Added full Lyapunov parameterization to funnel computation code. Updated...

... glider example files.
not sure why these got commented out... they shouldn't be.


On Tue, Jul 15, 2014 at 11:51 AM, RussTedrake <notifications@github.com>
wrote:

> In systems/@DrakeSystem/tvlqr.m:
>
> > @@ -288,20 +288,20 @@
> >    D = PPTrajectory(spline(ts,D));
> >  end
> >
> > -% function Sdot = Sdynamics(t,S,plant,Qtraj,Rtraj,xtraj,utraj,options)
> > -%   x0 = xtraj.eval(t); u0 = utraj.eval(t);
> > -%   Q = Qtraj.eval(t); Ri = inv(Rtraj.eval(t));
> > -%   nX = length(x0); nU = length(u0);
> > -%   [f,df] = geval(@plant.dynamics,t,x0,u0,options);
> > -%   A = df(:,1+(1:nX));
> > -%   B = df(:,nX+1+(1:nU));
> > -%   Sdot = -(Q - S*B*Ri*B'*S + S*A + A'*S);
> > -%   if (min(eig(S))<0) warning('S is not positive definite'); end
> > -% end
> > -
> > -% function K = Ksoln(S,Ri,B)
> > -%   K = -Ri*B'*S;
> > -% end
> > +function Sdot = Sdynamics(t,S,plant,Qtraj,Rtraj,xtraj,utraj,xdottraj,options)
>
> why this change, if they are not being called?
>
> —
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> <https://github.com/RobotLocomotion/drake/pull/230/files#r14943871>.
>