Merge "add visualizers n sensors libraries" into devel #43
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- Created the main library mwbs_lib.slx as an entry point in the Library Browser. - Set a single `slblock.m` for the main library (covers library and sublibraries). - Convert robotVisualizer subsystem into a sublibrary of mwbs_lib.slx. - Make RobotDynamicsWithContacts library a sublibrary of mwbs_lib.slx. - Split robotVisualizer init in two: one for the user inputs, another for the library init from those inputs. - Prefixed the sublibraries of mwbs_lib.slx.
- Create the RobotSensors library. - Add the block IMUsensor. - Get the IMU frame from iCub URDF model. - Integrate the IMU block in the main test model.
- the linear acceleration was missing the "bias" acceleration (JdotNu). - twist angular and linear components were swapped.
- Reordered the measurements in the concatenated output `imuOut`. - Improved the function documentation.
- Properly projected the measurements on the sensor frame. - Fixed proper acceleration measurement. - Introduced GRAVITY_VECTOR as `IMUsensorProc()` MATLAB System parameter.
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I think you can directly fast forward merge stuff from master to devel, as it was already review when it landed in master. |
traversaro
approved these changes
May 6, 2021
nunoguedelha
deleted the
merge/add-visualizers-N-sensors-libraries-to-devel
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Good point, will do it next time. Thanks! |
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This is a trivial Fast-Forward merge of #41 branch into
devel, since those changes were done on top ofdeveland have already been merged intomaster.