From 00aaaea4fef5ed4ad9905ab8e23e6a3df2766f99 Mon Sep 17 00:00:00 2001 From: Francesco Romano Date: Wed, 23 Dec 2015 18:37:51 +0100 Subject: [PATCH] Added player for walking --- .gitignore | 1 + .../walking/walkerPlannerPlayer/comTraj.txt | 1601 +++++++++++++++++ .../walkerPlannerPlayer/constraints.txt | 1601 +++++++++++++++++ utilities/walking/walkerPlannerPlayer/init.m | 32 + .../walking/walkerPlannerPlayer/player.mdl | 1054 +++++++++++ .../walkerPlannerPlayer/posturalTraj.txt | 1601 +++++++++++++++++ 6 files changed, 5890 insertions(+) create mode 100644 .gitignore create mode 100644 utilities/walking/walkerPlannerPlayer/comTraj.txt create mode 100644 utilities/walking/walkerPlannerPlayer/constraints.txt create mode 100644 utilities/walking/walkerPlannerPlayer/init.m create mode 100644 utilities/walking/walkerPlannerPlayer/player.mdl create mode 100644 utilities/walking/walkerPlannerPlayer/posturalTraj.txt diff --git a/.gitignore b/.gitignore new file mode 100644 index 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1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 +1 1 diff --git a/utilities/walking/walkerPlannerPlayer/init.m b/utilities/walking/walkerPlannerPlayer/init.m new file mode 100644 index 0000000..3f51a76 --- /dev/null +++ b/utilities/walking/walkerPlannerPlayer/init.m @@ -0,0 +1,32 @@ +clear; + +comInput = dlmread('comTraj.txt'); +qDesInput = dlmread('posturalTraj.txt'); +constraintsInput = dlmread('constraints.txt'); + +Ts = 0.01; + +dataLength = length(comInput); +assert(dataLength == length(qDesInput) && dataLength == length(constraintsInput), 'Vectors must be of the same size'); + +com = struct; +com.time = 0:Ts:(dataLength - 1)* Ts; +com.signals.dimensions = 9; +com.signals.values = comInput; + +qDes = struct; +qDes.time = com.time; +qDes.signals.dimensions = size(qDesInput, 2); +qDes.signals.values = qDesInput; + +constraints = struct; +constraints.time = com.time; +constraints.signals.dimensions = 2; +constraints.signals.values = constraintsInput; + +controllerName = 'matlabTorqueBalancing'; +comPort = ['/' controllerName '/comDes:i']; +constraintsPort = ['/' controllerName '/constraints:i']; +qDesPort = ['/' controllerName '/qDes:i']; + +clear comInput qDesInput constraintsInput \ No newline at end of file diff --git a/utilities/walking/walkerPlannerPlayer/player.mdl b/utilities/walking/walkerPlannerPlayer/player.mdl new file mode 100644 index 0000000..548bd02 --- /dev/null +++ b/utilities/walking/walkerPlannerPlayer/player.mdl @@ -0,0 +1,1054 @@ +Model { + Name "player" + Version 8.6 + MdlSubVersion 0 + SavedCharacterEncoding "US-ASCII" + GraphicalInterface { + NumRootInports 0 + NumRootOutports 0 + ParameterArgumentNames "" + ComputedModelVersion "1.24" + NumModelReferences 0 + NumTestPointedSignals 0 + } + ScopeRefreshTime 0.035000 + OverrideScopeRefreshTime on + DisableAllScopes off + DataTypeOverride "UseLocalSettings" + DataTypeOverrideAppliesTo "AllNumericTypes" + MinMaxOverflowLogging "UseLocalSettings" + MinMaxOverflowArchiveMode "Overwrite" + FPTRunName "Run 1" + MaxMDLFileLineLength 120 + InitFcn "init;" + Object { + $PropName "BdWindowsInfo" + $ObjectID 1 + $ClassName "Simulink.BDWindowsInfo" + Object { + $PropName "WindowsInfo" + $ObjectID 2 + $ClassName "Simulink.WindowInfo" + IsActive [1] + Location [100.0, 23.0, 1001.0, 552.0] + Object { + $PropName "ModelBrowserInfo" + $ObjectID 3 + $ClassName "Simulink.ModelBrowserInfo" + Visible [0] + DockPosition "Left" + Width [50] + Height [50] + Filter [9] + } + Object { + $PropName "ExplorerBarInfo" + $ObjectID 4 + $ClassName "Simulink.ExplorerBarInfo" + Visible [1] + } + Object { + $PropName "EditorsInfo" + $ObjectID 5 + $ClassName "Simulink.EditorInfo" + IsActive [1] + ViewObjType "SimulinkTopLevel" + LoadSaveID "0" + Extents [967.0, 379.0] + ZoomFactor [1.0] + Offset [0.0, 0.0] + } + } + } + Created "Wed Dec 23 17:16:53 2015" + Creator "makaveli" + UpdateHistory "UpdateHistoryNever" + ModifiedByFormat "%" + LastModifiedBy "makaveli" + ModifiedDateFormat "%" + LastModifiedDate "Wed Dec 23 18:37:27 2015" + RTWModifiedTimeStamp 372793912 + ModelVersionFormat "1.%" + ConfigurationManager "none" + SampleTimeColors off + SampleTimeAnnotations off + LibraryLinkDisplay "disabled" + WideLines off + ShowLineDimensions off + ShowPortDataTypes off + ShowDesignRanges off + ShowLoopsOnError on + IgnoreBidirectionalLines off + ShowStorageClass off + ShowTestPointIcons on + ShowSignalResolutionIcons on + ShowViewerIcons on + SortedOrder off + ExecutionContextIcon off + ShowLinearizationAnnotations on + ShowVisualizeInsertedRTB on + ShowMarkup on + BlockNameDataTip off + BlockParametersDataTip off + BlockDescriptionStringDataTip off + ToolBar on + StatusBar on + BrowserShowLibraryLinks off + BrowserLookUnderMasks off + SimulationMode "normal" + PauseTimes "5" + NumberOfSteps 1 + SnapshotBufferSize 10 + SnapshotInterval 10 + NumberOfLastSnapshots 0 + LinearizationMsg "none" + Profile off + ParamWorkspaceSource "MATLABWorkspace" + AccelSystemTargetFile "accel.tlc" + AccelTemplateMakefile "accel_default_tmf" + AccelMakeCommand "make_rtw" + TryForcingSFcnDF off + Object { + $PropName "DataLoggingOverride" + $ObjectID 6 + $ClassName "Simulink.SimulationData.ModelLoggingInfo" + model_ "player" + overrideMode_ [0U] + Array { + Type "Cell" + Dimension 1 + Cell "player" + PropName "logAsSpecifiedByModels_" + } + Array { + Type "Cell" + Dimension 1 + Cell [] + PropName "logAsSpecifiedByModelsSSIDs_" + } + } + ExtModeBatchMode off + ExtModeEnableFloating on + ExtModeTrigType "manual" + ExtModeTrigMode "normal" + ExtModeTrigPort "1" + ExtModeTrigElement "any" + ExtModeTrigDuration 1000 + ExtModeTrigDurationFloating "auto" + ExtModeTrigHoldOff 0 + ExtModeTrigDelay 0 + ExtModeTrigDirection "rising" + ExtModeTrigLevel 0 + ExtModeArchiveMode "off" + ExtModeAutoIncOneShot off + ExtModeIncDirWhenArm off + ExtModeAddSuffixToVar off + ExtModeWriteAllDataToWs off + ExtModeArmWhenConnect on + ExtModeSkipDownloadWhenConnect off + ExtModeLogAll on + ExtModeAutoUpdateStatusClock on + ShowModelReferenceBlockVersion off + ShowModelReferenceBlockIO off + Array { + Type "Handle" + Dimension 1 + Simulink.ConfigSet { + $ObjectID 7 + Version "1.15.1" + Array { + Type "Handle" + Dimension 9 + Simulink.SolverCC { + $ObjectID 8 + Version "1.15.1" + StartTime "0.0" + StopTime "inf" + AbsTol "auto" + FixedStep "Ts" + InitialStep "auto" + MaxNumMinSteps "-1" + MaxOrder 5 + ZcThreshold "auto" + ConsecutiveZCsStepRelTol "10*128*eps" + MaxConsecutiveZCs "1000" + ExtrapolationOrder 4 + NumberNewtonIterations 1 + MaxStep "auto" + MinStep "auto" + MaxConsecutiveMinStep "1" + RelTol "1e-3" + SolverMode "Auto" + EnableConcurrentExecution off + ConcurrentTasks off + Solver "FixedStepDiscrete" + SolverName "FixedStepDiscrete" + SolverJacobianMethodControl "auto" + ShapePreserveControl "DisableAll" + ZeroCrossControl "UseLocalSettings" + ZeroCrossAlgorithm "Nonadaptive" + AlgebraicLoopSolver "TrustRegion" + SolverInfoToggleStatus off + IsAutoAppliedInSIP off + SolverResetMethod "Fast" + PositivePriorityOrder off + AutoInsertRateTranBlk off + SampleTimeConstraint "Unconstrained" + InsertRTBMode "Whenever possible" + } + Simulink.DataIOCC { + $ObjectID 9 + Version "1.15.1" + Decimation "1" + ExternalInput "[t, u]" + FinalStateName "xFinal" + InitialState "xInitial" + LimitDataPoints on + MaxDataPoints "1000" + LoadExternalInput off + LoadInitialState off + SaveFinalState off + SaveCompleteFinalSimState off + SaveFormat "Dataset" + SignalLoggingSaveFormat "Dataset" + SaveOutput on + SaveState off + SignalLogging on + DSMLogging on + InspectSignalLogs off + VisualizeSimOutput on + StreamToWorkspace off + StreamVariableName "streamout" + SaveTime on + ReturnWorkspaceOutputs off + StateSaveName "xout" + TimeSaveName "tout" + OutputSaveName "yout" + SignalLoggingName "logsout" + DSMLoggingName "dsmout" + OutputOption "RefineOutputTimes" + OutputTimes "[]" + ReturnWorkspaceOutputsName "out" + Refine "1" + LoggingIntervals "[-inf, inf]" + } + Simulink.OptimizationCC { + $ObjectID 10 + Version "1.15.1" + Array { + Type "Cell" + Dimension 8 + Cell "BooleansAsBitfields" + Cell "PassReuseOutputArgsAs" + Cell "PassReuseOutputArgsThreshold" + Cell "ZeroExternalMemoryAtStartup" + Cell "ZeroInternalMemoryAtStartup" + Cell "OptimizeModelRefInitCode" + Cell "NoFixptDivByZeroProtection" + Cell "UseSpecifiedMinMax" + PropName "DisabledProps" + } + BlockReduction on + BooleanDataType on + ConditionallyExecuteInputs on + DefaultParameterBehavior "Tunable" + UseDivisionForNetSlopeComputation "off" + UseFloatMulNetSlope off + DefaultUnderspecifiedDataType "double" + UseSpecifiedMinMax off + InlineInvariantSignals off + OptimizeBlockIOStorage on + BufferReuse on + EnhancedBackFolding off + CachingGlobalReferences off + GlobalBufferReuse on + StrengthReduction off + ExpressionFolding on + BooleansAsBitfields off + BitfieldContainerType "uint_T" + EnableMemcpy on + MemcpyThreshold 64 + PassReuseOutputArgsAs "Structure reference" + PassReuseOutputArgsThreshold 12 + ExpressionDepthLimit 128 + LocalBlockOutputs on + RollThreshold 5 + StateBitsets off + DataBitsets off + ActiveStateOutputEnumStorageType "Native Integer" + ZeroExternalMemoryAtStartup on + ZeroInternalMemoryAtStartup on + InitFltsAndDblsToZero off + NoFixptDivByZeroProtection off + EfficientFloat2IntCast off + EfficientMapNaN2IntZero on + OptimizeModelRefInitCode off + LifeSpan "inf" + MaxStackSize "Inherit from target" + BufferReusableBoundary on + SimCompilerOptimization "off" + AccelVerboseBuild off + } + Simulink.DebuggingCC { + $ObjectID 11 + Version "1.15.1" + RTPrefix "error" + ConsistencyChecking "none" + ArrayBoundsChecking "none" + SignalInfNanChecking "none" + SignalRangeChecking "none" + ReadBeforeWriteMsg "UseLocalSettings" + WriteAfterWriteMsg "UseLocalSettings" + WriteAfterReadMsg "UseLocalSettings" + AlgebraicLoopMsg "warning" + ArtificialAlgebraicLoopMsg "warning" + SaveWithDisabledLinksMsg "warning" + SaveWithParameterizedLinksMsg "warning" + CheckSSInitialOutputMsg on + UnderspecifiedInitializationDetection "Simplified" + MergeDetectMultiDrivingBlocksExec "error" + CheckExecutionContextPreStartOutputMsg off + CheckExecutionContextRuntimeOutputMsg off + SignalResolutionControl "UseLocalSettings" + BlockPriorityViolationMsg "warning" + MinStepSizeMsg "warning" + TimeAdjustmentMsg "none" + MaxConsecutiveZCsMsg "error" + MaskedZcDiagnostic "warning" + IgnoredZcDiagnostic "warning" + SolverPrmCheckMsg "none" + InheritedTsInSrcMsg "warning" + MultiTaskDSMMsg "error" + MultiTaskCondExecSysMsg "error" + MultiTaskRateTransMsg "error" + SingleTaskRateTransMsg "none" + TasksWithSamePriorityMsg "warning" + SigSpecEnsureSampleTimeMsg "warning" + CheckMatrixSingularityMsg "none" + IntegerOverflowMsg "warning" + Int32ToFloatConvMsg "warning" + ParameterDowncastMsg "error" + ParameterOverflowMsg "error" + ParameterUnderflowMsg "none" + ParameterPrecisionLossMsg "warning" + ParameterTunabilityLossMsg "warning" + FixptConstUnderflowMsg "none" + FixptConstOverflowMsg "none" + FixptConstPrecisionLossMsg "none" + UnderSpecifiedDataTypeMsg "none" + UnnecessaryDatatypeConvMsg "none" + VectorMatrixConversionMsg "none" + InvalidFcnCallConnMsg "error" + FcnCallInpInsideContextMsg "EnableAllAsError" + SignalLabelMismatchMsg "none" + UnconnectedInputMsg "warning" + UnconnectedOutputMsg "warning" + UnconnectedLineMsg "warning" + SFcnCompatibilityMsg "none" + FrameProcessingCompatibilityMsg "error" + UniqueDataStoreMsg "none" + BusObjectLabelMismatch "warning" + RootOutportRequireBusObject "warning" + AssertControl "UseLocalSettings" + AllowSymbolicDim off + ModelReferenceIOMsg "none" + ModelReferenceMultiInstanceNormalModeStructChecksumCheck "error" + ModelReferenceVersionMismatchMessage "none" + ModelReferenceIOMismatchMessage "none" + UnknownTsInhSupMsg "warning" + ModelReferenceDataLoggingMessage "warning" + ModelReferenceSymbolNameMessage "warning" + ModelReferenceExtraNoncontSigs "error" + StateNameClashWarn "none" + SimStateInterfaceChecksumMismatchMsg "warning" + SimStateOlderReleaseMsg "error" + InitInArrayFormatMsg "warning" + StrictBusMsg "ErrorLevel1" + BusNameAdapt "WarnAndRepair" + NonBusSignalsTreatedAsBus "none" + SymbolicDimMinMaxWarning "warning" + BlockIODiagnostic "none" + SFUnusedDataAndEventsDiag "warning" + SFUnexpectedBacktrackingDiag "warning" + SFInvalidInputDataAccessInChartInitDiag "warning" + SFNoUnconditionalDefaultTransitionDiag "warning" + SFTransitionOutsideNaturalParentDiag "warning" + SFUnconditionalTransitionShadowingDiag "warning" + SFUndirectedBroadcastEventsDiag "warning" + SFTransitionActionBeforeConditionDiag "warning" + SFOutputUsedAsStateInMooreChartDiag "error" + IntegerSaturationMsg "warning" + } + Simulink.HardwareCC { + $ObjectID 12 + Version "1.15.1" + ProdBitPerChar 8 + ProdBitPerShort 16 + ProdBitPerInt 32 + ProdBitPerLong 32 + ProdBitPerLongLong 64 + ProdBitPerFloat 32 + ProdBitPerDouble 64 + ProdBitPerPointer 64 + ProdLargestAtomicInteger "Char" + ProdLargestAtomicFloat "Float" + ProdIntDivRoundTo "Zero" + ProdEndianess "LittleEndian" + ProdWordSize 64 + ProdShiftRightIntArith on + ProdLongLongMode off + ProdHWDeviceType "Intel->x86-64 (Windows64)" + TargetBitPerChar 8 + TargetBitPerShort 16 + TargetBitPerInt 32 + TargetBitPerLong 32 + TargetBitPerLongLong 64 + TargetBitPerFloat 32 + TargetBitPerDouble 64 + TargetBitPerPointer 32 + TargetLargestAtomicInteger "Char" + TargetLargestAtomicFloat "None" + TargetShiftRightIntArith on + TargetLongLongMode off + TargetIntDivRoundTo "Undefined" + TargetEndianess "Unspecified" + TargetWordSize 32 + TargetPreprocMaxBitsSint 32 + TargetPreprocMaxBitsUint 32 + TargetHWDeviceType "Specified" + TargetUnknown off + ProdEqTarget on + } + Simulink.ModelReferenceCC { + $ObjectID 13 + Version "1.15.1" + UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" + EnableRefExpFcnMdlSchedulingChecks on + CheckModelReferenceTargetMessage "error" + EnableParallelModelReferenceBuilds off + ParallelModelReferenceErrorOnInvalidPool on + ParallelModelReferenceMATLABWorkerInit "None" + ModelReferenceNumInstancesAllowed "Multi" + PropagateVarSize "Infer from blocks in model" + ModelReferencePassRootInputsByReference on + ModelReferenceMinAlgLoopOccurrences off + PropagateSignalLabelsOutOfModel off + SupportModelReferenceSimTargetCustomCode off + } + Simulink.SFSimCC { + $ObjectID 14 + Version "1.15.1" + SFSimEcho on + SimCtrlC on + SimIntegrity on + SimUseLocalCustomCode off + SimParseCustomCode on + SimBuildMode "sf_incremental_build" + SimGenImportedTypeDefs off + } + Simulink.RTWCC { + $BackupClass "Simulink.RTWCC" + $ObjectID 15 + Version "1.15.1" + Array { + Type "Cell" + Dimension 13 + Cell "IncludeHyperlinkInReport" + Cell "GenerateTraceInfo" + Cell "GenerateTraceReport" + Cell "GenerateTraceReportSl" + Cell "GenerateTraceReportSf" + Cell "GenerateTraceReportEml" + Cell "PortableWordSizes" + Cell "GenerateWebview" + Cell "GenerateCodeMetricsReport" + Cell "GenerateCodeReplacementReport" + Cell "GenerateMissedCodeReplacementReport" + Cell "GenerateErtSFunction" + Cell "CreateSILPILBlock" + PropName "DisabledProps" + } + SystemTargetFile "grt.tlc" + TLCOptions "" + GenCodeOnly off + MakeCommand "make_rtw" + GenerateMakefile on + PackageGeneratedCodeAndArtifacts off + TemplateMakefile "grt_default_tmf" + PostCodeGenCommand "" + Description "" + GenerateReport off + SaveLog off + RTWVerbose on + RetainRTWFile off + ProfileTLC off + TLCDebug off + TLCCoverage off + TLCAssert off + RTWUseLocalCustomCode off + RTWUseSimCustomCode off + Toolchain "Automatically locate an installed toolchain" + BuildConfiguration "Faster Builds" + IncludeHyperlinkInReport off + LaunchReport off + PortableWordSizes off + CreateSILPILBlock "None" + CodeExecutionProfiling off + CodeExecutionProfileVariable "executionProfile" + CodeProfilingSaveOptions "SummaryOnly" + CodeProfilingInstrumentation off + SILDebugging off + TargetLang "C" + IncludeBusHierarchyInRTWFileBlockHierarchyMap off + GenerateTraceInfo off + GenerateTraceReport off + GenerateTraceReportSl off + GenerateTraceReportSf off + GenerateTraceReportEml off + GenerateWebview off + GenerateCodeMetricsReport off + GenerateCodeReplacementReport off + GenerateMissedCodeReplacementReport off + RTWCompilerOptimization "off" + RTWCustomCompilerOptimizations "" + CheckMdlBeforeBuild "Off" + SharedConstantsCachingThreshold 1024 + Array { + Type "Handle" + Dimension 2 + Simulink.CodeAppCC { + $ObjectID 16 + Version "1.15.1" + Array { + Type "Cell" + Dimension 24 + Cell "IgnoreCustomStorageClasses" + Cell "ParameterTuningSideEffectCode" + Cell "IgnoreTestpoints" + Cell "InsertBlockDesc" + Cell "InsertPolySpaceComments" + Cell "SFDataObjDesc" + Cell "MATLABFcnDesc" + Cell "SimulinkDataObjDesc" + Cell "DefineNamingRule" + Cell "SignalNamingRule" + Cell "ParamNamingRule" + Cell "InternalIdentifier" + Cell "InlinedPrmAccess" + Cell "CustomSymbolStr" + Cell "CustomSymbolStrGlobalVar" + Cell "CustomSymbolStrType" + Cell "CustomSymbolStrField" + Cell "CustomSymbolStrFcn" + Cell "CustomSymbolStrFcnArg" + Cell "CustomSymbolStrBlkIO" + Cell "CustomSymbolStrTmpVar" + Cell "CustomSymbolStrMacro" + Cell "CustomSymbolStrUtil" + Cell "ReqsInCode" + PropName "DisabledProps" + } + ForceParamTrailComments off + GenerateComments on + CommentStyle "Auto" + IgnoreCustomStorageClasses on + IgnoreTestpoints off + IncHierarchyInIds off + MaxIdLength 31 + PreserveName off + PreserveNameWithParent off + ShowEliminatedStatement off + OperatorAnnotations off + IncAutoGenComments off + SimulinkDataObjDesc off + SFDataObjDesc off + MATLABFcnDesc off + IncDataTypeInIds off + MangleLength 1 + CustomSymbolStrGlobalVar "$R$N$M" + CustomSymbolStrType "$N$R$M_T" + CustomSymbolStrField "$N$M" + CustomSymbolStrFcn "$R$N$M$F" + CustomSymbolStrFcnArg "rt$I$N$M" + CustomSymbolStrBlkIO "rtb_$N$M" + CustomSymbolStrTmpVar "$N$M" + CustomSymbolStrMacro "$R$N$M" + CustomSymbolStrUtil "$N$C" + DefineNamingRule "None" + ParamNamingRule "None" + SignalNamingRule "None" + InsertBlockDesc off + InsertPolySpaceComments off + SimulinkBlockComments on + MATLABSourceComments off + EnableCustomComments off + InternalIdentifier "Shortened" + InlinedPrmAccess "Literals" + ReqsInCode off + UseSimReservedNames off + } + Simulink.GRTTargetCC { + $BackupClass "Simulink.TargetCC" + $ObjectID 17 + Version "1.15.1" + Array { + Type "Cell" + Dimension 12 + Cell "IncludeMdlTerminateFcn" + Cell "SuppressErrorStatus" + Cell "ERTCustomFileBanners" + Cell "GenerateSampleERTMain" + Cell "GenerateTestInterfaces" + Cell "ModelStepFunctionPrototypeControlCompliant" + Cell "GenerateAllocFcn" + Cell "PurelyIntegerCode" + Cell "SupportComplex" + Cell "SupportAbsoluteTime" + Cell "SupportContinuousTime" + Cell "SupportNonInlinedSFcns" + PropName "DisabledProps" + } + TargetFcnLib "ansi_tfl_table_tmw.mat" + TargetLibSuffix "" + TargetPreCompLibLocation "" + GenFloatMathFcnCalls "NOT IN USE" + TargetLangStandard "C89/C90 (ANSI)" + CodeReplacementLibrary "None" + UtilityFuncGeneration "Auto" + ERTMultiwordTypeDef "System defined" + ERTMultiwordLength 256 + MultiwordLength 2048 + GenerateFullHeader on + InferredTypesCompatibility off + GenerateSampleERTMain off + GenerateTestInterfaces off + ModelReferenceCompliant on + ParMdlRefBuildCompliant on + CompOptLevelCompliant on + ConcurrentExecutionCompliant on + IncludeMdlTerminateFcn on + GeneratePreprocessorConditionals "Use local settings" + CombineOutputUpdateFcns on + CombineSignalStateStructs off + SuppressErrorStatus off + ERTFirstTimeCompliant off + IncludeFileDelimiter "Auto" + ERTCustomFileBanners off + SupportAbsoluteTime on + LogVarNameModifier "rt_" + MatFileLogging on + MultiInstanceERTCode off + CodeInterfacePackaging "Nonreusable function" + SupportNonFinite on + SupportComplex on + PurelyIntegerCode off + SupportContinuousTime on + SupportNonInlinedSFcns on + SupportVariableSizeSignals off + ParenthesesLevel "Nominal" + CastingMode "Nominal" + MATLABClassNameForMDSCustomization "Simulink.SoftwareTarget.GRTCustomization" + ModelStepFunctionPrototypeControlCompliant off + CPPClassGenCompliant on + AutosarCompliant off + GRTInterface off + GenerateAllocFcn off + UseToolchainInfoCompliant on + GenerateSharedConstants on + UseMalloc off + ExtMode off + ExtModeStaticAlloc off + ExtModeTesting off + ExtModeStaticAllocSize 1000000 + ExtModeTransport 0 + ExtModeMexFile "ext_comm" + ExtModeIntrfLevel "Level1" + RTWCAPISignals off + RTWCAPIParams off + RTWCAPIStates off + RTWCAPIRootIO off + GenerateASAP2 off + MultiInstanceErrorCode "Error" + } + PropName "Components" + } + } + SlCovCC.ConfigComp { + $ObjectID 18 + Version "1.15.1" + Description "Simulink Coverage Configuration Component" + Name "Simulink Coverage" + RecordCoverage off + CovPath "/" + CovSaveName "covdata" + CovMetricSettings "dw" + CovNameIncrementing off + CovHtmlReporting on + CovForceBlockReductionOff on + CovEnableCumulative on + CovSaveCumulativeToWorkspaceVar on + CovSaveSingleToWorkspaceVar on + CovCumulativeVarName "covCumulativeData" + CovCumulativeReport off + CovReportOnPause on + CovModelRefEnable "off" + CovExternalEMLEnable off + CovSFcnEnable on + CovBoundaryAbsTol 1e-05 + CovBoundaryRelTol 0.01 + CovUseTimeInterval off + CovStartTime 0 + CovStopTime 0 + } + PropName "Components" + } + Name "Configuration" + CurrentDlgPage "Solver" + ConfigPrmDlgPosition [ 100, 58, 1180, 720 ] + } + PropName "ConfigurationSets" + } + Simulink.ConfigSet { + $PropName "ActiveConfigurationSet" + $ObjectID 7 + } + Object { + $PropName "DataTransfer" + $ObjectID 19 + $ClassName "Simulink.GlobalDataTransfer" + DefaultTransitionBetweenSyncTasks "Ensure deterministic transfer (maximum delay)" + DefaultTransitionBetweenAsyncTasks "Ensure data integrity only" + DefaultTransitionBetweenContTasks "Ensure deterministic transfer (minimum delay)" + DefaultExtrapolationMethodBetweenContTasks "None" + AutoInsertRateTranBlk [0] + } + ExplicitPartitioning off + BlockDefaults { + ForegroundColor "black" + BackgroundColor "white" + DropShadow off + NamePlacement "normal" + FontName "Helvetica" + FontSize 10 + FontWeight "normal" + FontAngle "normal" + ShowName on + BlockRotation 0 + BlockMirror off + } + AnnotationDefaults { + HorizontalAlignment "center" + VerticalAlignment "middle" + ForegroundColor "black" + BackgroundColor "white" + DropShadow off + FontName "Helvetica" + FontSize 10 + FontWeight "normal" + FontAngle "normal" + UseDisplayTextAsClickCallback off + } + LineDefaults { + FontName "Helvetica" + FontSize 9 + FontWeight "normal" + FontAngle "normal" + } + MaskDefaults { + SelfModifiable "off" + IconFrame "on" + IconOpaque "on" + RunInitForIconRedraw "off" + IconRotate "none" + PortRotate "default" + IconUnits "autoscale" + } + MaskParameterDefaults { + Evaluate "on" + Tunable "on" + NeverSave "off" + Internal "off" + ReadOnly "off" + Enabled "on" + Visible "on" + ToolTip "on" + } + BlockParameterDefaults { + Block { + BlockType FromWorkspace + VariableName "simulink_input" + OutDataTypeStr "Inherit: auto" + SampleTime "-1" + Interpolate on + ZeroCross off + OutputAfterFinalValue "Extrapolation" + } + Block { + BlockType Scope + DefaultConfigurationName "Simulink.scopes.TimeScopeBlockCfg" + NumInputPorts "1" + Floating off + } + } + System { + Name "player" + Location [100, 23, 1101, 575] + Open on + ModelBrowserVisibility off + ModelBrowserWidth 200 + ScreenColor "white" + PaperOrientation "landscape" + PaperPositionMode "auto" + PaperType "usletter" + PaperUnits "inches" + TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] + TiledPageScale 1 + ShowPageBoundaries off + ZoomFactor "100" + ReportName "simulink-default.rpt" + SIDHighWatermark "15" + Block { + BlockType Reference + Name "Com" + SID "3" + Ports [1] + Position [490, 116, 575, 154] + ZOrder 28 + ForegroundColor "[0.490196, 0.000000, 0.000000]" + Commented "on" + LibraryVersion "1.345" + SourceBlock "WBToolboxLibrary/Utilities/Yarp Write" + SourceType "YARP Write" + portName "comPort" + autoconnect on + errorOnConnection on + } + Block { + BlockType Reference + Name "Constraints" + SID "5" + Ports [1] + Position [490, 196, 575, 234] + ZOrder 30 + ForegroundColor "[0.490196, 0.000000, 0.000000]" + Commented "on" + LibraryVersion "1.345" + SourceBlock "WBToolboxLibrary/Utilities/Yarp Write" + SourceType "YARP Write" + portName "constraintsPort" + autoconnect on + errorOnConnection on + } + Block { + BlockType Reference + Name "Real Time Synchronizer" + SID "1" + Ports [] + Position [240, 49, 365, 86] + ZOrder 24 + ForegroundColor "[0.916667, 0.916667, 0.916667]" + BackgroundColor "gray" + ShowName off + Commented "on" + LibraryVersion "1.345" + SourceBlock "WBToolboxLibrary/Utilities/Real Time Synchronizer" + SourceType "Real Time Synchronizer" + period "Ts" + } + Block { + BlockType Scope + Name "Scope" + SID "13" + Ports [1] + Position [415, 159, 445, 191] + ZOrder 38 + ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extm" + "gr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('S" + "ources','WiredSimulink',true),extmgr.Configuration('Visuals','Time Domain',true,'SerializedDisplays',{struct('Mi" + "nYLimReal','-0.13634','MaxYLimReal','0.53737','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','0.53737','Leg" + "endVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.68627" + "4509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745098039215686 0.623529" + "411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098039215686;0.717647" + "058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Title','%','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',9,'LineNames',{{'com input:1','com in" + "put:2','com input:3','com input:4','com input:5','com input:6','com input:7','com input:8','com input:9'}},'Show" + "Content',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLimReal','-0.13634','MaxYLimReal','0.53737'," + "'YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','0.53737','LegendVisibility','off','XGrid',true,'YGrid',true" + ",'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922" + "],'ColorOrder',[0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;1 1 0.06666666666666" + "67;0.717647058823529 0.274509803921569 1;0.392156862745098 0.831372549019608 0.0745098039215686;0.05882352941176" + "47 1 1;1 0.0745098039215686 0.650980392156863])),extmgr.Configuration('Tools','Plot Navigation',true,'PreviousAu" + "toscale','XY'),extmgr.Configuration('Tools','Measurements',true,'Version','2015b')),'Version','2015b')" + } + Block { + BlockType Scope + Name "Scope1" + SID "14" + Ports [1] + Position [415, 229, 445, 261] + ZOrder 39 + ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extm" + "gr.Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('S" + "ources','WiredSimulink',true,'DataLoggingVariableName','ScopeData1'),extmgr.Configuration('Visuals','Time Domain" + "',true,'SerializedDisplays',{struct('MinYLimReal','-0.125','MaxYLimReal','1.125','YLabelReal','','MinYLimMag','0" + ".00000','MaxYLimMag','1.125','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor'" + ",[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.06666666666" + "66667;0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.8313725490" + "19608 0.0745098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650" + "980392156863],'Title','%','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',2,'L" + "ineNames',{{'constraints input:1','constraints input:2'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDef" + "aults',struct('MinYLimReal','-0.125','MaxYLimReal','1.125','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','" + "1.125','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColo" + "r',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[0.0745098039215686 0.623529411764706 1;" + "1 0.411764705882353 0.16078431372549;1 1 0.0666666666666667;0.717647058823529 0.274509803921569 1;0.392156862745" + "098 0.831372549019608 0.0745098039215686;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863])),extmgr" + ".Configuration('Tools','Plot Navigation',true,'PreviousAutoscale','XY'),extmgr.Configuration('Tools','Measuremen" + "ts',true,'Version','2015b')),'Version','2015b')" + } + Block { + BlockType Scope + Name "Scope2" + SID "15" + Ports [1] + Position [415, 299, 445, 331] + ZOrder 40 + ScopeSpecificationString "C++SS(StrPVP('SaveName','ScopeData'),StrPVP('SaveName','ScopeData2'),StrPVP('LimitData" + "Points','on'),StrPVP('DataFormat','Array'),StrPVP('Decimation','1'),StrPVP('BlockParamSampleInput','off'))" + } + Block { + BlockType Reference + Name "Simulator Synchronizer" + SID "2" + Ports [] + Position [430, 49, 560, 86] + ZOrder 25 + ForegroundColor "[0.490196, 0.000000, 0.000000]" + ShowName off + LibraryVersion "1.345" + SourceBlock "WBToolboxLibrary/Utilities/Simulator Synchronizer" + SourceType "Simulator Synchronizer" + period "Ts" + serverPortName "'/clock/rpc'" + clientPortName "'/WBT_synchronizer/rpc:o'" + } + Block { + BlockType FromWorkspace + Name "com input" + SID "10" + Position [210, 163, 275, 187] + ZOrder 35 + VariableName "com" + SampleTime "0" + ZeroCross on + } + Block { + BlockType FromWorkspace + Name "constraints input" + SID "11" + Position [210, 233, 275, 257] + ZOrder 36 + VariableName "constraints" + SampleTime "0" + ZeroCross on + } + Block { + BlockType Reference + Name "qDes" + SID "4" + Ports [1] + Position [490, 266, 575, 304] + ZOrder 29 + ForegroundColor "[0.490196, 0.000000, 0.000000]" + Commented "on" + LibraryVersion "1.345" + SourceBlock "WBToolboxLibrary/Utilities/Yarp Write" + SourceType "YARP Write" + portName "qDesPort" + autoconnect on + errorOnConnection on + } + Block { + BlockType FromWorkspace + Name "qdes input" + SID "12" + Position [210, 303, 275, 327] + ZOrder 37 + VariableName "qDes" + SampleTime "0" + ZeroCross on + } + Line { + ZOrder 5 + SrcBlock "com input" + SrcPort 1 + Points [110, 0] + Branch { + ZOrder 9 + Points [0, -40] + DstBlock "Com" + DstPort 1 + } + Branch { + ZOrder 8 + DstBlock "Scope" + DstPort 1 + } + } + Line { + ZOrder 6 + SrcBlock "constraints input" + SrcPort 1 + Points [106, 0] + Branch { + ZOrder 13 + Points [0, -30] + DstBlock "Constraints" + DstPort 1 + } + Branch { + ZOrder 12 + DstBlock "Scope1" + DstPort 1 + } + } + Line { + ZOrder 7 + SrcBlock "qdes input" + SrcPort 1 + Points [107, 0] + Branch { + ZOrder 11 + Points [0, -30] + DstBlock "qDes" + DstPort 1 + } + Branch { + ZOrder 10 + DstBlock "Scope2" + DstPort 1 + } + } + } +} +#Finite State Machines +# +# Stateflow 80000006 +# +# +Stateflow { + machine { + id 1 + name "player" + created "23-Dec-2015 17:27:47" + isLibrary 0 + firstTarget 2 + sfVersion 80000006 + } + target { + id 2 + name "sfun" + description "Default Simulink S-Function Target." + machine 1 + linkNode [1 0 0] + } +} diff --git a/utilities/walking/walkerPlannerPlayer/posturalTraj.txt b/utilities/walking/walkerPlannerPlayer/posturalTraj.txt new file mode 100644 index 0000000..8c8ceee --- /dev/null +++ b/utilities/walking/walkerPlannerPlayer/posturalTraj.txt @@ -0,0 +1,1601 @@ + -4.95269 0.00253 0.00046 4.87000 29.67000 0.03900 44.99000 4.97000 29.77000 0.00000 44.98000 42.42441 0.24682 -0.19472 -62.97838 -26.98486 -0.39911 42.42447 0.24478 -0.19517 -62.97819 -26.98462 -0.39888 + -5.26516 0.00363 0.00071 4.87000 29.67000 0.03900 44.99000 4.97000 29.77000 0.00000 44.98000 42.04713 0.24012 -0.17199 -62.23731 -26.39986 -0.29583 42.04763 0.23708 -0.17204 -62.23793 -26.39998 -0.29324 + -5.43267 0.00407 0.00082 4.87000 29.67000 0.03900 44.99000 4.97000 29.77000 0.00000 44.98000 41.90411 0.24060 -0.17086 -62.02790 -26.40146 -0.29541 41.90478 0.23715 -0.17076 -62.02884 -26.40173 -0.29190 + -5.50362 0.00424 0.00087 4.87000 29.67000 0.03900 44.99000 4.97000 29.77000 0.00000 44.98000 41.84862 0.24085 -0.17037 -61.95120 -26.42537 -0.29544 41.84936 0.23724 -0.17022 -61.95227 -26.42570 -0.29155 + -5.53212 0.00432 0.00089 4.87000 29.67000 0.03900 44.99000 4.97000 29.77000 0.00000 44.98000 41.82675 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