38 lines
793 B
Mathematica
38 lines
793 B
Mathematica
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function [robot] = loadRobotModelParameters(robotName, options)
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% Authors: Quentin Leboutet, Julien Roux, Alexandre Janot and Gordon Cheng
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%
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% Returns the robot data structure.
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robot = feval(robotName, options);
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if options.checkPhysicality == true
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load(sprintf('Benchmark/Robot_Generated_Data/%s/Dynamic_Model/Regressor_Perm_%s.mat',robot.name,robot.name))
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load(sprintf('Benchmark/Robot_Generated_Data/%s/Dynamic_Model/Regressor_K_d_%s.mat',robot.name,robot.name))
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robot.K_d = K_d;
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robot.Perm = Perm;
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if checkPhysicalConsistency(robot) == false
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error('The parameters of the simulated robot are not physically consistent !');
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else
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disp('The robot parameters seems to be physically consistent. Moving forward...');
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end
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end
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end
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