use fsm for touching table control
test
correction
GUI for changing paramters of simulation
GUi launched, few bugs still to solve
wbInterface now implements a SmartPointer so that only the last block to call mdlTerminate closes all open ports and delete allocated memory
wbInterface type value of 4 corresponds to a setVel block while 5 corresponds to a setPos block
Merge branch 'master' of https://github.com/robotology/codyco
add Interpolator
gui advancements
fixed bugs on sliders and spinbuttons; buttons ok
Merge branch 'master' of https://github.com/robotology/codyco
getting/sending from/to simulation enabled in the GUI
added GUI for changing the parameters of the tasks during simulation
Update wbiIcubTest with arbitrary robot name
COM retrieval fixed
This simple simulink model allows you to retrieve COM measurements from the robot and plot them in a XY Graph to see how the COM changes as the robot moves.
Different mdls have been created for testing the Jacobian modules, as well as a first COM Controller using the Simulink library. Few other bugs fixed for Jacobians computations
COM Jacobians have been verified in the Simulink Library. Tests were carried using using the JacobiansTest model + qinit.mdl and the wholeBodyInterfaceIcubTest module for comparisons.
For now Jacobians are computed only for the robot COM. Remember to change link parameter to wbInterface->computeJacobian