Extend PR #7 to test_ci.m

#7

scripts/test_ci.m

@@ -16,15 +16,20 @@
 run(fullfile(src_full_path,'setup_sim.m'))
 
 %% Prepare Morphing Cover Model with Motors and its Initial Configuration
+fprintf(' ========= script TEST_CI ========= \n')
+fprintf('- script TEST_CI: start\n')
 
 % 1) create model.
+fprintf('- script TEST_CI: creating model\n')
 model = mystica.model.getModelCoverSquareLinks('n',3,'m',3,'restConfiguration','flat','linkDimension',0.0482);
 % 2) evaluate morphing cover initial configuration.
 % initial configuration is computed running a controlled simulation starting from flat configuration. `mBodyTwist_0` is the control variable.
+fprintf('- script TEST_CI: evaluating initial configuration\n')
 stgs  = mystica.stgs.getDefaultSettingsSimKinAbs(model,'stgs_integrator_limitMaximumTime',4);
 stgs.desiredShape.fun = @(x,y,t) -5*x.^2 -5*y.^2;
 [data,stateKin]  = mystica.runSimKinAbs('model',model,'mBodyPosQuat_0',model.getMBodyPosQuatRestConfiguration,'stgs',stgs,'nameControllerClass','ControllerKinAbs');
 % 3) solve the motors placement problem.
+fprintf('- script TEST_CI: solving motors placement problem\n')
 [model,sensitivity,genAlgrthm] = selectMotorPositioning('model',model,'state',stateKin,'stgs',stgs);
 mBodyPosQuat_0 = data.mBodyPosQuat_0(:,end);
 
@@ -33,6 +38,8 @@
 
 %% Simulation
 
+fprintf('- script TEST_CI: simulating the kinematics\n')
+
 % stgs: get default values
 stgs = mystica.stgs.getDefaultSettingsSimKinRel(model,'startFile',stgs.saving.workspace.name,'stgs_integrator_limitMaximumTime',6);
 % stgs: controller parameters
@@ -54,3 +61,5 @@
 % Verify results kinematic simulation
 assert(max(abs(data.errorPositionNormals(:,end)))<1e-2,'errorPositionNormals is bigger than expected')
 assert(max(abs(data.errorOrientationNormals(:,end)))<10,'errorOrientationNormals is bigger than expected')
+
+fprintf(' ========= TEST_CI ended ========= \n')