and no obstacle are detected
- Fixed mouse cursor icon on Mac OS X when leaving the 3D View
- Fixed delayed update of 3D View when deleting a node in the scene tree
- Fixed scaling of DistancSensor's frame according to World's lineScale value
- Fixed default motor target position when using saved hidden position field values
- Fixed crash related to insertion of a boundingObject in a Propeller helix
- Fixed python controllers on Mac OS X 10.8 (bug introduced in Webots 7.3.0)
- Fixed ALT commands in khr-2hv example on Mac OS X
- Fixed Makefiles for compilation of C++, Java and Python wrappers on Mac OS X 10.8
- Documentation
- Added instructions to solve e-puck cross-compilation issues on linux 64 bit
- Added a second example about the influence of the 'lookupTable' field on DistanceSensor measured values
Webots 7.3.0
Released on October 31th, 2013 (revision 17424)
- Added a Propeller node to simulate propulsion of aircraft and ocean vehicles
- Added hidden linearVelocity and angularVelocity fields to Solid nodes so as to retrieve initial velocities from the world file
- Added hidden position field to allow Joint nodes without JointParameters to retrieve initial positions
- Added hidden prototype fields: translation, rotation and position. This allows you to save and restore a simulation
where prototypes have moved from their initial positions and orientations without creating new fields
- Added a warning issued when a Solid node has no Physics node but has a non-empty boundingObject and an upper Solid node containing a Physics node:
collisions are ignored in this case
- Matlab
- Removed the "minimize" argument given to the launcher on other platforms than Windows (thanks to Erik)
- Mavericks
- Added support for Mavericks (Mac OS X 10.9)
- Compiled controllers, libraries and plugins using clang 5.0 and libc++ (rather than libstdc++)
- Fixed launcher (double-click on the icon from finder) (thanks to Adil)
- Fixed java which had a conflit between the distributed and the OS libzip library
- Added semantic tests for project PROTO files when opening the Add Node dialog
- Don't disable 'Save world' action after the simulation has started, but make it behave like 'Save As'
- Disabled 'Save world' and 'Save text file' actions if no modification occured
- Added a single clipboard for the whole application (Scene Tree, Text Editor, and Console) synchronized with the system clipboard
- Merged Cut, Copy, Paste, Select All, Undo, ans Redo actions so that they work in Scene Tree, Text Editor or Console based on the selected tool
- e-puck: Fixed cross-compilation issues on windows (thanks to Simon)
- Add standard keyboard shortcuts for cutting (CTRL+X), copying (CTRL+C), pasting (CTRL+V), and deleting (DELETE) a node in the Scene Tree or 3D View
- Fixed crash during the computation of default texture mapping of IndexedFaceSet under special circumstances
- Force and torque representations size increase with the WorldInfo lineScale value
- Fixed crash related to DistanceSensor (thanks to Pragati)
- Fixed crash caused by Cylinders in boundingObjects which are located at the same position
- Fixed documentation page opened using the 'Help' toolbar item for the node model names starting with 'P'
- Merged toolbars of Scene Tree and View 3D in a single one
- Moved 'Import Object' toolbar action in the Add Node dialog
- Moved 'Reset', 'Transform', 'Help' and 'Export Object' toolbar actions in the field editor
- Extended 'Transform' node functionalities to SFNodes
- Fixed exploding spring effect in SliderJoint
- Remove capability to create Servo nodes from the GUI
- Revisited the IPR controllers in order to have a deterministic behaviour
- NAO
- Added slots to the model in order to easily add robot extensions
- Updated Nao challenge to v1.8
- Fixed device identification for Devices placed below a BallJoint (thanks to David)
- Redirected ODE messages to Webots console
- Refactored the physics plugin' webots_physics_draw() function in order to be able to draw on the 3D view and/or on the robot cameras (thanks to Kevin)
- Removed the webots_physics_pre_draw function: the same feature is accessible from the arguments of the webots_physics_draw() function (see Reference Manual)
- Modified the webots_physics_draw() function: added 2 arguments (see Reference Manual)
- Fixed collision detection of user defined dGeoms in physics plugins
- Enabled the multithread version of ODE on Mac OS X (thanks to Mustafa)
- Removed duplicate contact points of IndexedFaceSets (thanks to Jesse)
- A time step less than 1ms is rounded up to 1ms in the void controller to keep the application responsive
- Upgraded to Qt 5.1.1
- Fixed motion editor's "fixed step"
- Fixed Toggle Line Comment function in Text Editor when the last line of the document is selected (thanks to Andrew)
- Prohibited insertion from dialog box of a Geometry node in a boundingObject if one dimension is non-positive
- DARwIn-OP
- Added slots to the model in order to easily add robot extensions
- Merged the Makefiles used for cross-compilation into a single Makefile.include
- Improved robustness of the remote control session startup
- Improved globally the code indentation
- Fixed constness of Robot::keyboardGetKey() and Robot::batterySensorGetValue()
- Fixed fallback values of HingeJointParameters and Hinge2JointParameters axis fields when a zero vector is specified: fallback on default value, i.e., 1 0 0
- Extended 'Import Object' behaviour in the Scene Tree: allow to import a node in any MFNode fields just after the selected node
- Restore field edition behaviour: values should not be automatically updated by Webots while the user is editing
- Improved 'Add Node' and 'Transform' dialogs: allow to select a node model by double-clicking on it
- Improved the support for ANSI Escape Sequences and CR character in messages printed on the Webots console
- Improved error messages concerning PROTO nodes so that they match the Scene Tree structure
- Fixed file's title in text editor when deleted externally
- Improved the X3D lights export
- Stored the Webots version in the header of the Webots model files (.wbt, .proto, .wbo and .wbproj) in order to facilitate automatic upgrade
- Removed the dependency of Java programs on make when compiling using the Webots text editor
- Fixed viewpoint restoration in orthographic mode (thanks to Andrej)
- Removed the useless dependency on swig when recompliling languages controllers (thanks to Erik)
- Fixed robot window dialogs z-order on Windows and Linux (thanks to Chase)
- Fixed wb_supervisor_field_import_node so that it takes into consideration the insertion position
- Changed the returned value of wb_supervisor_get_contact_point() and wb_supervisor_get_number_of_contact_points() (see Reference Manual)
- Fixed crash caused by missing mandatory functions when loading a plugin
- Fixed crash caused by transformations Robot->Supervisor from the GUI
- Fixed compilation issues with swinglet's controller and plugin
- Added warnings when Solid mass settings are invalid or insufficient to define inertia (thanks to David)
- Implemented integral and derivative gains, in addition to proportional gain, for PID control of motor position
Warning: From now on, please use wb_motor_set_control_pid() instead of wb_motor_set_control_p() (removed) and replace 'SFFloat controllerP' fields by new
'SFVec3f controllerPID' fields.
- Added example of Ziegler-Nichols' PID tuning method
- Upgraded Java controllers API to Java 1.7
Webots 7.2.4
Released on August 29th, 2013 (revision 16354)
- Extended Charger node: add Charger node to robots
- Changed yaw value returned by wb_inertial_unit_get_roll_pitch_yaw() into its opposite to conform to standards
- Nao
- Prototized the NAO hands. This is the first step to a modular NAO architecture
- Upgraded neck and shoulders to Hinge2Joint. This removes 3 ODE constraints to solve (performance bottleneck)
- Updated Nao challenge to v1.1
- Windows: Fixed display of NAOqi/HAL messages in the Webots console
- DARwIn-OP
- Fixed execution of controllers by running them as root on the real robot (Thanks to Yuhuang Hu and Edwin)
- Increased stability of the remote control mode by running the remote control server as root on the robot
- Fixed button tooltips and status text which were not updated after deconnection from the robot
- Linux: Force the use of python2.7 for controllers to avoid conflicts with python 3 (thanks to Stefano)
- Fixed issues related to the JointParameters position field in a Hinge2Joint
- Fixed DEF name updates when several nodes share the same DEF string (Webots warns you about possible side effects)
- Fixed text editor title updates
- Fixed text editor shortcuts when auto-completer pop-up window is visible
- Fixed text editor empty tabs when files have been moved or deleted
- Added Khepera III's gripper
- Added Pioneer 3's gripper
- Fixed bug related to nesting Transforms and Joints (thanks to David)
- Added support for graphical collision notification when using a physics plugin
- Fixed Supervisor label deletion
Webots 7.2.3
Released on August 23th, 2013 (revision 16232)
- Fixed crash occuring while using a Cone node in a PROTO
Webots 7.2.2
Released on August 22th, 2013 (revision 16225)
- ContactProperties fields softCfm and softErp were renamed softCFM and softERP
- Fixed GL rendering on Retina display (thanks to Andrew)
- Reintroduced the multithread version of ODE. The number of threads can be set from the preferences dialog. This feature is still disabled for now on Mac OS X.
- Removed resize and scale handles acting on protos when dimensions were not specified as proto fields
- Fixed behavior of infra-red distance sensors when using texture transforms (thanks to Joshua)
- Improved support of ANSI Escape Sequences in Webots console
- Added laptop computer proto (thanks to Guillaume)
- Improved video recording function
- Use avconv/ffmpeg on all platforms instead of mencoder (Linux/Mac OS X) and Windows API
- Use H.264/MPEG-4/AVC encoder and MP4 container on all platforms
- Automatically set frame rate to match real-time
- Add possibility to create an accelerated movie and to show the current acceleration value on the movie
- Add 'acceleration' and 'caption' parameter in wb_supervisor_start_movie function
- Rename 'type' parameter to 'codec' in wb_supervisor_start_movie function
- Add basic undo/redo functionality for field editing, objects dragging, rotation and resizing
- Moved the language source code (C++, Python, Java) from the "projects" to "resources" directories
- Text editor: detect external file modification
- Display device: Fixed alpha image pasting
- Nao
- Added nao challenge simulation
- Fixed camera bug introduced in Webots 7.2.0 (thanks to Julien, Dominic and Nikolas)
- Fixed glitch due to mouse position offset when resizing / rescaling objects by means of manipulators
- Fixed crash when changing the orientation of a plane placed in a boundingObject
- Improved the save screenshot dialog by using the native dialog appearance
- Improved the autonomous vehicle demo by adding traffic lights, traffic signs, cones and textured buildings
- Added the capability to export a simulation model to HTML/X3D for web publishing
- Added two new fields to the Receiver node: signalStrengthNoise and directionNoise. These fields allow to add noise on the signal strength and emitter direction.
- Fixes Java and Python supervisor accessors to contact points
- Changed supervisor API functions wb_supervisor_node_get_contact_points()
Warning: From now on, please use wb_supervisor_node_get_number_of_contact_points() and wb_supervisor_node_get_contact_point().
- Fixed annoying z-order overlap of some dialog box
- Improved Webots file parser's robustness
- Increased the distance sensors performance
- Replaced advantageously WorldInfo::displayRefresh by WorldInfo::FPS. In most cases, this increase the performance of the run mode
- Added examples in projects/samples/howto that illustrate the use of wb_supervisor_node_get_contact_points() and wb_supervisor_node_get_center_of_mass()
- Fixed graphical update of the center of mass
- Fixed crash related to Geometry insertion in bounding objects (thanks to Guillaume)
- Allowed static environment to be used as a joint endpoint (thanks to Jesse)
- Added documentation on joint axis default values (thanks to Jesse)
- Fixed force control of Hinge2Joint motors (thanks to David)
- Enhanced cylinder-cylinder collision (thanks to David)
- Upgraded to Qt 5.1.0
- Renamed the STOP keyword to PAUSE
- Improved main GUI (new set of icons, new customizable style sheet)
- Fixed movie recording on some Linux environment (thanks to Fatma)
- Fixed syntax highlighing and auto-completion for C API data types in C programs
- Added Capsule geometry sample world
- Windows: robot windows are raised on top when opening them
- Windows: fixed robot window. Minimized them don't decrease the global performance anymore.
- Windows: Fixed rights to invoke Qt's lupdate (added a manifest file)
- Mac OS X: Restored the Menu items (Preferences / About / Quit) at the regular place
Webots 7.2.1
Released on July 4th, 2013 (revision 15528)
- Dropped support for Ubuntu 10.04, currently only Ubuntu 12.04 LTS is supported
- Temporary reverted to ODE single threaded to work around some crashes
- Fixes update of BallJoint anchor field
- Allowed BotStudio files with the FREE version
- Added tab displaying extra mass information for Solids
- Fixed crashes related to Geometry insertion in bounding objects
- DARwIn-OP: improved code robustness (cross-compilation, and remote-control)
- Added the contact points, center of mass and static balance test API in the C++ / python / matlab / java API
- Upgraded to Qt 5.0.2 (and Qt 5.1.0.rc2 on Mac OS X)
- Makefile: Replaced "USE_QT = true" by "QT = core widgets" in order to link only with the desired Qt frameworks
- Mac OS X: Improved the Webots integration into the Moutain Lion spaces (added the maximize button, improved the fullscreen feature)
- Mac OS X: Fixed bug with the Viewpoint modification after inserting new nodes (thanks to Julien)
- Simplified the Solid selection from the 3D view
- Nao
- Mac OS X: fixed possible mismatch between Qt libraries
- Added a pedal racer model exemplifying closed mechanical loops in Webots
- Added support for spring and damping effects around a ball joint (thanks to Jesse)
- Increased stability of all joint spring and damping forces
- Mac OS X: Display a useful warning message in case of Python version mismatch before launching Python controller
- Added documentation on sonar ray reflection (thanks to Fikret)
- Added documentation on solid merging
- Fixed issue with artificial moves of a statically based solid
- Fixed visibility problems of the expand sign in the Scene Tree just after inserting a new node
- Added support for Hinge2Joint minStop and maxStop
- Fixed controller compilation failure on some Windows 8 configurations caused by setting mingw bin folder first in the Path environment variable
- Improved model of the sensors noise, noise follows now a gaussian distribution
- Matlab: support the Inertial Unit API
Webots 7.2.0
Released on June 7th, 2013 (revision 15130)
- Linux: the launcher script now cleans up shared memory segments after Webots crash
- Windows: added a webots.bat batch file to ease the startup of Webots from a DOS console
- Fixed rescaling issues
- Fixed issues related to solid merging
- Fixed crash related to Geometry insertion in bounding objects (thanks to Victor)
- Windows: fixed the print out from Python controllers which was not displayed in the Webots console
- Add selection shortcut for solid subparts of an object in the 3D window: (Ctrl key) + Alt key + mouse click
- Added the model of the human-sized hexapod Mantis robot (thanks to Matt)
- Added the model of the Atlas robot (human-sized humanoid)
- Introduced new nodes replacing and extending the now deprecated Servo node (please open a support ticket from the Help menu of Webots if you need assistance to convert your simulation models to the new system)
- RotationalMotor, LinearMotor, PositionSensor
- HingeJoint, SliderJoint, Hinge2Joint, BallJoint
- JointParameters, HingeJointParameters, Hinge2JointParameters, BallJointParameters
- SolidReference
- DARwIn-OP
- Refactored the SSH protocol to dialog with the robot (safer, and more robust)
- Implemented the servo alarm management
- Fixed compilation of controller plugins on Windows (thanks to Chase)
- Added a ROS tutorial with detailed build instructions
- The ROS joystick example (see projects/languages/ros) has been updated in accordance with the ROS groovy version and catkin, the official ROS build system
- Webots build editor can now compile edited source files located below the root of a controller directory
- Users can now simply click on touch sensors of bumper type to activate or desactivate them
- Exposed the soft ERP and soft CFM parameters in the ContactProperties node. Reducing the soft CFM value will limit the penetration of heavy objects in the ground (see webots/projects/samples/demos/worlds/autonomous_vehicle.wbt example)
- Use a multi-threaded version of ODE (thanks to Mustafa)
- Multi-robot simulations should run significantly faster on multi-core CPUs
- Physics plugins may need to be adapted to handle multi-threading (see documentation in the reference manual)
- Added a generic robot window widget for the Inertial Unit device
- Nao
- Reduced the camera refresh rate to increase the simulation speed
- Fixed foot contact loss in some motions (thanks to Ethem)
- Added a warning if the simulation is not running in real-time
- Improved the behavior of the Choregraph's moveTo box
- Fixed hip and ankle roll maximal torques of the Nao V40
- Naoqi: Added low-pass filters (InertialUnit and FSR) to smooth stimulis
- Reduced the WorldInfo::basicTimeStep to 20 of each simulation using the Nao in order to improve the physics quality
- Updated Aldebaran's Naoqi runtime and simulator SDK libraries to <IP_ADDRESS> (thanks to Julien)
- Improved field edition: values are no longer automatically updated by Webots while the user is editing
- Use the ODE shared library (rather than static) on Mac OS X
- Added 240p, 360p and 480p 16:9 youtube friendly resolutions for making movies
- Fixed node indexes in the Node class (in the C++, Java and Python API)
- Restored the Motion Editor (accessible from the generic robot window)
- Fixed the console automatic scroll down in case of escape characters (thanks to Andrea)
- Repaired broken shaders in the high quality rendering mode
- PROTO nodes revision
- Added support for SFNode and MFNode fields in PROTO nodes
- Added support for nested fields in PROTO files
- e-puck
- Robot Window, Remote Control and Uploader
- Added possibility to cancel the operation when uploading files
- Fixed list of available ports in 'Upload..' dialog after pressing 'Refresh ports' (thanks to Stefan)
- Fixed disconnection problems causing subsequent connection failures
- automatically stop the remote control and free the port before uploading a file (thanks to Stefan)
- Fixed the display of the acclerometer values (thanks to Stefan)
- Cross-Compilation
- Fixed cross-compilation errors on Windows if Webots installation path contains white space
- Model
- Updated EPuck.proto model: added two MFNode fields to equip the robot with additional devices
- WARNING: removed floor sensors from the standard EPuck.proto file and modeled in the separate EPuck_GroundSensorsModule.proto file
- WARNING: name of ground sensor devices of e-puck robot is changed from 'fs0', 'fs1', 'fs2' to 'gs0', 'gs1', 'gs2'.
- Substituted local ratslife EPuck proto with global Webots EPuck proto
- Added Pioneer3DX PROTO model
- Added a model of the Elisa-3 robot from GCTronic (thanks to Stefano)
Webots 7.1.2
Released on March 11th, 2013 (revision 13812)
- DARwIn-OP (thanks to David)
- Added the possibility to use MotionManager step-by-step
- Cross-Compilation
- Minors debug when cross-compiling from the robot window on Windows (checkbox 'make default controller' now toogle correctly, message windows are not hidden behind the robot window anymore)
- Remote-control
- Fixed problem of crash of the remote-server when sending command to servos who doesn't exist
- Fixed problem of crash of the robot window when aborting start of remote-control
- Fixed problem of led switching off when stopping the controller
- Fixed execution of signed world files with naoqisim controller in Webots FREE (thanks to Christophe)
- Fixed warning and ticking associated to the "Show Support Polygon" action (thanks to Jesse) and allowed display of the center of mass of any solid
- Fixed mass settings for Solids without boundingObject (thanks to Jesse)
- Fixed crashes related to the Solid node and the DEF-USE mechanism
- Fixed huge oval drawing of the Display device on Windows (thanks to Angelos)
- Added missing symbolic links to libode.so and libzzip.so on Linux causing errors when linking physics plugins (thanks to Jesse)
Webots 7.1.1
Released on March 7th, 2013 (revision 13751)
- Added Pioneer3AT proto
- DARwIn-OP (thanks to David)
- DARwIn-OP robot window, remote-control and cross-compilation are now available (precompiled, working out-of-the-box)
- Simulation
- Corrected wrong link between the LEDS: BackLedRed, BackLedGreen and BackLedBlue
- Set default basicTimeStep to 16ms for each example
- Increase camera refresh time to 32ms in example "Soccer" and "Visual_tracking"
- Manager static library split into two dynamics libraries, now located in /libraries/darwin and /libraries/managers instead of /lib
- Cross-Compilation
- Added text-to-speech functions in Speaker module
- Improved the string and int field edition (the modification is applied when leaving the editor focus)
- Improved the rotation field edition (the vector normalization is no more visible during the edition)
- Fixed behavior of 'Add Node' button: new objects are automatically selected and expanded
- Added default extension in save screenshot dialog
- Adjusted default position of Webots PROTO objects so that they don't half sink in the floor
- Added new sample simulation in projects/samples/howto/worlds/sick_terrain_scanning.wbt (thanks to Angelos)
- Revision of Find and Replace dialog of the text editor
- Fixed problems when searching words with different cases
- Fixed problems when both Find dialog and Replace dialog are visibile
- Fixed replacing of selected text that doesn't match the searched string
- Changed default button activated when pressing the ENTER key on Linux: 'Next' button in Find dialog and 'Replace' button in Replace dialog
- Changed 'Replace' button behavior to automatically select the next occurrence of the searched string
- Improved availability of old strings used in Find and Replace dialogs
- Improved dialogs and feedback messages of the e-puck file uploader
- Fixed huge oval drawing of the Display device (thanks to Angelos)
- Changed the license registration dialog box to make it clearer (thanks to Christophe)
- Fixed the opening of .wbt files from Finder on Mac OS X (thanks to Jimmy)
- Revision of Distance Sensor device
- Added a generic distance sensor
- WARNING: Default type changed from 'infra-red' to 'generic'. The 'infra-red' type of all existing infra-red sensors have to be explicitely set.
- Changed behaviour of infra-red distance sensor: now it considers the appearance of the graphic object rather than the appearance defined in the bounding object.
- WARNING: Simulations containing infra-red distance sensors may now behave differently. Please contact Cyberbotics support team if you cannot restore them.
- Changed the orientation of infra-red distance sensors in e-puck proto
- Improved the custom libraries search algorithm (recursive search into the webots/resources directory) (thanks to David)
- Refactored the main Makefile.include: CPP_SOURCES and CC_SOURCES have been deprecated. Please use CXX_SOURCES instead
- Improved the supervisor API to set fields in order to be applied immediatly rather than on the next physics step
- Added an OpenGL tab in the Preferences dialog box (auto setup on the first Webots launch) allowing to reduce some rendering features
- Improved the search algorithm of the Robot::robotWindow and Robot::remoteControl fields
- Added the support of the servos and of the keyboard into the remote-control API (thanks to David)
- Improved the main Makefile.include in order to compile standard targets (release, debug, profile, clean)
- Improved the main Makefile.include in order to move all the building files into a 'build' folder
Webots 7.1.0
Released on January 18th, 2013 (revision 13099)
- Changed the texture of can object from a beer can to a soda can
- Fixed bug with missing physics plugins in the selection window of the scene tree
- Fixed bug displaying robot controllers twice for PROTO robots in the controller selection window of the scene tree (thanks to Krzysztof)
- Allow users to recompile robot controllers from the Webots IDE for any robot programming contest (thanks to Krzysztof)
- Revision of the Physics node setup
- The 'centerOfMass' field is now of type MFVec3f (but the GUI allows you to edit at most one row)
- If 'inertiaMatrix' is NULL, the inertia matrix of the Solid is the inertia matrix of the bounding object computed around its natural center of mass with respect to the Solid's frame axes
- A dialog box allows you to set the 'inertiaMatrix', 'centerOfMass' and the 'mass' as the corresponding values obtained from bounding object based computations.
- WARNING: Simulations may now behave differently. Please contact Cyberbotics support team if you need to restore inertial properties of your models.
- Fixed the movie creation on Mac OS X when the Webots installation path contains white spaces (e.g. Webots for NAO) (thanks to Chrisantha)
- DARwIn-OP (thanks to David)
- Simulation
- Added Vision Manager in order to use the main image processing tools of the Framework in simulation
- Added example Visual Tracking
- Updated example Sample to use Manager Vision
- Corrected wrong link between Head and Eye LED
- Added the two backLED representations of Head and Eye LED (these backLED are not controllable)
- Replaced motion 57 by motion 24 in the example 'sample' at the beginning
- Improved Gait manager to wait the end of the step before to stop walking
- Modified example Sample to be compatible with cross-compilation
- Renamed example 'Sample' in example 'Soccer'.
- Added showRobotWindow field
- Added example Walk
- Cross-Compilation
- Vision Manager is also available on the real robot
- Improved start of the controller, servo movements smoother at startup
- Added LED indications (red : robot is initializing / green : robot is ready, controller will start)
- Added keyboard functions (a small window appears now on the real robot to catch keyboard inputs when enabling it)
- Added 'maxDistance' field to Pen node
- Fixed Pen device: the painted point is displayed only on the intersected face of the primitive
- Added the wb_robot_get_controller_name() function allowing to get the Robot::controller field content
- Added the wb_robot_get_controller_arguments() function allowing to get the Robot::controllerArgs field content
- Improved shared libraries management
- Removed the arguments of the wbw_init() function (main entry function of the robot window dynamic library)
- Added the project/libraries/* directories in the [[DY]LD_LIBRARY_]PATH environment variable to facilitate the use of shared libraries
- Build the shared libraries thanks to the controller Makefile (resources/Makefile.include)
- Moved the robot window shared libraries into project/plugins/robot_windows
- Moved the remote control shared libraries into project/plugins/remote_controls
- Updated the e-puck cross-compiler for Mac OS X (now compiled for x86_64 instead of ppc)
- Fixed infra-red distance sensor behaviour discarding the color painted on a Shape
- Fixed textures not displayed in blimp_lis.wbt and darwin-op.wbt simulation
- Improved compatibility with IndexedFaceSet node syntax of VRML97
- Added default texture mapping
- Used 'coordIndex' as texture coordinate indexes if 'texCoord' is specified but 'texCoordIndex' field is empty
- Automatically link the dynamic libraries in project 'lib' folder at run-time
- Fixed problem taking screenshots when the simulation is running
- Fixed: crash when wb_servo_enable_motor_force_feedback() is invoked on objects (Solid) without Physics node (Thanks to Tim)
- Improved the robustness and error messages of the Internet floating license server
- Fixed crashed while linking DEF and USE nodes inside nested protos (Thanks to Nico)
- Fixed distance sensor issue with the detection of cylinder's caps (Thanks to Krzysztof)
- Upgraded mingw gcc to version 4.7.2 on Windows
Webots 7.0.3
Released on December 6th, 2012 (revision 12573)
- Added maximize/minimize buttons to dock widgets in Webots main window
- Improved the Servo friction model by adding a static friction field
- New dialog box allows to find, load and edit robot window and remote controller libraries in a simple way
- Fixed crash on Mac OS X when leaving Webots after entering in the fullscreen mode
- Enabled run-time change of scale fields when writing on a textured geometry with the pen device
- DARwIn-OP (thanks to David)
- Simulation
- Corrected center of mass of LegLowerL and LegLowerR (thanks to Chase)
- Added field staticFriction and adapted field dampingConstant for each servos
- Added a warning if the MotionManager is used without having enabled all the servos position and auto enable them
- Cross-compilation
- Fixed inversion of sign of the value returned by Servo::getMotorForceFeedback
- Fixed the direction of the force applied by Servo::setForce which was wrong for some servos
- Improved the time scheduling of the real-time mode (thanks to Muhamad)
- Fixed implementation of default damping
- Added two buttons to the 3D View toolbar for a quick access to the 'Make Movie' and 'Take Screenshot' functions
- Improved 'Make Movie' functionality: the video recording is no longer terminated when the stop simulation button is pressed but when the movie toolbar button or the movie menu item is pressed again
- Improved the scene tree view by reducing its refresh rate and displaying a horizontal scrollbar if required (thanks to Chase)
- Fixed crash caused by a flaw in the DEF-USE mechanism for protos (thanks to Nico)
- Fixed crash caused by an invalid vertex count used for indexed face sets
- Generic robot window
- Fixed servo view in order to be more tolerant with servo having unbounded limits
- Fixed range-finder view
- Improved differential wheels view in order to plot the encoder values
- Fixed the initial ambient light which was indeterminate whether the world has no light
- API modifications
- Added wb_led_get() allowing to get the led state
- Added wb_robot_get_type() allowing to get the robot type (WB_NODE_SUPERVISOR, etc.)
- Added wb_robot_get_number_of_devices() allowing to get the number of devices
- Added wb_robot_get_device_by_index() allowing to get the device by introspection
- Added wb_servo_get_target_position() allowing to get the target position
- Added wb_servo_get_type() allowing to get the type field (linear, rotational)
- Added wb_servo_get_[min|max]_position() allowing to get the [min|max]Position fields
- Added wb_touch_sensor_get_type() allowing to get the type field (bumper, force or force3d)
- Fixed the rendering of the centers of masses (bug introduced in v7.0.2)
- Fixed the behaviour of the "Ctrl+Y" redo shortcut on Linux and replaced it with the platform-specific shortcut "Shift+Ctrl+Z"
- Updated the documentation about the installation of gcc and makefile for Mac OS X
- Upgraded to Qt 4.8.4 on all platforms
Webots 7.0.2
Released on November 16th, 2012 (revision 12294)
- Fixed playback of movies created on Mac OS X
- Added ".wbt" suffix to file name if it is missing when "Saving As" a world file
- Added correct info for Mac OS X commands in Video Recorder dialog when making a movie in full screen mode
- Fixed: VRML97 export failed for Plane nodes placed in .proto files
- Fixed: Matlab stout/stderr redirection to Webots console did not work on Windows
- API modifications
- Added wb_robot_set_mode() allowing to switch some controllers from simulation to remote-control
- Added wb_robot_get_model() allowing to retrieve the model field from the API
- Added wb_device_get_name() and wb_device_get_type() allowing to convert a WbDeviceTag to resp. the device name and the device type
- Added wb_sensor_get_sampling_period() allowing to retrieve the period given as argument of wb_sensor_enable()
- Fixed Qt library conflict problems under Linux with KDE 4 (thanks to Armin)
- Removed resources/java.policy file from distribution: the behavior of Java controller is no longer restricted by default
- Added a button to enable all the sensors in the e-puck robot window (thanks to Bradford)
- Added Cyber Savannah contest project in: projects/contests/cyber_savannah
- Fixed URL for license activation and trial license
- Fixed start-up bug displaying missing e-mail message
- Fixed the e-puck remote-control in BotStudio (thanks to Bradford)
- Fixed BotStudio file opening on Windows
- Improved support of UTF8 in file paths
- Added new InertialUnit node that offers the capability to compute roll, pitch and yaw angles
- Added InertialUnit nodes to Nao protos and adapted "naoqisim" and Robotstadium controllers to use it
- Slightly moved and resized Nao foot bumpers to avoid floor contact while walking
- Fixed: associating (with the IS keyword) a field to a proto field of the wrong type (in a PROTO) crashed Webots
- Fixed using the 'coord' field of an IndexedFaceSet as a PROTO field
- Fixed Webots Text Editor indent and unindent functions in case of backwards (bottom up) multi-line selection
- Fixed wb_supervisor_field_import_mf_node function: if a robot object is imported, its controller is started immediately without needing to save and revert
- Changed behaviour of 'Import node' button in the Scene Tree: now only valid top nodes can be imported and, in case of robot objects, their controller is started immediately without needing to save and revert
- DARwIn-OP (thanks to David)
- Simulation
- Added a new example, called symmetry
- Modified gait section in the 'config.ini' file
- Modified gait manager in order to be closer from the one from the real robot
- Changed initial position of all servos in order to be like for the real robot, now the initial position is sit down
- Added a small damping to each servos in the proto
- Changed most of the BoundingBoxes
- Added the possibility to enable the self collision check
- Added description in the example 'sample' and 'symmetry'
- Added balance to the gait manager
- Added acceleration and maxVelocity field for each servo
- Corrected Accelerometer orientation (inversion of axes X and Z)
- Cross-Compilation
- Changed the reading of the servos states, everything is now done in robot::step in one packet (by using BulkRead function of the CM730), gain of time
- Changed the writing of the servos settings, everything is now done in robot::step in one packet (by using SyncWrite function of the CM730), gain of time
- Added the possibility to set the time step in the 'config.ini' file
- Modified gait manager in order to be independant from the time step
- Suppressed the readTable function to read the sensors value, and read of the sensors value thanks to the BulkRead
- Added the possibility to set height and with of the camera in the 'config.ini' file
Webots 7.0.1
Released on October 26th, 2012 (revision 11978)
- Changed the default value for aperture in DistanceSensor (90 degrees instead of 0)
- Improved the computation of reflection for sonars (DistanceSensor)
- Fixed bug: when a USE node was copied and pasted it was expandable
- Fixed crash when deleting a Shape node which has a geometry field set to NULL
- Fixed problem with unlicensed splash screen showing up while using a license file
- DARwIn-OP (thanks to David)
- Simulation
- Added Three BackLeds in the proto
- Added minPosition & maxPosition for each servos in the proto
- Revised maxForce for each servos in the proto
- Added the inertiaMatrix to all physics nodes in the proto
- Revised some centerOfMass in the proto
- Fixed bug with the mottion manager in simulation, it is now possible to play motions that are stored in more than one page
- Cross-Compilation
- Revised accelerometer and gyro reading
- Fixed namespace issue in the module camera
- Fixed inversion of color for the rgb led
- Added a speacker module
- Added setMotorForce & getPosition in the servos module
- Fixed inversion of motion file in the motion manager
- Added setVelocity, setForce, setAcceleration, setControlP & getMotorForceFeedback in servos module
- Fixed wrong initialization of the linuxMotionTimer
- Changed enabling and disabling of the joint in the gait and motion manager
- Modified getWidth() & getHeight() in the module camera in order to change dynamically the value
- Added a minimalist self collision avoidance in setPosition of the servos module
- Modified timming management in robot step
- Changed the reading of the sensors value, everything is read in one packet (by using ReadTable function of the CM730) in the robot::step, gain of time.
Webots 7.0.0
Released on October 19th, 2012 (revision 11888)
- Changed algorithm of the "sonar" DistanceSensor: now the closest ray collision distance is returned, the average is no longer computed
- Fixed: Wrong text colors displayed in the Webots console
- Fixed: Range-finder camera image is scrambled in robot window
- Completed the implementation of the texture finder for proto fields
- Fixed: Problem when turning off LED devices
- Added a new system to create robot windows
- Robot windows are now implemented on the controller side, can now be open source and can be easiliy created by the user using Qt
- Added a generic robot window displaying the robot devices and allowing to command the actuators
- Reimplemented BotStudio and the e-puck robot windows from scratch as demonstrator
- Dropped several specific robot windows including the aibo, the hemisson and the khepera ones
- Added a new system to create remote control wrappers to real robots
- Remote control systems can now be better integrated to Webots and can be easiliy created by the user
- Reimplemented the e-puck remote control, and firmware uploader from scratch as demonstrator
- Dropped support of several remote control with real robots including khepera ones
- Dropped the motion editor window
Webots 7.0.beta4
Released on September 27h, 2012 (revision 11557)
- Modified the camera buffer format from RGB or RGBA to BGRA
- Improved the GUI: use Qt instead of wxWigets
- Improved the physics engine: use ode-0.12 instead of ode-0.11
- Improved the IndexedFaceSet primitive: common structure for Ogre and ODE
- Deprecated the Extrusion primitive
- New item in the 'View > Optional Rendering': Show Center Of Mass and Support Polygon
- New supervisor functions to retrieve contact points, centers of mass and to perform the support polygon static balance test
- The magnitude of a user-defined force, or a user-defined torque, is displayed in the status bar
- A new dialog box allows to find and load textures in a simple way
- The notification of the collisions by a change in the color of bounding ojects is made at the level of each individual Geometry
- The 'View > Follow Object' action is made more user-friendly and supports all run-time changes of the followed object caused by either the user or a supervisor
- In physics plugins, users can now set their own data in ODE dGeom provided such data doesn't start with Webots' magic number
- The default physics node automatically compute mass, intertia matrix and center of mass from the bounding object
- All physics fields can be changed at run time
- Scale fields are constrained to positive values
- Transforms in bounding objects are now scalable
- Solids are now scalable by any uniform factor
- Cameras and Displays screens are both visible and resizable before the simulation starts
- Fixed bug: the horizontal edges of a polygon drawn within a Display screen are now visible
- Added Fullscreen mode for simulation and video recording
- Improved Pen device: paint on any geometry and in any direction
- Fixed compilation issue on the C++ wrapper (thanks to Tim)
- Removed obsolete wb_supervisor_start_animation() and wb_supervisor_stop_animation() functions
- Changed all API functions to return NaN (instead of -1.0 or 0.0) for any unitialized double value, e.g. before having called to wb_*_enable() and wb_robot_step().
In the controller main loop, it is now recommended to call wb_robot_step() before getting the sensor values.
Is not recommended to call wb_robot_step() after getting the sensor values.
- Fixed the Makefile for the swis2d sound plugin so that it now compiles under Windows from the Webots IDE
- Removed deprecated fields in Physics node: bounce, bounceVelocity, coulombFriction and forceDependentSlip
- Fixed bug with the DARwIn-OP controller causing a random freeze of the walking motion (thanks to Chase)
- Added a section in the user guide on using the NAO robot simulation
- Added a small translation offset when copying/pasting a robot or inserting a new robot
- Added a mass or physics field for a number of PROTO objects
- Changed behaviour of physics plugin function dWebotsSend(): it is no longer possible to send data to a disabled Receiver node
From November 2008
From January 2005
From February 2003


Recipes that last forever
Keep it in the family or share with the world
Why people choose Cookbook
Recipes tell a story
Notice how many of Grandma's cookbooks begin with introductions to the staples of their collection of recipes? Those pages aren't just taking up space. Consider those ingredient dossiers the chef's way of making a personal introduction.
Ease of usability
Cookbook has been designed from the ground up with the whole family in mind. From the smallest little cook to the matriarch of the house. Cookbook makes it easy to categorize and enjoy or your family recipes in an organized space.
Food is more than food
Mindfulness is important in all of life's rooms — the kitchen included. Reading your cookbooks helps you understand everything from the organization of a menu to the relationships between flavors.


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Instagram creator’s
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Kelleyia:
First, I'd like to discuss your skill level. Out of the 40 kills, you had
Over-hits
. Wow, a perfect number! I almost never see that!
"Yeah, I'm kind of a perfectionist."


Microfinance can help start new business, reduce poverty
by Omar QureshiKARACHI: Microfinance can steer financial inclusion in Pakistan as it provides required capital for starting small businesses and reduces poverty in the country, said Akhuwat Foundation Chairman Dr Amjad Saqib.
Speaking at a seminar titled “Practical Implications of Microfinance” at the Institute of Business Administration (IBA) main campus on Thursday, Saqib said microfinance schemes could promote entrepreneurship culture in Pakistan and also help increase the number of small and medium enterprises (SMEs). He pointed out that microfinance supported wealth creation which, in turn, sparked a multiplier effect in the economy and enhanced economic activity.
Wealth creation and increasing the number of SMEs is part of the government agenda aimed at creating millions of jobs in the economy.
“People with an entrepreneurial mindset having no capital can utilise microfinance schemes for starting their business and can contribute to economic growth,” he said.
Saqib emphasised that microfinance also encouraged women empowerment and their participation in the workforce. “In fact, 42% of the recipients of Qarz-e-Hasna (interest-free loan) from our organisation are women.”
He clarified that microfinance was often confused with microcredit, which was itself a part of microfinance. Elaborating, Saqib said microfinance included microinsurance as well as micropayment systems.
He regretted that around 30% of the people willing and able to work could not participate in the workforce due to certain reasons like being handicapped or widows having the responsibility for children.
He expressed hope that microfinance would help the excluded mass enter the workforce and alleviate poverty in Pakistan.
He expressed concern that banks had adopted microfinance and capitalised on it by charging exorbitant service charges, which the poor segment of society was unable to repay. “Still 85% of microfinance in Pakistan is disbursed by the banking sector,” he said.
Concluding the session, Saqib said his organisation would soon introduce microfinance for housing needs to provide shelter to the poor segment of society.
Published in The Express Tribune, November 22nd, 2019.


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| Package | Description |
|---|---|
| org.apache.beam.sdk.transforms.windowing | |
| org.apache.beam.sdk.util |
Defines utilities that can be used by Beam runners.
|
| org.apache.beam.sdk.util.state |
Defines internal utilities for interacting with pipeline state.
|
| Modifier and Type | Method and Description |
|---|---|
abstract StateAccessor<?> |
Trigger.TriggerContext.state()
Returns the interface for accessing persistent state.
|
| Modifier and Type | Method and Description |
|---|---|
void |
Trigger.prefetchOnElement(StateAccessor<?> state)
Called to allow the trigger to prefetch any state it will likely need to read from during
an
Trigger.onElement(org.apache.beam.sdk.transforms.windowing.Trigger.OnElementContext) call. |
void |
AfterDelayFromFirstElement.prefetchOnElement(StateAccessor<?> state) |
void |
Trigger.prefetchOnFire(StateAccessor<?> state)
Called to allow the trigger to prefetch any state it will likely need to read from during
an
Trigger.onFire(org.apache.beam.sdk.transforms.windowing.Trigger.TriggerContext) call. |
void |
Trigger.prefetchShouldFire(StateAccessor<?> state)
Called to allow the trigger to prefetch any state it will likely need to read from during
an
Trigger.shouldFire(org.apache.beam.sdk.transforms.windowing.Trigger.TriggerContext) call. |
void |
AfterPane.prefetchShouldFire(StateAccessor<?> state) |
void |
AfterDelayFromFirstElement.prefetchShouldFire(StateAccessor<?> state) |
| Modifier and Type | Method and Description |
|---|---|
StateAccessor<?> |
TriggerContextFactory.createStateAccessor(W window,
ExecutableTrigger trigger) |
abstract StateAccessor<K> |
ReduceFn.Context.state()
Return the interface for accessing state.
|
| Modifier and Type | Method and Description |
|---|---|
void |
PaneInfoTracker.clear(StateAccessor<?> state) |
void |
TriggerRunner.clearFinished(StateAccessor<?> state)
Clear the finished bits.
|
abstract void |
NonEmptyPanes.clearPane(StateAccessor<K> state)
Record that the given pane is empty.
|
void |
TriggerRunner.clearState(W window,
Timers timers,
StateAccessor<?> state)
Clear the state used for executing triggers, but leave the finished set to indicate
the window is closed.
|
boolean |
TriggerRunner.isClosed(StateAccessor<?> state)
Return true if the trigger is closed in the window corresponding to the specified state.
|
ReadableState<Boolean> |
SystemReduceFn.isEmpty(StateAccessor<K> state) |
abstract ReadableState<Boolean> |
ReduceFn.isEmpty(StateAccessor<K> context)
Returns true if the there is no buffered state.
|
abstract ReadableState<Boolean> |
NonEmptyPanes.isEmpty(StateAccessor<K> context)
Return true if the current pane for the window in
context is empty. |
void |
TriggerRunner.onFire(W window,
Timers timers,
StateAccessor<?> state) |
void |
TriggerRunner.prefetchForValue(W window,
StateAccessor<?> state) |
void |
TriggerRunner.prefetchOnFire(W window,
StateAccessor<?> state) |
void |
SystemReduceFn.prefetchOnTrigger(StateAccessor<K> state) |
void |
ReduceFn.prefetchOnTrigger(StateAccessor<K> context)
Called before
ReduceFn.onTrigger(org.apache.beam.sdk.util.ReduceFn<K, InputT, OutputT, W>.OnTriggerContext) is invoked to provide an opportunity to prefetch any needed
state. |
void |
TriggerRunner.prefetchShouldFire(W window,
StateAccessor<?> state) |
void |
TriggerRunner.processValue(W window,
org.joda.time.Instant timestamp,
Timers timers,
StateAccessor<?> state)
Run the trigger logic to deal with a new value.
|
abstract void |
NonEmptyPanes.recordContent(StateAccessor<K> context)
Record that some content has been added to the window in
context , and therefore the
current pane is not empty. |
boolean |
TriggerRunner.shouldFire(W window,
Timers timers,
StateAccessor<?> state) |
| Modifier and Type | Interface and Description |
|---|---|
interface |
MergingStateAccessor<K,W extends BoundedWindow>
Interface for accessing persistent state while windows are merging.
|
Copyright © 2016 The Apache Software Foundation. All rights reserved.


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{% extends "template.html" %} {% block title %}Tn-Core output{% endblock %} {% block container %}
Download the core reconstruction as an Excel file or as a COBRA-formatted model in a MATLAB file.
If the output of this webserver is useful in your research, please consider adding a statement such as the following to the methods section of your manuscript:
Transposon-sequeing data was integrated with the metabolic reconstruction using the Tn-Core webserver (1), which is dependent the Tn-Core Toolbox 2.1 (1), the COBRA Toolbox (2), the TIGER Toolbox 1.2.0-beta (3), FASTCORE 1.0 (4), GIMME (5), the SBMLToolbox 4.1.0 (6), libSBML 5.13.0 (7), MATLAB 2016b (mathworks.com), and the iLOG CPLEX Studio 12.7.1 solver (ibm.com).
(1) diCenzo GC, et al. (2019) Tn-Core: a toolbox for integrating Tn-seq gene essentiality data and constraint-based metabolic modelling. ACS Synth Biol. 8: 158-169.
(2) Schellenberger J, et al. (2011) Quantitative prediction of cellular metabolism with constraint-based models: the COBRA Toolbox v2.0. Nat Protoc. 6: 1290-1307.
(3) Jensen PA, et al. (2011) TIGER: Toolbox for integrating genome-scale metabolic models, expression data, and transcriptional regulatory networks. BMC Syst Biol. 5: 147.
(4) Vlassis N, et al. (2014). Fast reconstruction of compact context-specific metabolic network models. PLOS Comput Biol. 10: e1003424.
(5) Becker SA, Palsson BO. (2008) Context-specific metabolic networks are consistent with experiments. PLOS Comput Biol. 4: e1000082.
(6) Keating SM, et al. (2006) SBMLToolbox: an SBML toolbox for MATLAB users. Bioinformatics. 22: 1275-1277.
(7) Bornstein BJ, et al. (2008) LibSBML: an API library for SBML. Bioinformatics. 24: 880-881.


The PropertySet module is probably the most used component in OSCore. It provides a generic way to store and retrieve serializable information via a standard interface (com.opensymphony.module.propertyset.PropertySet). The idea behind the PropertSet module is that each entity instance in an application can have some extra set of attributed unknown at development time. One example of this is metadata, as the requirements for metadata change frequently in evolving businesses. By utilizing the PropertySet module, one can write an application that uses datasets unknown to the developer. Each property set implementation has it's own way of associating a PropertySet with an entity instance, but the usual way is by a key that consists of a String, entityName, and a long, entityId.
There are several PropertySet implementations provided in OSCore, but you are free to write your own to best fit your specific requirements. The three major implementations are:
All of these implementations persist data to a relational database. The following SQL script will create the tables that these implementations require. Please note that this SQL script has only been tested on Oracle and Hypersonic databases and may require slight modifications
create table OS_PROPERTYDATA (id NUMBER not null primary key, value LONG RAW null) create table OS_PROPERTYDATE (id NUMBER not null primary key, value DATE null) create table OS_PROPERTYDECIMAL (id NUMBER not null primary key, value double precision null) create table OS_PROPERTYNUMBER (id NUMBER not null primary key, value NUMBER null) create table OS_PROPERTYENTRY (id NUMBER not null primary key, entityName VARCHAR2(255) null, entityId NUMBER null, type NUMBER null, keyValue VARCHAR2(255) null) create table OS_PROPERTYSTRING (id NUMBER not null primary key, value VARCHAR2(255) null)
EJBPropertySet
In order to use the EJBPropertySet, you must install OSCore using the EJB Installation. The EJBPropertySet will only work if oscore.jar has successfully deployed to your application server. Also, the EJBPropertySet is also used in the helper class com.opensymphony.ejb.EntityAdapter, which essentially provides a PropertySet for any entity bean that extends EntityAdapter. The following is some sample code using the EJBPropertySet:
PropertyStoreHome psh = (PropertyStoreHome)
EJBUtils.lookup("ejb/os.PropertyStore", PropertyStoreHome.class); PropertySet ps = new EJBPropertySet(psh, "blah",20); ps.setString("foo", ps.getString("foo") + "!"); // 'foo' now is 'foo'!
In order to use the EJBPropertySet, we recommend that you place the following ejb-ref in your web.xml or ejb-jar.xml deployment descriptor. This ejb-ref will also need to be mapped to the jndi-name os.PropertyStore using vendor-specific deployment descriptors:
<ejb-ref> <ejb-ref-name>ejb/os.PropertyStore</ejb-ref-name> <ejb-ref-type>Session</ejb-ref-type> <home>com.opensymphony.module.propertyset.ejb.PropertyStoreHome</home> <remote>com.opensymphony.module.propertyset.ejb.PropertyStore</remote> <ejb-link>os.PropertyStore</ejb-link> </ejb-ref>
JDBCPropertySet
There is nothing very special about the JDBCPropertySet. Here is some a sample usage:
DataSource ds = new InitialContext().lookup("java:comp/env/ejb/DefaultDS"); PropertySet ps = new JDBCPropertySet(ds.openConnection()); ps.setString("foo", "bar");
OFBizPropertySet
There is nothing very special about the OFBizPropertySet once the OpenForBusiness entity definitions have been configured properly. The following is a sample usage:
PropertySet ps = new OFBizPropertySet("myEntity", 100); ps.setString("foo", "bar"); // just set foo=bar for myEntity #100


Static and dynamic 3D plots to be used with ordination results and in diversity analysis, especially with the vegan package.
| Version: | 1.1-2 |
| Depends: | R (≥ 3.2.0), vegan (≥ 2.3-0) |
| Imports: | cluster, rgl, scatterplot3d (≥ 0.3-40) |
| Published: | 2018-10-25 |
| Author: | Jari Oksanen [aut, cre], Roeland Kindt [aut], Gavin L. Simpson [aut] |
| Maintainer: | Jari Oksanen <jhoksane at gmail.com> |
| BugReports: | https://github.com/vegandevs/vegan3d/issues |
| License: | GPL-2 |
| URL: | https://cran.r-project.org/, https://github.com/vegandevs/vegan3d |
| NeedsCompilation: | no |
| Materials: | README NEWS |
| CRAN checks: | vegan3d results |
| Reference manual: | vegan3d.pdf |
| Package source: | vegan3d_1.1-2.tar.gz |
| Windows binaries: | r-devel: vegan3d_1.1-2.zip, r-release: vegan3d_1.1-2.zip, r-oldrel: vegan3d_1.1-2.zip |
| OS X binaries: | r-release: vegan3d_1.1-2.tgz, r-oldrel: vegan3d_1.1-2.tgz |
| Old sources: | vegan3d archive |
| Reverse depends: | analogueExtra |
Please use the canonical form https://CRAN.R-project.org/package=vegan3d to link to this page.


Starts a FOR.CELL-NEXT loop. This function is similar to FOR, except that the instructions between FOR.CELL and NEXT are repeated over a range of cells, one cell at a time, and there is no loop counter.
Syntax
FOR.CELL(ref_name, area_ref, skip_blanks)
Ref_name is the name in the form of text that Microsoft Excel gives to the one cell in the range that is currently being operated on; ref_name refers to a new cell during each loop.
Area_ref is the range of cells on which you want the FOR.CELL-NEXT loop to operate and can be a multiple selection. If area_ref is omitted, it is assumed to be the current selection.
Skip_blanks is a logical value specifying whether Microsoft Excel skips blank cells as it operates on the cells in area_ref.
| Skip_blanks | Result |
| TRUE | Skips blank cells in area_ref |
| FALSE or omitted | Operates on all cells in area_ref |
Remarks
FOR.CELL operates on each cell in a row from left to right one area at a time before moving to the next row in the selection.
Example
The following macro starts a FOR.CELL-NEXT loop and uses the name CurrentCell to refer to the cell in the range that is currently being operated on:
FOR.CELL("CurrentCell", SELECTION(), TRUE)
Related Functions
BREAK Interrupts a FOR-NEXT, FOR.CELL-NEXT, or WHILE-NEXT loop
FOR Starts a FOR-NEXT loop
NEXT Ends a FOR-NEXT, FOR.CELL-NEXT, or WHILE-NEXT loop
WHILE Starts a WHILE-NEXT loop
Return to index


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Provides CSV data export and charting libraries for BrandsEye.
This library is currently under development, and bits of it may change. It’s built on top of brandseyer2 (which allows arbitrary data to be pulled from the BrandsEye APIs), but provides easy means for exporting CSV data in a friendly manner.
The first steps to installing the library is to make sure that you have R and RStudio installed, along with the various fonts used in the charts. Finally, install this charting library itself. You can work your way through the following steps:
Download and install R.
Download and install RStudio. If you already have a version of RStudio installed, please make sure it’s more recent than version 1.1.287. If you’re unsure, you can update RStudio from it’s Help menu.
You need to install the fonts that the library uses when plotting. These are Open Sans and Nunito Sans fonts, which if you don’t have installed, you can get from Google Fonts.
You can install the this library using the devtools
package. You should do this from inside of RStudio, in the area called the Console. You can copy and paste the code below, and press enter to run it:
# Install the devtools package
install.packages("devtools")
library(devtools)
# Install the library
install_github("brandseye/chartingtest")
The next step is to authenticate yourself. This lets the library know who you are and what accounts you have access to. You do that by supplying your API key, as in the code below. Your API key is like a password to all of your accounts. Please do not share this with clients, since it would give them access to all of our accounts. You can find your API key by logging in to mash, and looking yourself up in the user list. Place your API key inbetween the quotes in the code below, and run it in the RStudio console.
 It will save your API key to reuse it again in the future.
Finally, you can load the charting library by copying and pasting the line below.
# Load the library
library(chartingtest)
All data can be downloaded and saved as a CSV (or plotted) using a single line of R. For example, here we get data for plotting volume against sentiment for the QUIR01BA
account, using a particular filter, and also asking to save the data.
library(chartingtest)
# Ask for data. Tell it that you want to save to file as well
volume_sentiment_metric("QUIR01BA", "published inthelast week and brand isorchildof 10006", save = TRUE)
And this is what the data would look like in R itself (there will be similar columns in the CSV).
library(chartingtest)
volume_sentiment_metric("QUIR01BA", "published inthelast week and brand isorchildof 10006")
You can find a list of functions that can provide data for you online, here.
If you’re using the library for the first time, you’ll need to add the required fonts. First download and install them on your machine:
Then add them to R using the extrafont
package:
# Install the extrafont package
install.packages("extrafont")
library(extrafont)
# Import fonts into R
font_import(pattern="OpenSans")
font_import(pattern="NunitoSans")
If you would like to get a new version of chartingtest
installed, run the following from your RStudio Console.
devtools::install_github("brandseye/brandseyer2") # Update brandseyer2
devtools::install_github("brandseye/chartingtest") # Update chartingtest
We have a ChangeLog file that you can read to find the most recent changes to the library.
Please note that this project is released with a Contributor Code of Conduct. By participating in this project you agree to abide by its terms.


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Shiv Ratan Gupta
Programmer | LPU School of Computer Science & Engineering
Class of 2019


About Me
A former middle school teacher who transitioned into tech two years ago, I am hooked on problem-solving and puzzle-working, finding bugs and improving functionality, and explaining integration possibilities to others.
On a usual day in the workplace, you can find me doing one of the following:
- Integrating multiple endpoints or SQL queries together into one usable endpoint using vanilla JavaScript
- Building custom React and JQuery apps
- Talking to potential customers about both the big-picture and precise details about my company's product
- High-fiving coworkers (virtually) over newly debugged code and/or the latest awesome talk with potential clients
Work samples
Weekend Adventure Hub
React, Redux, SCSS, API calls
I designed and built the entire front-end of this app using React, drawing from three different APIs to highlight outdoorsy activities along Colorado's Front Range. Behind the scenes, Redux organizes API calls and maintains state in a single store.
Blue Sky Catastrophe
React, SCSS
I built this website for a photographer friend with the intent to pass the repository to him once I was done building out and styling the components. Why React instead of HTML? Reusability and sustainability. The use of components made it easier both to update content and to transition between content managers.
Snowboard App
Node, React, and SCSS
I planned and built this fullstack app not only as a homage to powder days, but also to show off CRUD operations and authentication on both the front and back end.
Key Conservation Mobile
Node.js, React-Native, Redux
This is an app used by conservationist organizations to connect with potential supporters and donors. I made all necessary changes to the database during my two-month tenure and rigged up the navigation for maps and onboarding.


| set_gtsummary_theme {gtsummary} | R Documentation |
Use this function to set preferences for the display of gtsummary tables. The default formatting and styling throughout the gtsummary package are taken from the published reporting guidelines of the top four urology journals: European Urology, The Journal of Urology, Urology and the British Journal of Urology International. Use this function to change the default reporting style to match another journal, or your own personal style.
set_gtsummary_theme(x) reset_gtsummary_theme()
x |
A gtsummary theme function, e.g. |
Review the themes vignette to create your own themes.
Example
Available gtsummary themes
# Setting JAMA theme for gtsummary set_gtsummary_theme(theme_gtsummary_journal("jama")) # Themes can be combined by including more than one set_gtsummary_theme(theme_gtsummary_compact()) set_gtsummary_theme_ex1 <- trial %>% dplyr::select(age, grade, trt) %>% tbl_summary(by = trt) %>% add_stat_label() %>% as_gt() # reset gtsummary theme reset_gtsummary_theme()


|
LaserPirates
|
Public Member Functions | |
| Node | getSubmitInput (LevelController levelController) |
| SubmitObject< Point > | submitFunction (LevelController levelController) |
| Public Member Functions inherited from game.gui.component.PlayerInputPoint | |
| void | draw () |
| void | handle (MouseEvent event) |
| Node | getSubmitInput (LevelController levelController) |
Protected Member Functions | |
| NumberFieldInput | getFieldInput () |
| Protected Member Functions inherited from game.gui.component.PlayerInputPoint | |
| NumberFieldInput | getFieldInput () |
Definition at line 19 of file PlayerInputPointDistance.java.
|
protected |
Definition at line 71 of file PlayerInputPointDistance.java.
| Node game.gui.component.PlayerInputPointDistance.getSubmitInput | ( | LevelController | levelController | ) |
Implements game.gui.component.PlayerInput.
Definition at line 25 of file PlayerInputPointDistance.java.
| SubmitObject<Point> game.gui.component.PlayerInputPointDistance.submitFunction | ( | LevelController | levelController | ) |
Implements game.gui.component.PlayerInput.
Definition at line 62 of file PlayerInputPointDistance.java.


HumShubham
HumShubham has so much to offer that we must request you orient your device to portrait or find a larger screen. You won't be disappointed.
HumShubham
Full Stack Developer / Mobile App / Freelancer
Tech geek with a passion for website and mobile app development with occasional urges to try penetration testing.
Punctual person, math crazy, student with high addiction to well organised things. Fan of MMA, Soccer and street food.
Interested in the entire full stack spectrum and working with positive people on ambitious projects.
The main area of my expertise is server-side development(back end of the web).
HTML, CSS, JS, building small and medium sized web app using Django. Building mobile apps using Android or flutter. Creating designs(UI/UX prototyping and otherwise) using Photoshop, Illustrator, XD.
Visit my LinkedIn profile or just contact me.


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Harvest time
by Manny PalmeroA farmer treshes his palay in Gerona, Tarlac province after President Duterte declared that he would stop importing rice during harvest season.
A farmer treshes his palay in Gerona, Tarlac province after President Duterte declared that he would stop importing rice during harvest season.


How often are curricular standards mentioned on TV news?
With my friend Patrick, I was curious about using the newsflash package for something education-related. We came up with the idea of looking at mentions of the Common Core State Standards (for Mathematics and English Language Arts / Literacy) and the Next Generation Science Standards (for Science and Engineering).
On broadcast channels
We first looked at mentions across ABC, CBS, FOX, NBC, and PBS (the way newsflash works is to keyword search the closed captioning streams from the Internet Archive’s Television News Archive):
The Common Core State Standards were mentioned a not-so-impressive 74 times, and the Next Generation Science Standards were mentioned 10. These are not National curricular standards, but rather are those which can be adopted (and adapted, as in the case of Michigan’s K-12 Science Standards), which can explain why they are not mentioned very frequently, possibly. And Common Core State Standards are mentioned a lot more than the Next Generation Science Standards, perhaps because they have been adopted by many more states than the Next Generation Science Standards (although they have been adopted in more than half of the states).
But still, rock climbing was mentioned 1,302 times over the same period, and by a quick search, the Oscars were mentioned 36,190 times.
On cable channels
We wondered if maybe these are mentioned more if you search not ABC, CBS, and so on, but cable news channels (CNN, MSNBC, Fox News, Bloomberg, and others). There is not a substantial difference:
On cable news channels, Common Core State Standards were mentioned 143 times, and the Next Generation Science Standards were mentioned 10 again.
Punchlines
Curricular standards are almost never mentioned on the television news.
Common Core State Standards are mentioned a lot more frequently than the Next Generation Science Standards.
R code
The code in R is simple thanks to the awesome newsflash package
library(newsflash) # have to install with devtools::install_github("hrbrmstr/newsflash")
library(tidyverse)
library(hrbrthemes)
library(lubridate)
df1 <- query_tv("common core state", filter_network = "AFFNETALL")
df2 <- query_tv("next generation science", filter_network = "AFFNETALL")
df1$timeline$date_w <- lubridate::round_date(df$timeline$date_start, unit = "week")
df1$timeline$date_w <- lubridate::round_date(df2$timeline$date_start, unit = "week")
df2$timeline$group <- "CCSS"
df2$timeline$group <- "NGSS"
df <- bind_rows(df$timeline, df2$timeline)
df$timeline$date_w <- lubridate::round_date(df$timeline$date_start, unit = "week")
mutate(df, date_start=as.Date(date_w)) %>%
ggplot(aes(x = date_start, y = value, fill = group)) +
geom_col() +
facet_grid(~ group) +
theme(axis.text.x=element_text(hjust=c(0, 0.5, 0.5, 0.5, 0.5, 0.5))) +
ggtitle("Mathematics and Literacy and Science and Engineering Standards in the News (Broadcast)") +
ylab("Number of Mentions") +
labs(caption = "Data from the Internet Archive and GDELT Television Explorer (http://television.gdeltproject.org/cgi-bin/iatv_ftxtsearch/iatv_ftxtsearch).") +
theme_ipsum_rc(grid="XY") +
theme(legend.position = "noone")
df %>% group_by(group) %>% summarize(sumn = sum(value)) # total number of mentions


Go beyond syntax highlighting and autocomplete with IntelliSense, which provides smart completions based on variable types, function definitions, and imported modules.
Debug code right from the editor. Launch or attach to your running apps and debug with break points, call stacks, and an interactive console.


Pretty as a Pixel The Road to El Dorado
By Ross Anthony
Rich rain forest green, as brilliant as those iridescent plankton at the bottom of the ocean. And deep blue like the ocean too, pure crystal like Linda Carter's eyes. Contrasted and balanced by crimson shadows cracking the digital landscapes like a rainy day dawn casting blood-red beams across the bottoms of surly purple storm clouds.
This may just be the first animated feature that's worth seeing for the landscape scenery alone: a breath-taking crying waterfall, a flock of pink and red butterfly flowers fluttering from the jowls of a grizzly cave. But that doesn't mean there isn't a fun story. There is. Miguel and Tulio, best buddies in light-hearted con set off for the riches of El Dorado - the city of Gold! But greed, the mighty Cortes and his army, godly admiration of the masses, and of course, a woman, challenge their friendship and purpose.
Most of the chatter between Miguel and Tulio (Kevin Kline and Kenneth Branagh) is clever and charming (on an adult level), although the picture relies upon it just a little too long leaving a lull or two for us to endure between action sequences.  In fact, Rosie's sparse dialogue would barely rival this paragraph in length. Having Rosie in a film and not giving her a fiery speech of at least 30 seconds in length would be like forcing Jennifer Lopez to wear a bra.
But I still liked this film! The action scenes charge and roll like bulls through the streets of Pamplona. Kline and Branagh are more often charming than not while the paint and pixels DreamWorks set swirling on the screen effectively whirl excitement both aesthetically and physically inside their viewers. The film's vivid wonder and wholesome story are sure to leave an impression.
Despite its title, this isn't a "road" picture, but I suppose "Waterways to El Dorado" didn't quite chime. Enjoy.
The Road to El Dorado. Copyright © 2000. Rated G. Voices of Kevin Kline, Kenneth Branagh, Rosie Perez, Armand Assante, Edward James Olmos, Jim Cummings, Frank Welker and Tobin Bell. Directed by Eric "Bibo" Bergeron and Don Paul. Written by Ted Elliot and Terry Rossio. Music by Elton John. Produced by Bonne Radford and Brooke Breton at DreamWorks.
Grade..........................A-
-- Copyright © 2000. Ross Anthony, currently based in Los Angeles, has scripted and shot documentaries, music videos, and shorts in 35 countries across North America, Europe, Africa and Asia. For more reviews visit: http://RossAnthony.com
The review above was posted to the
rec.arts.movies.reviews newsgroup (de.rec.film.kritiken for German reviews).
The Internet Movie Database accepts no responsibility for the contents of the
review and has no editorial control. Unless stated otherwise, the copyright
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Please direct comments/criticisms of the review to relevant newsgroups.
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Related links: index of all rec.arts.movies.reviews reviews


Technocrat
for the technical geeks out there
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Dr. Mohammed Zia
PhD, OSGeo Chartered Member, Artificial Intelligence + Big Data in Geospatial Technologies
Heidelberg, Germany
LinkedIn
Machine and Deep Learning use-cases
Ships in satellite images
Kaggel task to identify ships in satellite images.
WIP


Parallelisation is key!
Our old tools don't cut it
- Threads (programmed directly)
- high memory overhead
- starting/stopping is expensive
- inter-thread communication entirely left to the user
- Locks/Mutexes/Semaphores/`synchronized`/`volatile`
- too little sync: race conditions, wrong results
- too much sync: deadlocks, poor performance
- very hard to use correctly
Too low-level!
Selected concurrency abstractions
Kilde: http://www.cgenarchive.org/uploads/2/5/2/6/25269392/7797686_orig.jpg
Simple stream example
import java.util.stream.*
final Stream<Integer> s = Stream.of(1,2,3);
final Stream<String> s2 = s.map(i -> "a" + 1);
s2.iterator(); //pull
s2.forEach(i -> System.out.println(i)); //push
Interface
public interface Publisher<T> {
public void subscribe(Subscriber<? super T> s);
}
public interface Subscriber<T> {
public void onSubscribe(Subscription s);
public void onNext(T t);
public void onError(Throwable t);
public void onComplete();
}
public interface Subscription {
public void request(long n);
public void cancel();
}
public interface Processor<T, R>
extends Subscriber<T>, Publisher<R> {
}
Not for user consumption!
(Use RS Impl Library instead)
sequenceDiagram
participant Publisher
participant Subscriber
Subscriber->>Publisher: subscribe(Subscription)
Publisher->>Subscriber: onSubscribe(Subscription)
Subscriber->>Publisher: Subscription.request(3)
loop 3 times
Publisher->>Subscriber: onNext
end
Publisher->>Subscriber: onComplete | onError
Kilde:http://media-cdn.tripadvisor.com/media/photo-s/05/be/70/1a/river-split.jpg
Kilde: https://hippiefreak69.files.wordpress.com/2015/07/river.jpg
Pipeline Processing Done Right
Continuous Pipelines across Machines
AKKA-STREAM: SIMPLE STREAM EXAMPLE
Source(stockTickerPublisher) // Source[Tick]
.filter(_.symbol == "AAPL") // Source[Tick]
.buffer(100000, OverflowStrategy.DropHead) // Source[Tick]
.splitWhen(x => isNewDay(x.timeStamp)) // Source[Source[Tick]]
.headAndTail // Source[(Tick, Source[Tick])]
.map { case (head, tail) =>
head -> tail.groupedWithin(1000, 1.second)
} // Source[(Tick, Source[Seq[[Tick]]])]
.via(someFlow) // Source[RichTick]
.map(toCandleStickChartColumn) // Source[CandleStickChartColumn]
.to(candleStickChartSink) // RunnableFlow
.run() // MaterializedMap
AKKA-STREAM: FLOW GRAPH EXAMPLE
FlowGraph { implicit b ⇒
val bcast = Broadcast[T]
val merge = Merge[T]
source ~> f1 ~> bcast ~> f2 ~> merge ~> f3 ~> sink
bcast ~> f4 ~> merge
}.run()


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Mum claims family were 'humiliated' by Tesco staff over Christmas turkey
Claire Harrison was shopping for a Christmas turkey at a Tesco supermarket near her home in Plymouth when she says she was confronted by staff who accused her of having not paid
by Milo Boyd, Miles O'Leary, https://www.mirror.co.uk/authors/milo-boyd/A mum has vowed never to step foot in a supermarket ever again following a humiliating row over a turkey.
Claire Harrison dropped into a Tesco near her home in Plymouth to do some shopping with her husband, auntie and mum.
The 31-year-old picked out some items before heading to the self-service checkouts and paying for her shopping, Plymouth Live reported .
Despite having scanned all of their food through the tills, the family claims, members of staff then raced over to demand proof of payment.
"I felt so humiliated with all them customers in there," the mother-of-five said.
"I have been going there for the last eight years and I will never, ever step foot in there again.
"I am a 31-year-old mum with five kids, I ain't no criminal."
Reliving the humiliating incident, Claire explained how the confrontation began.
"My auntie was on one till, my husband on another and my mum on the next one over," she said.
"My auntie bought her shopping, and paid for it, and my husband (who I was stood with) did the same.
"Then, one of the members of staff in the self-checkout area went over to my auntie and said; 'have you paid for that?' and she said, 'yes, I have."
"They went around our shopping bags, ripped the receipt out of my auntie's shopping bag. With my husband, they ripped the receipt straight out of his hand."
The shopping trip had been organised so Claire's mum could pick up a turkey for Christmas Day.
She said the birds are 'overpriced' in Morrisons - where they're going for £30 each - leading them to Tescos.
There they found a £20 bird, opting for the slightly pricier model than the bargain £16 bird that was on offer but appeared slightly "dented".
"My mum, she paid for her stuff on her bank card and bought a turkey for Christmas separately," Claire explained.
"They asked her for her receipt and she didn't know what she had done with it.
"She thought she might have left it in the shopping trolley. She found it and it was yanked out of her hand.
"There was no apology, nothing."
Claire said the checkout area was packed full of shoppers - but no-one else was confronted.
Shocked and enraged, Claire confronted staff before storming out with her family after proving they had actually paid.
"I stood my ground," Claire said. "I wasn't having them treating my auntie, husband and mum like that.

"Why did they approach us and not anybody else?"
Mirror Online has contacted Tesco for comment.


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