Whole-Body-Controllers Release 2.5.1 (#108)

* added a new momentum-velocity controller

* cleanup of the WCB simulink library

* improvements in velocity controller (#104)

* improvements in velocity controller

* added new line at the end of the files

* Velocity Controller-Relax Momentum Constraint  (#107)

* fixes centroidalTransformaion and ComputeReferencesController

* fixed some typos, removed hardcoded variables, clean up

* fixed indeces for velocity limits

* minor fixes

Co-authored-by: Giuseppe <gl.giuseppelerario@gmail.com>
Co-authored-by: CarlottaSartore <56030908+CarlottaSartore@users.noreply.github.com>

.gitignore

@@ -26,6 +26,8 @@ slprj/
 # Simulink slx
 *.slxc
 *.slx
+!/library/simulink-library/*.slx
+!/library/simulink-library/*/*.slx
 
 # Matlab binary .mat files
 *.mat

README.md

@@ -22,7 +22,7 @@ The repository contains `Simulink-based whole-body controllers` developed to con
 This repository depends upon the following Software:
 
 - [CMake](https://cmake.org/), at least version **3.5**.
-- [Matlab/Simulink](https://it.mathworks.com/products/matlab.html), default version **R2017b**.
+- [Matlab/Simulink](https://it.mathworks.com/products/matlab.html), default version **R2019b**.
 - [WB-Toolbox](https://github.com/robotology/WB-Toolbox) and [blockfactory](https://github.com/robotology/blockfactory).
 - [Gazebo Simulator](http://gazebosim.org/), default version **9.0**.
 - [gazebo-yarp-plugins](https://github.com/robotology/gazebo-yarp-plugins).

config/export_WBC.m

@@ -1,8 +1,8 @@
 %% export_WBC.m
 %
 %  Export Simulink models to a previous supported version. Currently, 
-%  the default version is MATLAB 2017b. IF YOU OWE A MATLAB VERSION GREATER 
-%  THAN 2017B, REMEMBER TO EXPORT ALL MODELS TO THE DEFAULT SUPPORTED 
+%  the default version is MATLAB 2019b. IF YOU OWE A MATLAB VERSION GREATER 
+%  THAN 2019B, REMEMBER TO EXPORT ALL MODELS TO THE DEFAULT SUPPORTED 
 %  VERSION BEFORE PUBLISHING ANY MODIFICATIONS, OTHERWISE OTHER USERS MAY 
 %  NOT BE ABLE TO USE THE MODELS!
 %
@@ -12,6 +12,7 @@
 
 fprintf('\nwhole-body-controllers\n');
 fprintf('\nExport project to a previous Matlab version\n');
+fprintf('\nWBC Default version: R2019b\n');
 fprintf('\nOldest supported version: R2014a\n');
 
 fprintf('\n######################################################\n');
@@ -21,19 +22,20 @@
 fprintf('\nmay still not work properly.\n');
 fprintf('\n######################################################\n\n');
 
-% list of all simulink models (in this repo only .mdl are allowed) in the project
+% list of all simulink mdl and slx in the project
 mdlList   = dir('../**/*.mdl');
+slxList   = dir('../**/*.slx');
 
 % matlab version to which export all models
 matlabVer = input('Specify the Matlab version to export models (format: R20XXx) ','s');
 
 %% Verify matlab version
 
-% latest version: R2018a
-matlabVer_list     = {'R2014a','R2014b','R2015a','R2015b','R2016a','R2016b','R2017a','R2017b','R2018a'};
+% latest version: R2019b
+matlabVer_list     = {'R2014a','R2014b','R2015a','R2015b','R2016a','R2016b','R2017a','R2017b','R2018a','R2018b','R2019a','R2019b'};
 
 % associated Simulink version
-simulinkVer_number = {'8.3','8.4','8.5','8.6','8.7','8.8','8.9','9.0','9.1'};
+simulinkVer_number = {'8.3','8.4','8.5','8.6','8.7','8.8','8.9','9.0','9.1','9.2','9.3','10.0'};
 
 % installed Simulink version
 currentSimulinkVer = ver('Simulink');
@@ -65,14 +67,15 @@
 end
 
 %% Load the Simulink models and export to previous versions
-mdlVer_list = {'R2014A_MDL','R2014B_MDL','R2015A_MDL','R2015B_MDL','R2016A_MDL','R2016B_MDL','R2017A_MDL','R2017B_MDL','R2018A_MDL'};
+mdlVer_list = {'R2014A_MDL','R2014B_MDL','R2015A_MDL','R2015B_MDL','R2016A_MDL','R2016B_MDL','R2017A_MDL','R2017B_MDL','R2018A_MDL','R2018B_MDL','R2019A_MDL','R2019B_MDL'};
+slxVer_list = {'R2014A_SLX','R2014B_SLX','R2015A_SLX','R2015B_SLX','R2016A_SLX','R2016B_SLX','R2017A_SLX','R2017B_SLX','R2018A_SLX','R2018B_SLX','R2019A_SLX','R2019B_SLX'};
 
 % close all open models (if there is any)
 close_system('',0)
 
 for k = 1:length(mdlList)
 
-    fprintf(['\nLOADED MODEL: ' mdlList(k).name '\n']);
+    fprintf(['\nLOADED MDL FILE: ' mdlList(k).name '\n']);
     open_system([mdlList(k).folder,'/',mdlList(k).name],'loadonly');
 
     % save the model in a temporary copy. Then, export the copy into
@@ -97,5 +100,32 @@
     % delete the temporary model
     delete([mdlList(k).folder,'/',mdlList(k).name(1:end-4),'_temp.mdl'])
 end
+for k = 1:length(slxList)
+
+    fprintf(['\nLOADED SLX FILE: ' slxList(k).name '\n']);
+    open_system([slxList(k).folder,'/',slxList(k).name],'loadonly');
+
+    % save the model in a temporary copy. Then, export the copy into
+    % the previous version, by overwriting the original model
+    fprintf('\n saving a temporary copy of the model \n\n');
+    save_system([slxList(k).folder,'/',slxList(k).name], [slxList(k).folder,'/',slxList(k).name(1:end-4),'_temp.slx']);
+    close_system([slxList(k).folder,'/',slxList(k).name],0);        
+    open_system([slxList(k).folder,'/',slxList(k).name(1:end-4),'_temp.slx'],'loadonly');
+
+    % do not export if simulink models are already at the required version
+    if str2double(simulinkVer_number{matlabVer_found}) == str2double(currentSimulinkVer.Version)
+
+       fprintf('\n model is already at the required version. \n');  
+    else     
+       save_system([slxList(k).folder,'/',slxList(k).name(1:end-4),'_temp.slx'], [slxList(k).folder,'/',slxList(k).name], 'ExportToVersion', slxVer_list{matlabVer_found});
+    end
+
+    % closing the temporary model
+    fprintf('\n closing the model \n');
+    close_system([slxList(k).folder,'/',slxList(k).name(1:end-4),'_temp.slx']);
+
+    % delete the temporary model
+    delete([slxList(k).folder,'/',slxList(k).name(1:end-4),'_temp.slx'])
+end
 
 fprintf('\nDone.\n');

config/startup_WBC.m.in

@@ -11,13 +11,20 @@ pathToInstallDir = '@CMAKE_INSTALL_PREFIX@';
 
 % path to the matlab-wbc library
 pathToLibrary = [pathToInstallDir, filesep, 'mex'];
+pathToSimLib  = [pathToInstallDir, filesep, 'mex/+wbc/simulink'];
 
 if exist(pathToLibrary, 'dir')
 
     addpath(pathToLibrary);
 else
     error('Path to the "+wbc" library not found or not correct.')
 end
+if exist(pathToSimLib, 'dir')
+
+    addpath(pathToSimLib);
+else
+    error('Path to the "+wbc/simulink" library not found or not correct.')
+end
 
 % Path to the Matlab userpath
 pathToUserpath        = userpath;