Updating to 20 10

CONTRIBUTING.md

@@ -0,0 +1,69 @@
+# Welcome contributors to the DQ Robotics!
+
+We are happy about your interest in our project. Thank you for your time. DQ Robotics is a standalone open-source library and your contributions are always welcome!
+
+This is a set of guidelines for contribuiting to [DQ Robotics](https://dqrobotics.github.io/).
+
+# Workflow
+
+- Fork the [master branch of the dqrobotics/matlab](https://github.com/dqrobotics/matlab).
+- Propose your modifications and open a draft pull request.
+- Your modifications will be tested automatically by Github actions. Specifically, Github actions runs the tests of [matlab-tests](https://github.com/dqrobotics/matlab-tests), which executes all the examples of [matlab-examples](https://github.com/dqrobotics/matlab-examples). 
+- Once your draft pull request passes all the tests, you can switch the status to pull request. (More details [here](https://github.blog/2019-02-14-introducing-draft-pull-requests/)).
+
+![Untitled Diagram](https://user-images.githubusercontent.com/23158313/150255548-b4475747-444e-4530-9b20-def1655bb4f9.png)
+
+## Case 1 (Common cases)
+
+- If your modifications pass all tests, a designated member of our team will review all the changes and they will accept them after all necessary adjustments if any. 
+
+## Case 2 (Very rare cases)
+
+- In some cases, your modifications would fail some tests because of incompatibility with the current version of [matlab-tests](https://github.com/dqrobotics/matlab-tests) and/or [matlab-examples](https://github.com/dqrobotics/matlab-examples). In thoses cases, you would propose changes in [matlab-tests](https://github.com/dqrobotics/matlab-tests) and [matlab-examples](https://github.com/dqrobotics/matlab-examples) to make them compatible with your new version of the dqrobotics/matlab. 
+- A designated member of our team will review all the changes proposed in both [matlab-tests](https://github.com/dqrobotics/matlab-tests) and [matlab-examples](https://github.com/dqrobotics/matlab-examples). They will accept the modifications in the master branch after all necessary adjustments. At this point, it is expected that your pull request passes all the tests in the master branch but fails in the release branch.
+
+![master_and_release](https://user-images.githubusercontent.com/23158313/150379489-cabc85bb-dbe4-41be-a405-7b254a36092a.png)
+
+- Then, they will test your dqrobotics/matlab pull request making all necessary adjustments until your pull request of dqrobotics/matlab passes all the tests. After that, they will review deeply your modifications. 
+- Finally, your modifications will be accepted in the master branch.
+
+# Example
+
+## Fork the [dqrobotics/matlab](https://github.com/dqrobotics/matlab) in your Github account
+
+![fork_master](https://user-images.githubusercontent.com/23158313/149602838-133f6c09-2e16-418e-8ab6-47fb36a91056.gif)
+
+## Clone the forked repository
+
+For instance, if your forked matlab respository is https://github.com/juanjqo/matlab, then
+
+Type in your terminal:
+
+- `git clone https://github.com/juanjqo/matlab.git`
+
+![git_clone](https://user-images.githubusercontent.com/23158313/149603381-78732b55-2794-4be9-9a12-b7062d0649b5.gif)
+
+## Make your modifications
+
+Now, you can modify the code with your contributions.
+(In this specific example, as shown in the GIF, I modified the CONTRIBUTING.md file)
+
+![modifications](https://user-images.githubusercontent.com/23158313/149604028-915d9325-e52a-4378-ba58-17b7fe1a7a81.gif)
+
+## Add, commit and push your changes
+
+Please indicate in your commit's message the file that was modified using brackets. For instance, if you modified the class DQ_Serialmanipulator, then you would do the following:
+
+- `git commit -m "[DQ_SerialManipulator] your_message_explaining_the modification."`
+
+![add_commit_push](https://user-images.githubusercontent.com/23158313/149603960-d69a8202-a3b1-4af5-a2d8-e1197cc26a81.gif)
+
+## Open a draft pull request (More details [here](https://github.blog/2019-02-14-introducing-draft-pull-requests/))
+
+Now, your draft pull request will be tested by Github actions automatically. 
+
+![pull_request](https://user-images.githubusercontent.com/23158313/149604338-52f3ba35-ef25-440a-8bc8-75194c32130e.gif)
+
+If your pull request fails the tests, don't worry!, you will see where your code is not working. Pick your pull request in https://github.com/dqrobotics/matlab/pulls. Then, at the end of the page, click on 'Details'.
+
+![failed_check](https://user-images.githubusercontent.com/23158313/149604965-677f783f-64af-4120-966a-0461c85f9418.gif)

robot_modeling/DQ_JointType.m

@@ -0,0 +1,31 @@
+% (C) Copyright 2022 DQ Robotics Developers
+%
+% This file is part of DQ Robotics.
+%
+%     DQ Robotics is free software: you can redistribute it and/or modify
+%     it under the terms of the GNU Lesser General Public License as published
+%     by the Free Software Foundation, either version 3 of the License, or
+%     (at your option) any later version.
+%
+%     DQ Robotics is distributed in the hope that it will be useful,
+%     but WITHOUT ANY WARRANTY; without even the implied warranty of
+%     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+%     GNU Lesser General Public License for more details.
+%
+%     You should have received a copy of the GNU Lesser General Public License
+%     along with DQ Robotics.  If not, see <http://www.gnu.org/licenses/>.
+%
+% DQ Robotics website: dqrobotics.github.io
+%
+% Contributors to this file:
+%     Juan Jose Quiroz Omana - juanjqo@g.ecc.u-tokyo.ac.jp
+
+classdef DQ_JointType < double
+   enumeration
+      REVOLUTE (1)
+      PRISMATIC (2)
+   end
+end
+
+
+

robot_modeling/DQ_Kinematics.m

@@ -1,10 +1,15 @@
 % Abstract class that defines an interface to implement robot kinematics.
 %
 % DQ_Kinematics Properties:
-%   base_frame - Frame used to determine the robot physical location.
+%   base_frame_ - Frame used to determine the robot physical location.
 %   name - Unique name that is generated randomly.
-%   reference_frame - Reference frame (not always coincident with base_frame).
+%   reference_frame_ - Reference frame (not always coincident with base_frame).
 %   q - Robot configuration vector.
+%   dim_configuration_space_ - Dimension of the robot configuration space.
+%   lower_q_limit_ - The lower bound of the robot configuration;
+%   upper_q_limit_ - The upper bound of the robot configuration;
+%   lower_q_dot_limit_ - The lower bound of the robot configuration velocity;
+%   upper_q_dot_limit_ - The upper bound of the robot configuration velocity;
 %
 % DQ_Kinematics Methods (Abstract):
 %       get_dim_configuration_space - Returns the dimension of the configuration space.
@@ -69,39 +74,49 @@
 
     properties (SetAccess = protected)
         % Reference frame used in fkm() and pose_jacobian methods
-        reference_frame;
+        reference_frame_;
         % Frame used to determine the robot physical location
-        base_frame;
+        base_frame_;
         % Robot configuration vector
-        q        
+        q
+        %  Dimension of the robot configuration space
+        dim_configuration_space_;
+        %  The lower bound of the robot configuration;
+        lower_q_limit_;
+        %  The upper bound of the robot configuration;
+        upper_q_limit_;
+        %  The lower bound of the robot configuration velocity;
+        lower_q_dot_limit_;
+        %  The upper bound of the robot configuration velocity;
+        upper_q_dot_limit_;
     end
 
     methods
         function obj = DQ_Kinematics()
             % Both reference_frame and base_frame initially coincide, but
             % this can be changed by using set_reference_frame() and 
             % set_base_frame()
-            obj.reference_frame = DQ(1); 
-            obj.base_frame = DQ(1);            
+            obj.reference_frame_ = DQ(1); 
+            obj.base_frame_ = DQ(1);            
             % Define a unique robot name
             obj.name = sprintf('%f',rand(1));
         end
 
         function ret = get_base_frame(obj)
             % Get the physical location of the robot base in the workspace.
-            ret = obj.base_frame;
+            ret = obj.base_frame_;
         end
 
         function ret = get_reference_frame(obj)
             % Get the reference frame used in the calculation of the FKM and all Jacobians.
-            ret = obj.reference_frame;
+            ret = obj.reference_frame_;
         end
 
         function set_reference_frame(obj,reference_frame)
             % SET_REFERENCE_FRAME(reference_frame) sets the reference frame
             % used for the fkm() and pose_jacobian() methods
             if is_unit(reference_frame)
-                obj.reference_frame = reference_frame;
+                obj.reference_frame_ = reference_frame;
             else
                 error('The reference frame must be a unit dual quaternion.');
             end
@@ -116,7 +131,7 @@ function set_base_frame(obj, base_frame)
             % and it does not necessarily coincides with the reference
             % frame.
             if is_unit(base_frame)
-                obj.base_frame = base_frame;
+                obj.base_frame_ = base_frame;
             else
                 error('The base frame must be a unit dual quaternion.');
             end
@@ -125,6 +140,27 @@ function set_base_frame(obj, base_frame)
 
     end
 
+    methods (Access = protected)        
+        function check_to_ith_link(obj, to_ith_link)
+            % Protected method to check if the index to a link is valid.
+            n_links = get_dim_configuration_space(obj);    
+            if to_ith_link > n_links || to_ith_link < 0
+                error('Tried to access link index %d , which is unnavailable.', to_ith_link);
+            end
+
+        end
+
+        function check_q_vec(obj, q_vec)
+            % Protected method to check if the size of the vector
+            % of joint values q_vec is valid.
+            n_links = get_dim_configuration_space(obj);
+            if length(q_vec) ~= n_links
+                error('Input vector must have size %d', n_links)
+            end
+        end
+
+    end
+
     methods (Abstract)
 
         % GET_DIM_CONFIGURATION_SPACE returns the dimension of the configuration