Fixed optimization script paths based on new folder names. Unified all measurement units to radians to fix comparison scripts. Created simple block that performs rotation matrix to Euler Angle conversion to remove product dependencies.

Author: sea-bass

ControlDesign/walkingRobot3DMPC.slx

@@ -85,23 +85,23 @@
 title('Joint Angles')
 legend('Motion','Torque','Motor');
 xlabel('Time [s]');
-ylabel('Right Leg Ankle Angle [deg]');
+ylabel('Right Leg Ankle Angle [rad]');
 subplot(3,1,2)
 hold on
 plot(simout_motion.yout{4}.Values.knee_angle.Time,simout_motion.yout{4}.Values.knee_angle.Data,'b-');
 plot(simout_torque.yout{4}.Values.knee_angle.Time,simout_torque.yout{4}.Values.knee_angle.Data,'r-');
 plot(simout_motor.yout{4}.Values.knee_angle.Time, simout_motor.yout{4}.Values.knee_angle.Data, 'k-');
 legend('Motion','Torque','Motor');
 xlabel('Time [s]');
-ylabel('Right Leg Knee Angle [deg]');
+ylabel('Right Leg Knee Angle [rad]');
 subplot(3,1,3)
 hold on
 plot(simout_motion.yout{4}.Values.hip_angle.Time,simout_motion.yout{4}.Values.hip_angle.Data,'b-');
 plot(simout_torque.yout{4}.Values.hip_angle.Time,simout_torque.yout{4}.Values.hip_angle.Data,'r-');
 plot(simout_motor.yout{4}.Values.hip_angle.Time, simout_motor.yout{4}.Values.hip_angle.Data, 'k-');
 legend('Motion','Torque','Motor');
 xlabel('Time [s]');
-ylabel('Right Leg Hip Angle [deg]');
+ylabel('Right Leg Hip Angle [rad]');
 
 
 %% Cleanup

ControlDesign/walkingRobot3DPath.slx

@@ -1,5 +1,5 @@
 % Sets up optimization environment for acceleration and parallel computing
-% Copyright 2017 The MathWorks, Inc.
+% Copyright 2017-2019 The MathWorks, Inc.
 
 if parallelFlag
 
@@ -14,9 +14,9 @@
 
     % Add paths and dependent files to run simulations in parallel
     rootDir = fullfile(fileparts(mfilename('fullpath')),'..');
-    addAttachedFiles(p,fullfile(rootDir,{'Robot','Optim','Libraries'}));
-    parfevalOnAll(@addpath,0,fullfile(rootDir,'Optim'), ... 
-                             genpath(fullfile(rootDir,'Robot')), ... 
+    addAttachedFiles(p,fullfile(rootDir,{'ModelingSimulation','Optimization','Libraries'}));
+    parfevalOnAll(@addpath,0,fullfile(rootDir,'Optimization'), ... 
+                             genpath(fullfile(rootDir,'ModelingSimulation')), ... 
                              genpath(fullfile(rootDir,'Libraries')));
     parfevalOnAll(@load_system,0,mdlName);
 
@@ -28,13 +28,13 @@
     end
 
     % Change each worker to unique folder so cache files do not conflict
-    cd(fullfile(rootDir,'Optim'));
+    cd(fullfile(rootDir,'Optimization'));
     if exist('temp','dir')
         rmdir('temp','s');
     end
     mkdir('temp');
     spmd
-        tempFolder = fullfile(rootDir,'Optim','temp');
+        tempFolder = fullfile(rootDir,'Optimization','temp');
         cd(tempFolder);
         folderName = tempname(tempFolder);
         mkdir(folderName);