Merge pull request #2 from juanjqo/dev

The `stanford_manipulator_modeling` example has been changed to account only for the standard DH convention. This is to make the example compatible with PR #75.

Author: bvadorno

manipulator/stanford_manipulator_modeling.m

@@ -1,4 +1,4 @@
-% (C) Copyright 2020 DQ Robotics Developers
+% (C) Copyright 2022 DQ Robotics Developers
 %
 % This file is part of DQ Robotics.
 %
@@ -59,8 +59,8 @@ function stanford_manipulator_modeling()
                             robot_MDH_a;
                             robot_MDH_alpha;
                             robot_type];
-        StanfordMDHRobot = DQ_SerialManipulatorMDH(robot_MDH_matrix);
-        StanfordMDHRobot.set_effector(1+DQ.E*0.5*DQ.k*d6);
+%         StanfordMDHRobot = DQ_SerialManipulatorMDH(robot_MDH_matrix);
+%         StanfordMDHRobot.set_effector(1+DQ.E*0.5*DQ.k*d6);
 
 
         number_of_trials = 100;  
@@ -74,61 +74,23 @@ function stanford_manipulator_modeling()
         TestCase = matlab.unittest.TestCase.forInteractiveUse;
 
 
-        TestCase.assertEqual(StanfordDHRobot.get_thetas(),robot_DH_theta, "AbsTol", DQ.threshold,...
-                "Error in DQ_SerialManipulatorDH.get_thetas()");
-
-        TestCase.assertEqual(StanfordDHRobot.get_ds(),robot_DH_d, "AbsTol", DQ.threshold,...
-        "Error in DQ_SerialManipulatorDH.get_ds()");
-
-        TestCase.assertEqual(StanfordDHRobot.get_as(),robot_DH_a, "AbsTol", DQ.threshold,...
-        "Error in DQ_SerialManipulatorDH.get_as()");
-        
-        TestCase.assertEqual(StanfordDHRobot.get_alphas(),robot_DH_alpha, "AbsTol", DQ.threshold,...
-        "Error in DQ_SerialManipulatorDH.get_alphas()");
-
-        TestCase.assertEqual(StanfordDHRobot.get_types(),robot_type, "AbsTol", DQ.threshold,...
-        "Error in DQ_SerialManipulatorDH.get_types()");
-
-
-
-        TestCase.assertEqual(StanfordMDHRobot.get_thetas(),robot_MDH_theta, "AbsTol", DQ.threshold,...
-                "Error in DQ_SerialManipulatorMDH.get_thetas()");
-
-        TestCase.assertEqual(StanfordMDHRobot.get_ds(),robot_MDH_d, "AbsTol", DQ.threshold,...
-        "Error in DQ_SerialManipulatorMDH.get_ds()");
-
-        TestCase.assertEqual(StanfordMDHRobot.get_as(),robot_MDH_a, "AbsTol", DQ.threshold,...
-        "Error in DQ_SerialManipulatorMDH.get_as()");
-        
-        TestCase.assertEqual(StanfordMDHRobot.get_alphas(),robot_MDH_alpha, "AbsTol", DQ.threshold,...
-        "Error in DQ_SerialManipulatorMDH.get_alphas()");
-
-        TestCase.assertEqual(StanfordMDHRobot.get_types(),robot_type, "AbsTol", DQ.threshold,...
-        "Error in DQ_SerialManipulatorMDH.get_types()");
-
-
-
-        
         for i=1:number_of_trials        
             q = q_list(:,i);
             q_dot = q_dot_list(:,i);
             x1 = StanfordDHRobot.fkm(q);
             J1 = StanfordDHRobot.pose_jacobian(q);
-            J1_dot = StanfordDHRobot.pose_jacobian_derivative(q,q_dot);           
-            x2 = StanfordMDHRobot.fkm(q);
-            J2 = StanfordMDHRobot.pose_jacobian(q);
-
-            % The pose_jacobian_derivative method does not take into
-            % account the end effector. Because of that, we use the
-            % Hamilton operator to take it into account.
-            J2_dot = haminus8(StanfordMDHRobot.get_effector())*StanfordMDHRobot.pose_jacobian_derivative(q,q_dot);
+            J1_dot = StanfordDHRobot.pose_jacobian_derivative(q,q_dot);  
+
+%             x2 = StanfordMDHRobot.fkm(q);
+%             J2 = StanfordMDHRobot.pose_jacobian(q);
+%             J2_dot = StanfordMDHRobot.pose_jacobian_derivative(q,q_dot);
 
-            TestCase.assertEqual(vec8(x1),vec8(x2), "AbsTol", DQ.threshold,...
-                "Error in DQ_SerialManipulatorMDH.fkm");
-            TestCase.assertEqual(J1,J2, "AbsTol", DQ.threshold,...
-                "Error in DQ_SerialManipulatorMDH.pose_jacobian");
-            TestCase.assertEqual(J1_dot,J2_dot,"AbsTol", DQ.threshold,...
-                "Error in DQ_SerialManipulatorMDH.pose_jacobian_derivative");
+%             TestCase.assertEqual(vec8(x1),vec8(x2), "AbsTol", DQ.threshold,...
+%                 "Error in DQ_SerialManipulatorMDH.fkm");
+%             TestCase.assertEqual(J1,J2, "AbsTol", DQ.threshold,...
+%                 "Error in DQ_SerialManipulatorMDH.pose_jacobian");
+%             TestCase.assertEqual(J1_dot,J2_dot,"AbsTol", DQ.threshold,...
+%                 "Error in DQ_SerialManipulatorMDH.pose_jacobian_derivative");
 
         end