From 484dcedbeaad7615b02a422a1afc2534800b98f3 Mon Sep 17 00:00:00 2001
From: HuanWeng <huanweng2015@u.northwestern.edu>
Date: Mon, 30 Jul 2018 13:40:46 -0500
Subject: [PATCH] Modify some READMEs

---
 packages/Mathematica/INSTALL.md             | 16 +++---
 packages/Matlab/README.md                   | 34 ++++++++++++
 packages/Matlab/mr/IKinSpace.m              |  1 +
 packages/Python/README.md                   |  5 ++
 packages/Python/modern_robotics/__init__.py |  4 +-
 packages/Python/modern_robotics/core.py     | 58 ++++++++++-----------
 packages/Python/setup.py                    | 12 +++--
 7 files changed, 89 insertions(+), 41 deletions(-)
 create mode 100644 packages/Matlab/README.md
 create mode 100644 packages/Python/README.md

diff --git a/packages/Mathematica/INSTALL.md b/packages/Mathematica/INSTALL.md
index 67b866d..60dbad4 100644
--- a/packages/Mathematica/INSTALL.md
+++ b/packages/Mathematica/INSTALL.md
@@ -1,13 +1,14 @@
 # Mathematica Front-End Installation Instructions #
 
-If you'd like to be able to use this package inside of any notebook, regardless
-of the notebook's location on your filesystem, then you can use Mathematica's
-front end to install this package. Use the following steps:
+If you'd like to be able to use this package inside of any notebook, 
+regardless of the notebook's location on your filesystem, then you can use 
+Mathematica's front end to install this package. Use the following steps:
 
 1. Click `File -> Install...`
 2. Select `Package` for the _Type of Item to Install_
 3. Chose `From File...` for the _Source_
-4. Navigate to the `ModernRobotics.m` and select it as the source for the package
+4. Navigate to the `ModernRobotics.m` and select it as the source for the 
+   package
 5. The _Install Name_ should default to `ModernRobotics`; if it doesn't then
    fill in the install name to be `ModernRobotics`.
 6. Choose whether you want the package installed for a single user or for all
@@ -39,8 +40,8 @@ common operating systems:
 ## Manual Installation Instructions ##
 
 If you have any troubles with the front-end installation described above, you
-can try manually installing the package by copying the `ModernRobotics.m` file
-into the same directory mentioned for uninstalling.
+can try manually installing the package by copying the `ModernRobotics.m` 
+file into the same directory mentioned for uninstalling.
 
 
 # Using the Package Locally #
@@ -53,7 +54,8 @@ SetDirectory["<PATH-TO-DIRECTORY-CONTAINING-ModernRobotics.m>"]
 <<ModernRobotics`
 ```
 
-If the notebook and the package are located in the same directory you could use 
+If the notebook and the package are located in the same directory you could 
+use 
 
 ```
 SetDirectory[NotebookDirectory[]]
diff --git a/packages/Matlab/README.md b/packages/Matlab/README.md
new file mode 100644
index 0000000..e56e172
--- /dev/null
+++ b/packages/Matlab/README.md
@@ -0,0 +1,34 @@
+# "mr" Matlab Package Instructions #
+
+This package is the code library for _Modern Robotics: Mechanics, Planning, 
+and Control_. For more details please see the library introduction pdf file
+or the [website](http://modernrobotics.org/).
+
+To import the package, use `addpath` as
+
+```
+addpath('$FOLDER_PATH/mr')
+```
+
+where `$FOLDER_PATH` is the path to "mr" directory. 
+
+To check the function list and which chapter in the book do those functions 
+belong to, use `help` as 
+
+```
+help mr
+```
+
+To check more introduction and example of a function, use `help` as 
+
+```
+help $FUNCTION_NAME
+```
+
+##  ##
+
+Author: Huan Weng, Bill Hunt, Mikhail Todes, Jarvis Schultz
+Contact: huanweng@u.northwestern.edu
+Package Version: 1.0.0 
+Matlab Version: R2017b
+Tested in Matlab R2017b
diff --git a/packages/Matlab/mr/IKinSpace.m b/packages/Matlab/mr/IKinSpace.m
index c040a1c..7ff7385 100644
--- a/packages/Matlab/mr/IKinSpace.m
+++ b/packages/Matlab/mr/IKinSpace.m
@@ -1,4 +1,5 @@
 function [thetalist, success] ...
+         = IKinSpace(Slist, M, T, thetalist0, eomg, ev)
 % *** CHAPTER 6: INVERSE KINEMATICS ***
 % Takes Slist: The joint screw axes in the space frame when the manipulator
 %              is at the home position, in the format of a matrix with the
diff --git a/packages/Python/README.md b/packages/Python/README.md
new file mode 100644
index 0000000..150fd4e
--- /dev/null
+++ b/packages/Python/README.md
@@ -0,0 +1,5 @@
+# "modern_robotics" Python Package Instructions #
+
+This package is the code library for _Modern Robotics: Mechanics, Planning, 
+and Control_. For more details please see the library introduction pdf file
+or the [website](http://modernrobotics.org/).
diff --git a/packages/Python/modern_robotics/__init__.py b/packages/Python/modern_robotics/__init__.py
index 40ed00f..1c4a7c8 100644
--- a/packages/Python/modern_robotics/__init__.py
+++ b/packages/Python/modern_robotics/__init__.py
@@ -1,4 +1,4 @@
-from __version__ import __version__
+from .__version__ import __version__
 
-from core import *
+from .core import *
 
diff --git a/packages/Python/modern_robotics/core.py b/packages/Python/modern_robotics/core.py
index 628cc26..7f1f2e9 100644
--- a/packages/Python/modern_robotics/core.py
+++ b/packages/Python/modern_robotics/core.py
@@ -1,3 +1,4 @@
+from __future__ import print_function
 '''
 ***************************************************************************
 Modern Robotics: Mechanics, Planning, and Control.
@@ -19,7 +20,6 @@ Optional library: matplotlib
 '''
 
 import numpy as np
-import matplotlib.pyplot as plt
 
 '''
 *** BASIC HELPER FUNCTIONS ***
@@ -658,7 +658,7 @@ def JacobianBody(Blist, thetalist):
                   [-1.44321167, 2.94561275,  1.43306521, 0.3]
                   [-2.06639565, 1.82881722, -1.58868628, 0.4]])
     """
-    Jb = np.array(Blist).copy()
+    Jb = np.array(Blist).copy().astype(np.float)
     T = np.eye(4)
     for i in range(len(thetalist) - 2, -1, -1):
         T = np.dot(T,MatrixExp6(VecTose3(np.array(Blist)[:, i + 1] \
@@ -690,7 +690,7 @@ def JacobianSpace(Slist, thetalist):
                   [0.2, 0.43654132, -2.43712573,  2.77535713]
                   [0.2, 2.96026613,  3.23573065,  2.22512443]])
     """
-    Js = np.array(Slist).copy()
+    Js = np.array(Slist).copy().astype(np.float)
     T = np.eye(4)
     for i in range(1, len(thetalist)):
         T = np.dot(T, MatrixExp6(VecTose3(np.array(Slist)[:, i - 1] \
@@ -1305,7 +1305,7 @@ def InverseDynamicsTrajectory(thetamat, dthetamat, ddthetamat, g, \
 	try:
 	    import matplotlib.pyplot as plt
 	except:
-	    print 'The result will not be plotted due to a lack of package matplotlib'
+	    print('The result will not be plotted due to a lack of package matplotlib')
 	else:
 	    plt.plot(timestamp, Tau1, label = "Tau1")
 	    plt.plot(timestamp, Tau2, label = "Tau2")
@@ -1409,11 +1409,11 @@ def ForwardDynamicsTrajectory(thetalist, dthetalist, taumat, g, Ftipmat, \
 	dtheta3 = dthetamat[:, 2]
 	N = np.array(taumat).shape[0]
 	Tf = np.array(taumat).shape[0] * dt
-	timestamp = np.linspace(0, Tf, N)
-	try:
-	    import matplotlib.pyplot as plt
+        timestamp = np.linspace(0, Tf, N)
+        try:
+            import matplotlib.pyplot as plt
 	except:
-	    print 'The result will not be plotted due to a lack of package matplotlib'
+	    print(The result will not be plotted due to a lack of package matplotlib)
 	else:
 	    plt.plot(timestamp, theta1, label = "Theta1")
 	    plt.plot(timestamp, theta2, label = "Theta2")
@@ -1430,9 +1430,9 @@ def ForwardDynamicsTrajectory(thetalist, dthetalist, taumat, g, Ftipmat, \
     """
     taumat = np.array(taumat).T
     Ftipmat = np.array(Ftipmat).T
-    thetamat = taumat.copy()
+    thetamat = taumat.copy().astype(np.float)
     thetamat[:, 0] = thetalist
-    dthetamat = taumat.copy()
+    dthetamat = taumat.copy().astype(np.float)
     dthetamat[:, 0] = dthetalist
     for i in range(np.array(taumat).shape[1] - 1):        
         for j in range(intRes):
@@ -1798,7 +1798,7 @@ def SimulateControl(thetalist, dthetalist, g, Ftipmat, Mlist, Glist, \
 	#Create a trajectory to follow
 	thetaend = np.array([np.pi / 2, np.pi, 1.5 * np.pi])
 	Tf = 1
-	N = 1.0 * Tf / dt
+	N = int(1.0 * Tf / dt)
 	method = 5
 	traj = mr.JointTrajectory(thetalist, thetaend, Tf, N, method)
 	thetamatd = np.array(traj).copy()
@@ -1871,26 +1871,26 @@ def SimulateControl(thetalist, dthetalist, g, Ftipmat, Mlist, Glist, \
         eint = np.add(eint, dt * np.subtract(thetamatd[:, i], thetacurrent))   
     #Output using matplotlib to plot
     try:
-	import matplotlib.pyplot as plt
+        import matplotlib.pyplot as plt
     except:
-	print 'The result will not be plotted due to a lack of package matplotlib'
+        print('The result will not be plotted due to a lack of package matplotlib')
     else:
-	links  = np.array(thetamat).shape[0]
-	N = np.array(thetamat).shape[1]
-	Tf = N * dt
-	timestamp = np.linspace(0, Tf, N)
-	for i in range(links):
-	    col = [np.random.uniform(0, 1), np.random.uniform(0, 1),
-	           np.random.uniform(0, 1)]
-	    plt.plot(timestamp, thetamat[i, :], "-", color=col, \
-		     label = ("ActualTheta" + str(i + 1)))
-	    plt.plot(timestamp, thetamatd[i, :], ".", color=col, \
-		     label = ("DesiredTheta" + str(i + 1)))
-	plt.legend(loc = 'upper left')
-	plt.xlabel("Time")
-	plt.ylabel("Joint Angles")
-	plt.title("Plot of Actual and Desired Joint Angles")
-	plt.show()
+        links = np.array(thetamat).shape[0]
+        N = np.array(thetamat).shape[1]
+        Tf = N * dt
+        timestamp = np.linspace(0, Tf, N)
+        for i in range(links):
+            col = [np.random.uniform(0, 1), np.random.uniform(0, 1),
+                   np.random.uniform(0, 1)]
+            plt.plot(timestamp, thetamat[i, :], "-", color=col, \
+                   label = ("ActualTheta" + str(i + 1)))
+            plt.plot(timestamp, thetamatd[i, :], ".", color=col, \
+                   label = ("DesiredTheta" + str(i + 1)))
+        plt.legend(loc = 'upper left')
+        plt.xlabel("Time")
+        plt.ylabel("Joint Angles")
+        plt.title("Plot of Actual and Desired Joint Angles")
+        plt.show()
     taumat = np.array(taumat).T
     thetamat = np.array(thetamat).T 
     return (taumat, thetamat)
diff --git a/packages/Python/setup.py b/packages/Python/setup.py
index ff6eb99..5411753 100644
--- a/packages/Python/setup.py
+++ b/packages/Python/setup.py
@@ -12,11 +12,17 @@ setup(
     packages=['modern_robotics'],
     classifiers=[
         "Development Status :: 3 - Alpha",
-        "Topic :: Utilities",
-        "License :: OSI Approved :: BSD License",
+	"Intended Audience :: Education",
+	"Intended Audience :: Science/Research",
+        "License :: OSI Approved :: MIT License",
+	"Natural Language :: English",
+	"Programming Language :: Python :: 2",
+	"Programming Language :: Python :: 3",
+	"Topic :: Education",
+	"Topic :: Scientific/Engineering",
     ],
     install_requires=[
-        'numpy'
+        'numpy',
     ],
     platforms='Linux, Mac, Windows',
 )