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Controllers dev #71
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Controllers dev #71
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Conflicts: README.md matlab-src/jointSpaceLinearization/README.md matlab-src/torqueBalancing_matlab/JointSpace_balancing/forwardDynamics_js.m matlab-src/torqueBalancing_matlab/JointSpace_balancing/integrateForwardDynamics_js.m matlab-src/torqueBalancing_matlab/JointSpace_balancing/inverseKinematics/ikin_graphics.m matlab-src/torqueBalancing_matlab/JointSpace_balancing/visualizer_js.m matlab-src/torqueBalancing_matlab/StackOfTask_balancing/forwardDynamics_SoT.m matlab-src/torqueBalancing_matlab/StackOfTask_balancing/stackOfTaskController.m matlab-src/torqueBalancing_matlab/StackOfTask_balancing/visualizer_SoT.m mex-wholebodymodel/matlab/utilities/fromMesh2sortedVector.m mex-wholebodymodel/matlab/utilities/plot_set.m mex-wholebodymodel/matlab/utilities/roty.m mex-wholebodymodel/matlab/utilities/sortedVector2mesh.m mex-wholebodymodel/matlab/utilities/stateDemux.m
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| ## mexTorqueBalancing1.0 | |||
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| This is the implementation of iCub balancing controller using MATLAB. The code is organizaed using different modules. | |||
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typo: organizaed --> organized
| xyzpairs(jj,1)+qq2(1) , xyzpairs(jj,3)+qq2(2) , xyzpairs(jj,5)+qq2(3); | ||
| xyzpairs(jj,1)+qq3(1) , xyzpairs(jj,3)+qq3(2) , xyzpairs(jj,5)+qq3(3); | ||
| xyzpairs(jj,1)+qq4(1) , xyzpairs(jj,3)+qq4(2) , xyzpairs(jj,5)+qq4(3)]; | ||
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@gabrielenava In the future, please check before blindly trusting automatic tools such as "Smart indent" : in this case for example the old version was much more readable.
| # 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) | ||
| # Install configuration files | ||
| install(FILES ${CMAKE_BINARY_DIR}/startup_Mex.m DESTINATION ${CMAKE_INSTALL_PREFIX}/mex) |
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You can avoid to add explictly ${CMAKE_BINARY_DIR} in the files because this is the directory in which CMake is currently working, and to add ${CMAKE_INSTALL_PREFIX} from the DESTINATION argument due to how the install CMake function works.
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Furthermore, startup_Mex.m is a bit confusing name , as mex is a generic suffix. startup_mexwholebodymodel.m perhaps could be a better name.
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The balancing controllers have been updated to the last version. Their structure have been changed in order to be more user-friendly. Various bugs in the balancing controller fixed. Some never-used functions have been deleted, while other functions moved into
mex-wholebodymodel/matlab/utilities. A new functionstartupMex.m(copied from the WB Toolbox) have been created, in order to permanently add the installation folders to the matlab path.