LIBRA_MATLAB

Collection of MATLAB scripts, apps, and Simulink models for use in the LIBRA project.

• Analysis
• ETA
• Fluid System
• Forward Kinematics
• Revolute Joint
• Other Info
  • Formatting

Analysis

Analysis scripts for handling output files from other applications (e.g., LIBRA-app, CloudCompute).

ETA

Simulink models and scripts defining the Elastic Telescopic Arm, or ETA, used as the arm/manipulator on LIBRA-II.

Fluid System

Helper scripts related to the fluid-based counterweight system used by both LIBRA-I and LIBRA-II.

Forward Kinematics

Apps and scripts defining forward kinematics calculations and visualizations of LIBRA-I; loosely based on Yuto Goto's forward kinematics script.

Revolute Joint

Helper scripts related to the revolute joint on LIBRA-II (sometimes called REVJNT).

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Other Info

Formatting

You can use the included M-script MBeautifier to format your code. To add format-code as a MATLAB command to edit your active file, edit/create the following files in your MATLAB user path (if you're not sure where that is, type userpath into your Command window).

startup.m

Make sure to replace <PATH-TO-THIS-REPO> with the full path to this repository.

% MBeautifier - MATLAB Code Formatting
addpath("<PATH-TO-THIS-REPO>\thirdparty\MBeautifier")

format_code.m

function format_code()
    MBeautify.formatCurrentEditorPage();
end