Awesome

Matlab MEX interface to the wholeBodyModel C++ interface, implemented to be able to create forward dynamics on matlab for prototyping purposes.

Installation

It is recommended to install the mex-wholebodymodel throught the codyco-superbuild. Once you have 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. To this purpose, run only once the script startup_mexWholeBodyModel.m in ${CODYCO_SUPERBUILD_ROOT}/build/install/share/mexWholeBodyModel. This should be enough to premanently add the required directories to your MATLAB path.

Examples

Rigid Body Dynamics

An example on how to use mex-wholebodymodel to compute the dynamics quantities of a rigid body is available at examples/rigidBodyDynamics.m.

Controllers

In controllers folder the user can find different whole-body controllers implemented using the mex-wholebodymodel interface. The "official" version is in the directory controllers/torqueBalancing, but also other balancing controllers are available. Matlab tools for visualization, inverse kinematics, etc. are available in controllers/tools folder. For more informations about the balancing controller check the relative README.

Simulations

Please note that the simulations of the inverse dynamics results are performed by using the iDyntree visualizer. In order to be able to use it, enable the options IDYNTREE_USES_MATLAB and IDYNTREE_USES_IRRLICHT using ccmake ./ in iDyntree build directory. If the irrlicht library is not installed on your computer, install it by using sudo apt install libirrlicht-dev.

mex-wholebodymodel

This folder contains all wrappers and utility functions for Matlab and also the C++ library for the mex-subroutine.

Tests

To verify regression in the code, when the user modifies it, some regression tests have been implemented in this repository.

Run tests

Tests use ctest infrastructure. To run the tests on this repository, after compiling the project, just follows these steps:

• Move (cd) to the build directory
• Run the ctest command. If the project supports multiples configurations (e.g. Xcode), the user also has to specify the configuration with -C, thus for example ctest -C Debug.

To print out the verbose output of the tests, launch the ctest command by adding the -VV option.

Add new tests

To add new tests, just write a script that runs the test and raise and exception if the test fails (for example using the assert command or the tests/WBAssertEqual.m function). Then modify the tests/WBMTests.m file to call the testing script.