Update and test controllers

controllers/+floatingBaseBalancingTorqueControlWithSimulator/app/robots/iCubGazeboV2_5/configRobot.m

@@ -37,7 +37,7 @@
 
 % Frames list
 Frames.BASE       = 'root_link'; 
-Frames.IMU        = 'imu_frame';
+Frames.IMU        = 'imu_head_0';
 Frames.LEFT_FOOT  = 'l_sole';
 Frames.RIGHT_FOOT = 'r_sole';
 Frames.COM        = 'com';
@@ -100,4 +100,4 @@
 Ports.NECK_POS_PORT_SIZE         = 3;
 Ports.IMU_PORT_SIZE              = 12;
 Ports.IMU_PORT_ORIENTATION_INDEX = [1,2,3];
-Ports.WRENCH_PORT_SIZE           = 6;
+Ports.WRENCH_PORT_SIZE           = 6;

controllers/+floatingBaseBalancingTorqueControlWithSimulator/app/robots/iCubGazeboV2_5/configRobotSim.m

@@ -73,7 +73,7 @@
 
 % Robot frames list
 FramesSim.BASE = 'root_link';
-FramesSim.IMU = 'imu_frame';
+FramesSim.IMU = 'imu_head_0';
 FramesSim.LEFT_FOOT = 'l_sole';
 FramesSim.RIGHT_FOOT = 'r_sole';
 FramesSim.COM = 'com';

controllers/+floatingBaseBalancingTorqueControlWithSimulator/app/robots/iCubGazeboV2_5/gainsAndReferences.m

@@ -341,4 +341,4 @@
 Config.noOscillationTime       = 0;   
 Config.directionOfOscillation  = [0;1;0];
 Config.amplitudeOfOscillation  = 0.02; % [m]  
-Config.frequencyOfOscillation  = 0.2;  % [Hz]
+Config.frequencyOfOscillation  = 0.2;  % [Hz]

controllers/+floatingBaseBalancingTorqueControlWithSimulator/initTorqueControlBalancingWithSimu.m

@@ -31,12 +31,12 @@
 %
 % If you are simulating the robot with Gazebo, remember that it is required
 % to launch Gazebo as follows:
-% 
+%
 %     gazebo -slibgazebo_yarp_clock.so
-% 
+%
 % and properly set the environmental variable YARP_ROBOT_NAME in the .bashrc.
 
-% Simulation time in seconds. For long simulations, put an high number 
+% Simulation time in seconds. For long simulations, put an high number
 % (not inf) for allowing automatic code generation
 Config.SIMULATION_TIME = 100;
 
@@ -50,10 +50,10 @@
 %
 % 'YOGA': the robot will perform the YOGA++ demo (highly dynamic movements
 %         while balancing on one foot and two feet)
-%   
+%
 % 'COORDINATOR': the robot can either balance on two feet or move from left
 %                to right follwing a desired center-of-mass trajectory.
-% 
+%
 DEMO_TYPE                     = 'YOGA';
 
 % Config.SCOPES: debugging scopes activation
@@ -90,8 +90,8 @@
 if strcmpi(DEMO_TYPE, 'COORDINATOR')
 
     Config.COORDINATOR_DEMO = true;
-    
+
 elseif strcmpi(DEMO_TYPE, 'YOGA')
-    
+
     Config.COORDINATOR_DEMO = false;
 end

controllers/+floatingBaseBalancingTorqueControlWithSimulator/src-static-gui/closeModel.m

@@ -17,4 +17,4 @@
 rmpath('../../library/matlab-gui');
 rmpath('./src-static-gui');
 
-disp('[closeModel]: done.')
+disp('[closeModel]: done.')

controllers/+floatingBaseBalancingTorqueControlWithSimulator/src-static-gui/compileModel.m

@@ -12,7 +12,7 @@
     torqueControlBalancing([], [], [], 'term')
 
 catch ME
-    
+
     errorMessages = ME;
 end
 
@@ -21,4 +21,4 @@
 disp('Compilation done.')
 
 % warning about Simulink timing
-warning('The model will anyways start with FEW SECONDS OF DELAY after pressing the ''Start Model'' button.')
+warning('The model will anyways start with FEW SECONDS OF DELAY after pressing the ''Start Model'' button.')

controllers/+floatingBaseBalancingTorqueControlWithSimulator/src/EventWithEncoderSpikes.m

@@ -1,9 +1,9 @@
 classdef EventWithEncoderSpikes < Simulink.IntEnumType
     %EVENTWITHENCODERSPIKES Class for selecting a None, Warning or EmergencyStop signal
-    %   
+    %
     %   Class for selecting a None, Warning or EmergencyStop signal triggered by an encoder spike
     %   event.
-    
+
     enumeration
         None(0)
         Warning(1)

controllers/+floatingBaseBalancingTorqueControlWithSimulator/src/EventWithJointLimits.m

@@ -3,7 +3,7 @@
     %
     %   Class for selecting a None, Warning or EmergencyStop signal triggered by the joints hitting
     %   the limits.
-    
+
     enumeration
         None(0)
         Warning(1)