fixed (hopefully all) bugs from smartIndent and startup.m

robotology-legacy · Aug 4, 2016 · 960166e · 960166e
1 parent ffcdb98
commit 960166e
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Showing 34 changed files with 223 additions and 247 deletions.
diff --git a/startup_Mex.m.in → .startup_mexWholeBodyModel.m.in b/startup_Mex.m.in → .startup_mexWholeBodyModel.m.in
@@ -1,10 +1,10 @@
-%% startup_Mex.m
+%% startup_mexWholeBodyModel.m
 %  Run this script only once to permanently add the required folders for using mexWholebodymodel toolbox  to your 
 %  MATLAB path. 
 
 fprintf('\nmexWholeBodyModel Toolbox\n');
 
-installDir = '@CMAKE_BINARY_DIR@/install';
+installDir = '@CMAKE_INSTALL_PREFIX@';
 mexDir     = [installDir, filesep, 'mex'];
 mexWrapDir = [mexDir, filesep, 'mexwbi-wrappers'];
 mexUtDir   = [mexDir, filesep, 'mexwbi-utilities'];
@@ -38,7 +38,7 @@ fprintf('Saving paths to %s\n\n', [fileDir, filesep, 'pathdef.m']);
 
 if (~savepath([fileDir, filesep, 'pathdef.m']))
     fprintf(['A file called pathdef.m has been created in your %s folder.\n', ...
-        'This should be enough to permanentely add all the Mex-Toolbox to ', ...
+        'This should be enough to permanentely add all the mexWholeBodyModel-Toolbox to ', ...
         'your MATLAB installation.\n'], fileDir);
 else
     disp('There was an error generating pathdef.m To proceed please manually add the contents of variables mexDir, mexUtDir, mexWrapDir to your matlabpath');

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -59,11 +59,11 @@ enable_testing()
 
 add_subdirectory(tests)
 
-#STARTUP MEX-TOOLBOX
-# The following line is to properly configure the installation script of the Mex-toolbox
-configure_file(${CMAKE_CURRENT_SOURCE_DIR}/startup_Mex.m.in ${CMAKE_BINARY_DIR}/startup_Mex.m)
+#STARTUP mexWholeBodyModel-TOOLBOX
+# The following line is to properly configure the installation script of the mexWholeBodyModel-toolbox
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/.startup_mexWholeBodyModel.m.in ${CMAKE_BINARY_DIR}/startup_mexWholeBodyModel.m)
 # Install configuration files
-install(FILES ${CMAKE_BINARY_DIR}/startup_Mex.m DESTINATION ${CMAKE_INSTALL_PREFIX}/mex)
+install(FILES ${CMAKE_BINARY_DIR}/startup_mexWholeBodyModel.m DESTINATION mex)
 
 
 
diff --git a/README.md b/README.md
@@ -5,8 +5,8 @@ Matlab MEX interface to the wholeBodyModel C++ interface, implemented to be able
 It is recommended to install the `mex-wholebodymodel` throught the [`codyco-superbuild`](https://github.com/robotology/codyco-superbuild/).
 Once you installed the `codyco-superbuild`, the `mex-wholebodymodel` files should have been installed in
 `${CODYCO_SUPERBUILD_ROOT}/build/install/mex` and its subdirectories (for the `mex-wholebodymodel`, this directories are `mexwbi-wrappers` and `mexwbi-utilities`).
-To execute scripts that use `mex-wholebodymodel`, make sure that this directories are part of your [MATLAB search path](http://www.mathworks.com/help/matlab/ref/path.html). To this purpose, run only once the script `startupMex.m` in 
-`${CODYCO_SUPERBUILD_ROOT}/main/mexWholeBodyModel`. This should be enough to premanently add the required directories to your MATLAB path.
+To execute scripts that use `mex-wholebodymodel`, make sure that this directories are part of your [MATLAB search path](http://www.mathworks.com/help/matlab/ref/path.html). To this purpose, run only once the script `startup_mexWholeBodyModel.m` in 
+`${CODYCO_SUPERBUILD_ROOT}/build/install/mex`. This should be enough to premanently add the required directories to your MATLAB path.
 
 ## Examples 
 

diff --git a/controllers/experiments/torqueBalancingGainTuning/initializeTorqueBalancing.m b/controllers/experiments/torqueBalancingGainTuning/initializeTorqueBalancing.m
@@ -57,19 +57,19 @@
 % run the simulation with CONFIG.linearizationDebug = 1 to verify that the
 % joint space linearization is performed properly, and to check the
 % controlled system's stability
-CONFIG.linearizationDebug        = 1;                                      %either 0 or 1
+CONFIG.linearizationDebug  = 1;                                            %either 0 or 1
 
 % enter in debug mode
 if CONFIG.linearizationDebug == 1
 
-    CONFIG.demo_movements   = 0;
-    CONFIG.use_QPsolver     = 0;
+    CONFIG.demo_movements  = 0;
+    CONFIG.use_QPsolver    = 0;
 end
 
 %% Forward dynamics integration setup
 % CONFIG.integrateWithFixedStep will use a Euler forward integrator instead
 % of ODE15s to integrate the forward dynamics.
-CONFIG.integrateWithFixedStep    = 0;                                      %either 0 or 1
+CONFIG.integrateWithFixedStep = 0;                                         %either 0 or 1
 
 % The fixed step integration needs a desingularization of system mass matrix
 % to converge to a solution

diff --git a/controllers/experiments/torqueBalancingGainTuning/src/forwardDynamics.m b/controllers/experiments/torqueBalancingGainTuning/src/forwardDynamics.m
@@ -70,7 +70,7 @@
 if CONFIG.linearizationDebug  == 1
     % linearized joint accelerations
     visualization.ddqjLin    = trajectory.JointReferences.ddqjRef-CONFIG.linearization.KS*(qj-trajectory.JointReferences.qjRef)...
-        -CONFIG.linearization.KD*(dqj-trajectory.JointReferences.dqjRef);
+                              -CONFIG.linearization.KD*(dqj-trajectory.JointReferences.dqjRef);
 end
 
 %% Balancing controller

diff --git a/controllers/experiments/torqueBalancingGainTuning/src/runController.m b/controllers/experiments/torqueBalancingGainTuning/src/runController.m
@@ -23,7 +23,7 @@
 use_QPsolver          = CONFIG.use_QPsolver;
 initForKinematics     = CONFIG.initForKinematics;
 S                     = [zeros(6,ndof);
-    eye(ndof,ndof)];
+                         eye(ndof,ndof)];
 
 %% Dynamics
 dJcNu                 = DYNAMICS.dJcNu;

diff --git a/controllers/experiments/torqueBalancingGainTuning/src/stackOfTaskController.m b/controllers/experiments/torqueBalancingGainTuning/src/stackOfTaskController.m
@@ -72,20 +72,20 @@
 % General parameters
 gravAcc             = 9.81;
 S                   = [zeros(6,ndof);
-    eye(ndof,ndof)];
+                       eye(ndof,ndof)];
 f_grav              = [zeros(2,1);
-    -m*gravAcc;
-    zeros(3,1)];
+                      -m*gravAcc;
+                       zeros(3,1)];
 
 %% Multiplier of contact wrenches at CoM
 posRFoot            = RFootPoseEul(1:3);
 posLFoot            = LFootPoseEul(1:3);
 distRF              = posRFoot - xCoM;       % Application point of the contact force on the right foot w.r.t. CoM
 distLF              = posLFoot - xCoM;       % Application point of the contact force on the left  foot w.r.t. CoM
 AL                  = [eye(3),     zeros(3);
-    skew(distLF),eye(3)];
+                       skew(distLF),eye(3)];
 AR                  = [eye(3),     zeros(3);
-    skew(distRF),eye(3)];
+                       skew(distRF),eye(3)];
 
 % One foot or two feet on ground selector
 if      sum(feet_on_ground) == 2
@@ -132,7 +132,7 @@
 posturalCorr       =  CONFIG.linearization.BNull;
 
 tauModel           =  pinvLambda*(JcMinv*h - dJcNu) + NullLambda*(h(7:end) -Mbj'/Mb*h(1:6)...
-    + Mbar*ddqjRef - impedances*posturalCorr*qjTilde - dampings*posturalCorr*dqjTilde);
+                      + Mbar*ddqjRef - impedances*posturalCorr*qjTilde - dampings*posturalCorr*dqjTilde);
 
 %% Desired contact forces computation
 fcHDot             = pinvA*(HDotDes - f_grav);

diff --git a/controllers/experiments/torqueBalancingGainTuning/src/trajectoryGenerator.m b/controllers/experiments/torqueBalancingGainTuning/src/trajectoryGenerator.m
@@ -21,10 +21,10 @@
 % Initial parameters
 directionOfOscillation     = [0;0;0];
 referenceParams            = [0.0 0.0];   %referenceParams(1) = amplitude of ascillations in meters
-%referenceParams(2) = frequency of ascillations in Hertz
+                                          %referenceParams(2) = frequency of ascillations in Hertz
 
 noOscillationTime          = 0;           % If params.demo_movements = 1, the variable noOscillationTime is the time, in seconds,
-% that the robot waits before starting the left-and-right
+                                          % that the robot waits before starting the left-and-right
 
 %% Trajectory definition
 if  demo_movements == 1

diff --git a/controllers/experiments/torqueBalancingJointControl/src/runController.m b/controllers/experiments/torqueBalancingJointControl/src/runController.m
@@ -22,7 +22,7 @@
 feet_on_ground        = CONFIG.feet_on_ground;
 initForKinematics     = CONFIG.initForKinematics;
 S                     = [zeros(6,ndof);
-    eye(ndof,ndof)];
+                         eye(ndof,ndof)];
 
 %% Dynamics
 dJcNu                 = DYNAMICS.dJcNu;

diff --git a/controllers/experiments/torqueBalancingJointControl/src/trajectoryGenerator.m b/controllers/experiments/torqueBalancingJointControl/src/trajectoryGenerator.m
@@ -21,10 +21,10 @@
 % Initial parameters
 directionOfOscillation     = [0;0;0];
 referenceParams            = [0.0 0.0];   %referenceParams(1) = amplitude of ascillations in meters
-%referenceParams(2) = frequency of ascillations in Hertz
+                                          %referenceParams(2) = frequency of ascillations in Hertz
 
 noOscillationTime          = 0;           % If params.demo_movements = 1, the variable noOscillationTime is the time, in seconds,
-% that the robot waits before starting the left-and-right
+                                          % that the robot waits before starting the left-and-right
 
 %% Trajectory definition
 if  demo_movements == 1