========== SVN ================

Add files to ignored list in svn status:
	svn propedit svn:ignore .

========== VIM ================

Check also:
	http://www.viemu.com/vi-vim-cheat-sheet.gif

Set line numbers:
	:set number

Unset line numbers
	:set nonumber

Block comment:
	select first chars with 'CTRL + v' then ':norm i#'

Uncomment block:
	:norm ^x

find and replace: 
	:s/foo/bar/g' in one line or ':%s/foo/bar/g' in entire file

========== PDF/EPS =============

compress:
	gs -sDEVICE=pdfwrite -dCompatibilityLevel=1.4 -dPDFSETTINGS=/screen -dNOPAUSE -dQUIET -dBATCH -sOutputFile=file_out.pdf file_in.pdf

convert:
	epstopdf file_in.eps
	pdftops -eps file_in.pdf
	(inkscape in.pdf --export-eps=out.eps doesn't compress!)

wordcount in pdf:
	pdftotext filename.pdf - | tr -d '.' | wc -w

========= MOUNTING =========

wtf filer:
	sudo mount -t smbfs -o username=s070476,workgroup=TUE //wtbfiler.campus.tue.nl/projects/RoboCup  ./wtbfiler/

========= AMIGO ==========

bring up to date:
	tue-get update
	tue-make

start fast_simulator:
	choose fast sim in 'rsettings'
	astart
	amiddle
	rviz-amigo
	ui in browser via http://localhost:8000/

pull package to dev space:
	tue-dev name_of_package
	tue-make-dev

example publish jointstate msg:
	rostopic pub /amigo/torso/references sensor_msgs/JointState '{header: auto, name: '[torso_joint]', position: '[0.5]', velocity: '[]', effort: '[]'}' --once

code profiling:
	in rosnode include <profiling/StatsPublisher.h>
	StatsPublisher sp; sp.startTimer("main"); sp.stopTimer("main"); sp.publish();
	visualize in terminal with: rosrun code_profiler liveprofile.py /<name_of_node>/profiler_stats

whole body controller:
	main in wbc_node.cpp, runs at 50hz
	startup, startup amigo, then: roslaunch amigo_whole_body_controller start.launch
	tool to test cartisian endpose: rosrun amigo_whole_body_controller TestCartesianMotionObjective.py 0 0.2 0.2 0 0 0
	
base frame, from perspective of robot:
	'x' straight forward, 'y' to the left, 'z' pointing upward, origin at floor-level